#include <math.h>
#include <stdlib.h>

/* ˽ÓбäÁ¿ */
static bldcm_data_t bldcm_data;

/* ¾Ö²¿º¯Êý */
static void sd_gpio_config(void);

/**
  * @brief  µç»ú³õʼ»¯
  * @param  ÎÞ
  * @retval ÎÞ
  */
void bldcm_init(void)
{
    PWM_TIMx_Configuration(); // µç»ú¿ØÖƶ¨Ê±Æ÷£¬Òý½Å³õʼ»¯
    hall_tim_config();        // »ô¶û´«¸ÐÆ÷³õʼ»¯
    sd_gpio_config();         // sd Òý½Å³õʼ»¯
}

/**
  * @brief  µç»ú SD ¿ØÖÆÒý½Å³õʼ»¯
  * @param  ÎÞ
  * @retval ÎÞ
  */
static void sd_gpio_config(void)
{
    GPIO_InitTypeDef GPIO_InitStruct;

    /* ¶¨Ê±Æ÷ͨµÀ¹¦ÄÜÒý½Å¶Ë¿ÚʱÖÓʹÄÜ */
    SHUTDOWN_GPIO_CLK_ENABLE();

    /* Òý½ÅIO³õʼ»¯ */
    /*ÉèÖÃÊä³öÀàÐÍ*/
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
    /*ÉèÖÃÒý½ÅËÙÂÊ */
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
    /*Ñ¡ÔñÒª¿ØÖƵÄGPIOÒý½Å*/
    GPIO_InitStruct.Pin = SHUTDOWN_PIN;

    /*µ÷Óÿ⺯Êý£¬Ê¹ÓÃÉÏÃæÅäÖõÄGPIO_InitStructure³õʼ»¯GPIO*/
    HAL_GPIO_Init(SHUTDOWN_GPIO_PORT, &GPIO_InitStruct);

    BLDCM_ENABLE_SD(); // ĬÈÏ¿ªÆô
    HAL_Delay(1);
}

/**
  * @brief  ÉèÖõç»úËÙ¶È
  * @param  v: Ëٶȣ¨Õ¼¿Õ±È£©
  * @retval ÎÞ
  */
void set_bldcm_speed(uint16_t v)
{
    bldcm_data.dutyfactor = v;

    set_pwm_pulse(v); // ÉèÖÃËÙ¶È
}

/**
  * @brief  ÉèÖõç»ú·½Ïò
  * @param  ÎÞ
  * @retval ÎÞ
  */
void set_bldcm_direction(motor_dir_t dir)
{
    bldcm_data.direction = dir;
}

/**
  * @brief  »ñÈ¡µç»úµ±Ç°·½Ïò
  * @param  ÎÞ
  * @retval ÎÞ
  */
motor_dir_t get_bldcm_direction(void)
{
    return bldcm_data.direction;
}

/**
  * @brief  ʹÄܵç»ú
  * @param  ÎÞ
  * @retval ÎÞ
  */
void set_bldcm_enable(void)
{
    bldcm_data.is_enable = 1;
    hall_enable();
}

/**
  * @brief  ½ûÓõç»ú
  * @param  ÎÞ
  * @retval ÎÞ
  */
void set_bldcm_disable(void)
{
    /* ½ûÓûô¶û´«¸ÐÆ÷½Ó¿Ú */
    hall_disable();

    /* Í£Ö¹ PWM Êä³ö */
    stop_pwm_output();

    /* ¹Ø±Õ MOS ¹Ü */
    bldcm_data.is_enable = 0;
}

/**
  * @brief  µç»úλÖÃʽ PID ¿ØÖÆʵÏÖ(¶¨Ê±µ÷ÓÃ)
  * @param  ÎÞ
  * @retval ÎÞ
  */
void bldcm_pid_control(void)
{
    int32_t speed_actual = get_motor_speed(); // µç»úÐýתµÄµ±Ç°ËÙ¶È

    if (bldcm_data.is_enable)
    {
        float cont_val = 0; // µ±Ç°¿ØÖÆÖµ

        cont_val = PID_realize(speed_actual);

        if (cont_val < 0)
        {
            cont_val = -cont_val;
            bldcm_data.direction = MOTOR_REV;
        }
        else
        {
            bldcm_data.direction = MOTOR_FWD;
        }

        cont_val = (cont_val > PWM_PERIOD_COUNT) ? PWM_PERIOD_COUNT : cont_val; // ÉÏÏÞ´¦Àí

        set_bldcm_speed(cont_val);

#ifdef PID_ASSISTANT_EN
        set_computer_value(SEND_FACT_CMD, CURVES_CH1, &speed_actual, 1); // ¸øͨµÀ 1 ·¢ËÍʵ¼ÊÖµ
#else
        printf("ʵ¼ÊÖµ£º%d, Ä¿±êÖµ£º%.0f£¬¿ØÖÆÖµ: %.0f\n", speed_actual, get_pid_target(), cont_val);
#endif
    }
}