/**********************************************************************//**
 *
 *  Copyright (c) 2020 Diality Inc. - All Rights Reserved.
 *
 *  THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN
 *  WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER.
 *
 *  @file SensorProcess.c
 *
 *  @date 20-Feb-2020
 *  @author S. Nejatali
 *
 *  @brief Processing sensor data.
 *
 **************************************************************************/

#include "SensorProcess.h"
#include "Common.h"
#include "SystemCommMessages.h"
#include "FPGA.h"
 
 /**@}*/

/*********************************************************************//**
 * @brief
 * The execSensorProcess function calls other routines that process sensor data.
 * @details
 * Inputs : none
 * Outputs : processing data.
 * @return none
 *************************************************************************/
 void execSensorProcess()
 {
#ifdef DEBUG_ENABLED
     char debugStr[ 256 ];
#endif
     static U32 Counter = 0;
     static U32 Load_cell_a1 = 0;
     static U32 Load_cell_a2 = 0;
     static U32 Load_cell_b1 = 0;
     static U32 Load_cell_b2 = 0;
     F32 load_cell_a1_f;
     F32 load_cell_a2_f;
     F32 load_cell_b1_f;
     F32 load_cell_b2_f;
     BOOL   result;

     Load_cell_a1 += getFPGALoadCellA1();   // No overflow since ADC output is 24 bits.
     Load_cell_a2 += getFPGALoadCellA2();
     Load_cell_b1 += getFPGALoadCellB1();
     Load_cell_b2 += getFPGALoadCellB2();

     Counter++;
     if (Counter == LOAD_CELL_REPORT_PERIOD)
     {
         Counter = 0;

         load_cell_a1_f = (F32)(Load_cell_a1)*ADC2GRAM;   // division for averaging folded into ADC2GRAM
         load_cell_a2_f = (F32)(Load_cell_a2)*ADC2GRAM;
         load_cell_b1_f = (F32)(Load_cell_b1)*ADC2GRAM;
         load_cell_b2_f = (F32)(Load_cell_b2)*ADC2GRAM;
         result = broadcastLoadCellData( load_cell_a1_f, load_cell_a2_f, load_cell_b1_f, load_cell_b2_f );
#ifdef DEBUG_ENABLED
         if (result == FALSE)
             sprintf( debugStr, "Adding load cell data to CAN buffer failed" );
#else
         (void)result;
#endif
         Load_cell_a1 = 0;
         Load_cell_a2 = 0;
         Load_cell_b1 = 0;
         Load_cell_b2 = 0;
     }
 }