#include "gpio.h"
#include "motor.h"
#include "gd32e23x_exti.h"
#include "gd32e23x_timer.h"
#include "bldc_ctrl.h"
#include "pwm.h"
#include "string.h"
static volatile motor_rotate_t motor_drive = {0};
static uint32_t motor_pluse = 0;
static void motor_phasechange(void);
static void update_speed_dir(uint8_t dir_in);

extern void Motor_Init(void)
{
    motor_drive.timeout = 0;
    motor_drive.speed = 0;
    motor_drive.enable_flag = 0;
    memset(motor_drive.speed_group, 0, SPEED_FILTER_NUM);
};
/**
  * @brief  ʹÄÜ»ô¶û´«¸ÐÆ÷
  * @param  ÎÞ
  * @retval ÎÞ
  */
void hall_enable(void)
{
    /* ʹÄÜ»ô¶û´«¸ÐÆ÷½Ó¿Ú */
    exti_interrupt_enable(HALL_A_EXTI);
    exti_interrupt_enable(HALL_B_EXTI);
    exti_interrupt_enable(HALL_C_EXTI);
    StartSpeedTime();    //start speed timer
    motor_phasechange(); // Ö´ÐÐÒ»´Î»»Ïà

    motor_drive.enable_flag = 1;
}

/**
  * @brief  ½ûÓûô¶û´«¸ÐÆ÷
  * @param  ÎÞ
  * @retval ÎÞ
  */
void hall_disable(void)
{
    /* ½ûÓûô¶û´«¸ÐÆ÷½Ó¿Ú */
    exti_interrupt_disable(HALL_A_EXTI);
    exti_interrupt_disable(HALL_B_EXTI);
    exti_interrupt_disable(HALL_C_EXTI);
    // HAL_TIMEx_HallSensor_Stop(&htimx_hall);
    StopSpeedTime(); //stop speed timer
    motor_drive.enable_flag = 0;
    motor_drive.speed = 0;
}

uint8_t get_hall_state(void)
{
    uint8_t state = 0;
    /* ¶ÁÈ¡»ô¶û´«¸ÐÆ÷ U µÄ״̬ */
    if (Get_HallSensorA_State())
    {
        state |= 0x01U << 0;
    }

    /* ¶ÁÈ¡»ô¶û´«¸ÐÆ÷ V µÄ״̬ */
    if (Get_HallSensorB_State())
    {
        state |= 0x01U << 1;
    }

    /* ¶ÁÈ¡»ô¶û´«¸ÐÆ÷ W µÄ״̬ */
    if (Get_HallSensorC_State())
    {
        state |= 0x01U << 2;
    }

    return state; // ·µ»Ø´«¸ÐÆ÷״̬
}
static uint8_t count = 0;
static void update_motor_speed(uint8_t dir_in, uint32_t time)
{
    int speed_temp = 0;
    static int flag = 0;
    float f = 0;

    /* ¼ÆËãËٶȣº
     µç»úÿתһȦ¹²ÓÃ12¸öÂö³å£¬(1.0/(64000000.0/6400)Ϊ¼ÆÊýÆ÷µÄÖÜÆÚ£¬(1.0/(48000000.0/6400) * time)Ϊʱ¼ä³¤¡£
  */

    if (time == 0)
        motor_drive.speed_group[count++] = 0;
    else
    {
        f = (1.0f / (64000000.0f / SPEED_PRESCALER_COUNT) * time);
        f = (1.0f / 12.0f) / (f / 60.0f);
        motor_drive.speed_group[count++] = f;
    }
    update_speed_dir(dir_in);
    //	motor_drive.speed = motor_drive.speed_group[count-1];
    if (count >= SPEED_FILTER_NUM)
    {
        flag = 1;
        count = 0;
    }
    //	return ;
    speed_temp = 0;

    /* ¼ÆËã½ü SPEED_FILTER_NUM ´ÎµÄËÙ¶Èƽ¾ùÖµ£¨Â˲¨£© */
    if (flag)
    {
        for (uint8_t c = 0; c < SPEED_FILTER_NUM; c++)
        {
            speed_temp += motor_drive.speed_group[c];
        }

        motor_drive.speed = speed_temp / SPEED_FILTER_NUM;
    }
    else
    {
        for (uint8_t c = 0; c < count; c++)
        {
            speed_temp += motor_drive.speed_group[c];
        }

        motor_drive.speed = speed_temp / count;
    }
}

/**
  * @brief  »ñÈ¡µç»úתËÙ
  * @param  time:»ñÈ¡µÄʱ¼ä¼ä¸ô
  * @retval ·µ»Øµç»úתËÙ
  */
float get_motor_speed(void)
{
    return motor_drive.speed;
}

