#ifndef BLDC_CONTROL_H
#define BLDC_CONTROL_H
#include "gpio.h"
//Òý½Å¶¨Òå
/*******************************************************/
// Á¬½ÓÇý¶¯°åµÄ SD ½Å
#define SHUTDOWN_PIN GPIO_PIN_6
#define SHUTDOWN_GPIO_PORT GPIOA
// #define SHUTDOWN_GPIO_CLK_ENABLE() __HAL_RCC_GPIOD_CLK_ENABLE()
/*******************************************************/

/* µç»ú SD or EN ʹÄܽŠ*/
#define BLDCM_ENABLE_SD()     \
    do                        \
    {                         \
        Set_SDH2136_Enable(); \
    } while (0) // ¸ßµçƽ´ò¿ª-¸ßµçƽʹÄÜ
#define BLDCM_DISABLE_SD()     \
    do                         \
    {                          \
        Set_SDH2136_Disable(); \
    } while (0) // µÍµçƽ¹Ø¶Ï-µÍµçƽ½ûÓÃ

/* µç»ú·½Ïò¿ØÖÆö¾Ù */
typedef enum
{
    MOTOR_FWD = 0,
    MOTOR_REV,
} motor_dir_t;

typedef struct
{
    motor_dir_t direction; // µç»ú·½Ïò
    uint16_t dutyfactor;   // PWM Êä³öÕ¼¿Õ±È
    uint8_t is_enable;     // ʹÄܵç»ú
    uint32_t lock_timeout; // µç»ú¶Âת¼Æʱ
} bldcm_data_t;

void bldcm_init(void);
void set_bldcm_speed(uint16_t v);
void set_bldcm_direction(motor_dir_t dir);
motor_dir_t get_bldcm_direction(void);
void set_bldcm_enable(void);
void set_bldcm_disable(void);
void bldcm_pid_control(void);

// extern void BLDC_SpeedAndPID(void);
#endif