#ifndef _COMMUNICATION_PROTOCOL_H_
#define _COMMUNICATION_PROTOCOL_H_

#include "user_lib.h"

#define COM_ERROR_CODE_SIZE 7    // 通信错误返回帧长度
#define COM_AI_DATA_SIZE 11      // 模拟量数据返回帧长度
#define COM_ENCODER_DATA_SIZE 12 // 模拟量数据返回帧长度
#define FRAME_HEAD 0xAA          // 帧头
#define FRAME_TAIL 0x3C          // 帧尾
#define DEVICE_NUM 0x00          // 设备号

typedef enum
{
    READ_ANALOG_CMD = 0x00, // 读模拟量命令
    WRITE_ANALOG_CMD,       // 写模拟量命令
    READ_DIGITAL_CMD,       // 读数字量命令
    WRITE_DIGITAL_CMD,      // 写数字量命令
    SEND_STATE_CMD,         // 主动上发状态命令
    READ_ENCODER_CMD,       // 读编码器命令
} communication_cmd_e;
// #define READ_ANALOG_CMD 0x00   // 读模拟量命令
// #define WRITE_ANALOG_CMD 0x01  // 写模拟量命令
// #define READ_DIGITAL_CMD 0x02  // 读数字量命令
// #define WRITE_DIGITAL_CMD 0x03 // 写数字量命令
// #define SEND_STATE_CMD 0x04    // 主动上发状态命令
// #define READ_ENCODER_CMD 0x05  // 读编码器命令

typedef enum
{
    COM_OK = 0,
    FRAMING_ERROR,
    CHECK_ERROR,
    COMMAND_ERROR,
    DEVICE_ERROR,
} communication_error_e;
#pragma pack(1)
typedef struct
{
    uint8_t start_addr;
    uint8_t num;
    uint8_t data[16];
} communication_do_t;

typedef struct
{
    uint8_t start_addr;
    uint8_t num;
} communication_di_t;

typedef struct
{
    uint8_t channel;
    float32_u data;
} communication_ao_t;

typedef struct
{
    uint8_t channel;
} communication_ai_t;

typedef struct
{
    uint8_t channel;
} comnmunication_encoder_t;

typedef union
{
    uint8_t data[50];
    communication_do_t do_data;
    communication_di_t di_data;
    communication_ao_t ao_data;
    communication_ai_t ai_data;
    comnmunication_encoder_t encoder_data;
} communication_data_u;
#pragma pack()

void communication_exception(uint8_t *tx_data, const uint8_t *const rx_data, communication_error_e error_code);
void communication_get_ai(communication_ai_t *ai_data, uint8_t *tx_data, const uint8_t *const rx_data);
void communication_set_ao(communication_ao_t *ao_data);
void communication_get_encoder(comnmunication_encoder_t *encoder_data, uint8_t *tx_data, const uint8_t *const rx_data);
void communication_reset_hart(void);
#endif