/**
  * @brief  ¸üеç»úʵ¼ÊËٶȷ½Ïò
  * @param  dir_in£º»ô¶ûÖµ
  * @retval ÎÞ
  */
static void update_speed_dir(uint8_t dir_in)
{
    uint8_t step[6] = {1, 3, 2, 6, 4, 5};

    static uint8_t num_old = 0;
    uint8_t step_loc = 0; // ¼Ç¼µ±Ç°»ô¶ûλÖÃ
    int8_t dir = 1;

    for (step_loc = 0; step_loc < 6; step_loc++)
    {
        if (step[step_loc] == dir_in) // ÕÒµ½µ±Ç°»ô¶ûµÄλÖÃ
        {
            break;
        }
    }

    /* ¶Ëµã´¦Àí */
    if (step_loc == 0)
    {
        if (num_old == 1)
        {
            dir = 1;
        }
        else if (num_old == 5)
        {
            dir = -1;
        }
    }
    /* ¶Ëµã´¦Àí */
    else if (step_loc == 5)
    {
        if (num_old == 0)
        {
            dir = 1;
        }
        else if (num_old == 4)
        {
            dir = -1;
        }
    }
    else if (step_loc > num_old)
    {
        dir = -1;
    }
    else if (step_loc < num_old)
    {
        dir = 1;
    }

    num_old = step_loc;
    //  motor_drive.speed *= dir;;
    motor_drive.speed_group[count - 1] *= dir;
}

/**
  * @brief  »ô¶û´«¸ÐÆ÷´¥·¢»Øµ÷º¯Êý
  * @param  void
  * @retval ÎÞ
  */
void HAL_HallExti_TriggerCallback(void)
{
    /* »ñÈ¡»ô¶û´«¸ÐÆ÷Òý½Å״̬,×÷Ϊ»»ÏàµÄÒÀ¾Ý */
    if (exti_interrupt_flag_get(HALL_A_EXTI | HALL_B_EXTI | HALL_C_EXTI)) // ÅжÏÊÇ·ñÓÉ´¥·¢ÖжϲúÉú
    {
        // update_motor_speed(step, __HAL_TIM_GET_COMPARE(htim, TIM_CHANNEL_1));//TODO Ö÷¶¨Ê±Æ÷´¦»ñµÃ¼ÆÊýʱ¼ä
        motor_drive.timeout = 0;
        exti_interrupt_flag_clear(HALL_A_EXTI | HALL_B_EXTI | HALL_C_EXTI);
    }
    motor_phasechange();
    // HAL_TIM_GenerateEvent(&htimx_bldcm, TIM_EVENTSOURCE_COM); // Èí¼þ²úÉú»»Ïàʼþ£¬´Ëʱ²Å½«ÅäÖÃдÈë
}

static void motor_phasechange(void)
{
    uint8_t step = 0;
    step = get_hall_state();
    if (get_bldcm_direction() == MOTOR_FWD)
    {
        step = 7u - step;
    }
    switch (step)
    {
    /* next step: step 2 configuration .A-C` breakover---------------------------- */
    case 1:
        /*  channel U configuration */
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_U, TIMER_OC_MODE_PWM1);
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCX_ENABLE);
        timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCXN_DISABLE);

        /*  channel V configuration */
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCX_DISABLE);
        timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCXN_DISABLE);

        /*  channel W configuration */
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_W, TIMER_OC_MODE_PWM1);
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCX_DISABLE);
        timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_ENABLE);

        step++;
        break;

    /* next step: step 3 configuration .B-C` breakover---------------------------- */
    case 2:
        /*  channel U configuration */
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCX_DISABLE);
        timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCXN_DISABLE);

        /*  channel V configuration */
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_V, TIMER_OC_MODE_PWM1);
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCX_ENABLE);
        timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCXN_DISABLE);

        /*  channel W configuration */
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_W, TIMER_OC_MODE_PWM1);
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCX_DISABLE);
        timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_ENABLE);

        step++;
        break;

