#include "main.h"
#include "user_asm330lhh.h"
#include  "asm330lhh_reg.h"
#include "rtklib.h"

extern uint32_t time_100us;
extern SPI_HandleTypeDef hspi1;

extern TIM_HandleTypeDef htim1;

extern UART_HandleTypeDef huart1;
extern UART_HandleTypeDef huart2;
extern nmea_t nmea;




IMU_mng IMU_mng_st={0};
IMU_mng IMU_mng_tdk={0};
extern void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
	if(htim->Instance == htim1.Instance)
	{
		if(nmea.sol.utctime.sec+0.0001<1)
		{
			nmea.sol.utctime.sec+=0.0001;
		}
		if(nmea.sol.time.sec+0.0001<1)
		{
			nmea.sol.time.sec+=0.0001;
		}
	}
}
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
	if(GPIO_Pin == GPIO_PIN_1)
	{
		if(HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_1)==GPIO_PIN_RESET)//PPS impulse
		{
			nmea.sol.utctime.sec=0;
			nmea.sol.time.sec=0;/* time (GPST) */
			nmea.sol.utctime.time++;
			nmea.sol.time.time++;/* time (GPST) */
		}
	}
	if(GPIO_Pin == GPIO_PIN_0)
	{
		if(HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_0)==GPIO_PIN_RESET)//INI1 from ST IMU
		{
			if((!IMU_mng_st.lock)&&(!IMU_mng_st.ready))
			{
				IMU_mng_st.lock=IMU_LOCK;
				IMU_mng_st.time= nmea.sol.time;
				IMU_mng_st.utctime= nmea.sol.utctime;
				IMU_mng_st.ready=IMU_READY;
				IMU_mng_st.lock=IMU_UNLOCK;
			}

		}
	}
}
uint8_t rx_uart2=0;
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
	if(huart->Instance==huart2.Instance)
	{
		if(input_nmea(&nmea, rx_uart2)!=1)
		{
			HAL_UART_Receive_IT(&huart2, &rx_uart2, 1);
		}
		else
		{
			HAL_TIM_Base_Start(&htim1);
		}
	}

}