#ifndef MOTOR_H
#define MOTOR_H
#include ""
/* µç»ú¿ØÐýתʵÏֽṹÌå */

#define SPEED_FILTER_NUM 30 // ËÙ¶ÈÂ˲¨´ÎÊý

typedef struct
{
    unsigned long timeout;     // ¶¨Ê±Æ÷¸üмÆÊý
    float speed;               // µç»úËÙ¶È rps£¨×ª/·ÖÖÓ£©
    unsigned long enable_flag; // µç»úʹÄܱêÖ¾
    signed int speed_group[SPEED_FILTER_NUM];
} motor_rotate_t;

/* ÀÛ¼Æ TIM_Period¸öºó²úÉúÒ»¸ö¸üлòÕßÖжÏ		
	µ±¶¨Ê±Æ÷´Ó0¼ÆÊýµ½65535£¬¼´Îª65535´Î£¬ÎªÒ»¸ö¼ÆÊýÖÜÆÚ */
#define HALL_PERIOD_COUNT (0xFFFF)

/* ͨÓÿØÖƶ¨Ê±Æ÷ʱÖÓÔ´TIMxCLK = HCLK = 72MHz
	 É趨¶¨Ê±Æ÷ƵÂÊΪ = TIMxCLK / (PWM_PRESCALER_COUNT) / PWM_PERIOD_COUNT = 9.987Hz
   ÖÜÆÚ T = 100ms */
#define HALL_PRESCALER_COUNT (110)

#define HALL_A_EXTI (EXTI_4)
#define HALL_B_EXTI (EXTI_5)
#define HALL_C_EXTI (EXTI_15)

extern void HAL_HallExti_TriggerCallback(void);

#endif