    /* next step: step 4 configuration .B-A` breakover---------------------------- */
    case 3:
        /*  channel U configuration */
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_U, TIMER_OC_MODE_PWM1);
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCX_DISABLE);
        timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCXN_ENABLE);

        /*  channel V configuration */
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_V, TIMER_OC_MODE_PWM1);
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCX_ENABLE);
        timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCXN_DISABLE);

        /*  channel W configuration */
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCX_DISABLE);
        timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_DISABLE);

        step++;
        break;

    /* next step: step 5 configuration .C-A` breakover---------------------------- */
    case 4:
        /*  channel U configuration */
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_U, TIMER_OC_MODE_PWM1);
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCX_DISABLE);
        timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCXN_ENABLE);

        /*  channel V configuration */
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCX_DISABLE);
        timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCXN_DISABLE);

        /*  channel W configuration */
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_W, TIMER_OC_MODE_PWM1);
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCX_ENABLE);
        timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_DISABLE);

        step++;
        break;

    /* next step: step 6 configuration .C-B` breakover---------------------------- */
    case 5:
        /*  channel U configuration */
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCX_DISABLE);
        timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCXN_DISABLE);

        /*  channel V configuration */
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_V, TIMER_OC_MODE_PWM1);
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCX_DISABLE);
        timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCXN_ENABLE);

        /*  channel W configuration */
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_W, TIMER_OC_MODE_PWM1);
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCX_ENABLE);
        timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_DISABLE);

        step++;
        break;

    /* next step: step 1 configuration .A-B` breakover---------------------------- */
    case 6:
        /*  channel U configuration */
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_U, TIMER_OC_MODE_PWM1);
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCX_ENABLE);
        timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCXN_DISABLE);

        /*  channel V configuration */
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_V, TIMER_OC_MODE_PWM1);
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCX_DISABLE);
        timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCXN_ENABLE);

        /*  channel W configuration */
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCX_DISABLE);
        timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_DISABLE);

        step = 1;
        break;
    }
}

/**
  * @brief  Í£Ö¹pwmÊä³ö
  * @param  ÎÞ
  * @retval ÎÞ
  */
extern void stop_pwm_output(void)
{
    timer_channel_output_state_config(TIMER0, TIMER_CH_0, TIMER_CCX_DISABLE);
    timer_channel_complementary_output_state_config(TIMER0, TIMER_CH_0, TIMER_CCXN_DISABLE);
    timer_channel_output_state_config(TIMER0, TIMER_CH_1, TIMER_CCX_DISABLE);
    timer_channel_complementary_output_state_config(TIMER0, TIMER_CH_1, TIMER_CCXN_DISABLE);
    timer_channel_output_state_config(TIMER0, TIMER_CH_2, TIMER_CCX_DISABLE);
    timer_channel_complementary_output_state_config(TIMER0, TIMER_CH_2, TIMER_CCXN_DISABLE);
}

/**
  * @brief  ÉèÖÃpwmÊä³öµÄÕ¼¿Õ±È
  * @param  pulse:ÒªÉèÖõÄÕ¼¿Õ±È
  * @retval ÎÞ
  */
void set_pwm_pulse(uint16_t pulse)
{
    /* ÉèÖö¨Ê±Æ÷ͨµÀÊä³ö PWM µÄÕ¼¿Õ±È */
    motor_pluse = pulse;
    //SetPwmDuty();
    if (motor_drive.enable_flag)
    {
        motor_phasechange();
    }
}

extern void BLDC_SpeedAndPID(void)
{
    if (motor_drive.timeout++ > 100) // ÓÐÒ»´ÎÔÚ²úÉú¸üÐÂÖжÏÇ°»ô¶û´«¸ÐÆ÷ûÓⶻñµ½Öµ
    {
        // printf("¶Âת³¬Ê±\r\n");
        motor_drive.timeout = 0;

        /* ¶Âת³¬Ê±Í£Ö¹ PWM Êä³ö */
        hall_disable();    // ½ûÓûô¶û´«¸ÐÆ÷½Ó¿Ú
        stop_pwm_output(); // Í£Ö¹ PWM Êä³ö
        set_bldcm_disable();
        motor_drive.speed = 0;
    }
    else
    {
        bldcm_pid_control();
    }
}