#ifndef BLDC_CONTROL_H
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#define BLDC_CONTROL_H
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#include "gpio.h"
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//Òý½Å¶¨Òå
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/*******************************************************/
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// Á¬½ÓÇý¶¯°åµÄ SD ½Å
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#define SHUTDOWN_PIN GPIO_PIN_15
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#define SHUTDOWN_GPIO_PORT GPIOD
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// #define SHUTDOWN_GPIO_CLK_ENABLE() __HAL_RCC_GPIOD_CLK_ENABLE()
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/*******************************************************/
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/* µç»ú SD or EN ʹÄܽŠ*/
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#define BLDCM_ENABLE_SD() \
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do \
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{ \
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Set_SDH2136_Enable(); \
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} while (0) // ¸ßµçƽ´ò¿ª-¸ßµçƽʹÄÜ
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#define BLDCM_DISABLE_SD() \
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do \
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{ \
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Set_SDH2136_Disable(); \
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} while (0) // µÍµçƽ¹Ø¶Ï-µÍµçƽ½ûÓÃ
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/* µç»ú·½Ïò¿ØÖÆö¾Ù */
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typedef enum
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{
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MOTOR_FWD = 0,
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MOTOR_REV,
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} motor_dir_t;
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typedef struct
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{
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motor_dir_t direction; // µç»ú·½Ïò
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uint16_t dutyfactor; // PWM Êä³öÕ¼¿Õ±È
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uint8_t is_enable; // ʹÄܵç»ú
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uint32_t lock_timeout; // µç»ú¶Âת¼Æʱ
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} bldcm_data_t;
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void bldcm_init(void);
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void set_bldcm_speed(uint16_t v);
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void set_bldcm_direction(motor_dir_t dir);
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motor_dir_t get_bldcm_direction(void);
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void set_bldcm_enable(void);
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void set_bldcm_disable(void);
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void bldcm_pid_control(void);
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#endif
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