//////////////////////////////////////////////////////////////////////////  
/// COPYRIGHT NOTICE  
/// Copyright (c) 2023, 传控科技
/// All rights reserved.  
///  
/// @file            asp_move.c
/// @brief           asp_move   
///  
///（本文件实现的功能的详述）  
/// moved的任务调度，是角度传感器和限位开关、的上层
/// moto工作 限位开关限位  角度传感器指示位置
///move--|--adc
///      |--key
///      |--moto
#include "asp_expara.h"
#include "msp_UART1.h"
#include "asp_move.h"
#include "msp_adc.h"

TS_EXPARA_ ts_expara;

void L1_expara_init(unsigned char onf)
{	
	if (onf)
	{
		L0_ADC_init(1);
		TTSS_run_every_init(ts_expara.vref.n,   D_sample_vref_interval);

		TTSS_run_every_init(ts_expara.vbat.n, D_sample_vbat_interval);
		TTSS_run_every_init(ts_expara.angle.n, D_sample_angle_interval);
		TTSS_run_every_init(ts_expara.pt.n,   D_sample_pt_interval);
		ts_expara.vbat.en = 1;
		ts_expara.angle.en = 1;
		ts_expara.pt.en = 1;
		ts_expara.vref.en = 1;
		D_VCC_BAT_ON();
		D_SW_CAL_ON();
		SWITCH_INIT();
	}else
	{
		///close adc
	}
}

void L1_expara_sample(void)
{
	if(ts_expara.vbat.en)
	{
		TTSS_run_every(ts_expara.vbat.n,D_sample_vbat_interval)
			ts_expara.vbat.val = L1_ADC_Readx(D_sample_adc_vbat);
///
			
		TTSS_run_every_end
	}
	
	if(ts_expara.angle.en)
	{
		TTSS_run_every(ts_expara.angle.n,D_sample_angle_interval)
			ts_expara.angle.val = L1_ADC_Readx(D_sample_adc_angle);
///printf1("	vbat=	%d	%x",ts_expara.vbat.val);
		ts_task_move.loc_now = 	ts_expara.angle.val;///

			

		TTSS_run_every_end
	}
	if(ts_expara.vref.en)
	{
		TTSS_run_every(ts_expara.vref.n,D_sample_vref_interval)
			ts_expara.vref.val = L1_ADC_Readx(D_sample_adc_vref);
///printf1("	pt= %d	%x",ts_expara.vbat.val);
			
		TTSS_run_every_end
	}

	if(ts_expara.pt.en)
	{
		TTSS_run_every(ts_expara.pt.n,D_sample_pt_interval)
			ts_expara.pt.val = L1_ADC_Readx(D_sample_adc_pt);
///printf1("	pt=	%d	%x",ts_expara.vbat.val);

			
		printf4("%d\t%d\t%d\t%d\r\n",ts_expara.vref.val,ts_expara.vbat.val,ts_expara.angle.val,ts_expara.pt.val);
		TTSS_run_every_end
	}
	
	
}

#if 0
L0_uart1_sendstr("IMEI");
L1_uartD_uchexArray(&R.card,16);
L0_uart1_0d0a();
L3_GET_ANGLE(L1_ADC_Read_ANGLE(6));
printf2("\r\n SET_ANGLE: %x CUR_ANGLE:%x \r\n",(int)R.motor_angle_set,(int)R.motor_angle_cur);
L3_GET_TEMP(L1_ADC_Read_PT(7));
printf2("\r\n IN_TEMP:%x BACK_TEMP: %x \r\n",(int)R.in_temp,(int)R.back_temp);
L3_GET_VBAT(L1_ADC_Read_VBAT(5));
L1_as_readA(0);
printf3("\r\n X_AXIS:%x Y_AXIS: %x Z_AXIS:%x\r\n",(int)R.x_acc,(int)R.y_acc,(int)R.z_acc);
L1_read_time();
printf1("\r\n NET_STREN:%x \r\n",R.signal);

#endif