#ifndef __MOTOR_CONTROL_H
#define __MOTOR_CONTROL_H

#include "stm32f1xx_hal.h"
#include "var.h"
#include "adc.h"
/*********************************类型定义*******************************/
//推行模式处理控制变量
typedef struct
{
  TrueOrFalse_Flag_Struct_t IsEnterFlag; //进入推行模式标志
	uint32_t MotorSpeedSetBegin;           //进入推行模式电机转速值
}MC_WalkProcess_Param_Struct_t;

//力矩模式处理控制变量
typedef struct
{
	FlagStatus MotorStopLock_Flag; //停机锁定标志
	uint16_t TorqueApp;            //力矩采集值
	int16_t TorqueRef;             //助力计算结果
	int16_t TorqueRefEnd;          //助力给定值
}MC_TorqueProcess_Param_Struct_t;

//踏频模式处理控制变量
typedef struct
{
	FlagStatus MotorStopLock_Flag; //停机锁定标志
	uint16_t CadenceInput;         //踏频采集值
  TrueOrFalse_Flag_Struct_t IsEnterFlag; //进入踏频模式标志
	uint32_t MotorSpeedSetBegin;           //进入踏频模式电机转速值
}MC_CadenceProcess_Param_Struct_t;

//电机工作模式
typedef enum
{
  MC_WorkMode_Run = 0U,
	MC_WorkMode_Config
}MC_WorkMode_Struct_t;

typedef enum
{
  MC_GearSt_OFF = 0x00,
	MC_GearSt_Torque_ECO = 0x01,
	MC_GearSt_Torque_NORM = 0x02,
	MC_GearSt_Torque_SPORT = 0x03,
	MC_GearSt_Torque_TURBO = 0x04,
	MC_GearSt_Torque_5 = 0x05,
	MC_GearSt_Cadence_ECO = 0x11,
	MC_GearSt_Cadence_NORM = 0x12,
	MC_GearSt_Cadence_SPORT = 0x13,
	MC_GearSt_Cadence_TURBO = 0x14,
	MC_GearSt_SMART = 0x33,
	MC_GearSt_SMART_T = 0x44,
	MC_GearSt_WALK = 0x22
}MC_GearSt_Struct_t;

//电机控制指令，占用空间2bytes
typedef struct
{
  MC_GearSt_Struct_t GearSt;                        //助力档位
	MC_LightSwitch_Struct_t LightSwitch;              //灯开关 0xF0-关，0xF1-开
}MC_ControlCode_Struct_t;

typedef enum
{
	MC_AssistRunMode_WALK = 1U,		// 推行模式 
	MC_AssistRunMode_TORQUE,		  // 力矩模式
	MC_AssistRunMode_CADENCE,     // 踏频模式
	MC_AssistRunMode_GAS  ,       // 指拨模式
	MC_AssistRunMode_INVALID			// 无效模式
} MC_AssistRunMode_Struct_t;

//电机控制参数
typedef struct
{
  MC_AssistRunMode_Struct_t AssistRunMode;  //助力模式
	int16_t Ref_Torque;                       //力矩模式输入FOC值
	int16_t Ref_Speed;                        //速度模式输入FOC值
	FlagStatus Foc_Flag;                      //FCO运算标志
}MC_CalParam_Struct_t;

/**********************************变量声明**********************************/
extern MC_WorkMode_Struct_t MC_WorkMode;
extern MC_WorkMode_Struct_t MC_WorkMode_Back;
extern MC_ControlCode_Struct_t MC_ControlCode;
extern MC_ControlCode_Struct_t MC_ControlCode_Back;
extern MC_CalParam_Struct_t MC_CalParam;
extern MC_CalParam_Struct_t MC_CalParam_Back;
extern uint8_t MC_CadenceLimit_K;
extern FlagStatus MC_StarFlag;

#define Update_MC_ControlCode_Back()    { MC_ControlCode_Back.GearSt = (MC_GearSt_Struct_t)~MC_ControlCode.GearSt;\
		                                      MC_ControlCode_Back.LightSwitch = (MC_LightSwitch_Struct_t)~MC_ControlCode.LightSwitch; }

#define Update_MC_CalParam_Back()		    { MC_CalParam_Back.AssistRunMode = (MC_AssistRunMode_Struct_t)~MC_CalParam.AssistRunMode;\
		                                      MC_CalParam_Back.Foc_Flag = (FlagStatus)~MC_CalParam.Foc_Flag;\
	                                      	MC_CalParam_Back.Ref_Torque = ~MC_CalParam.Ref_Torque;\
	                                      	MC_CalParam_Back.Ref_Speed = ~MC_CalParam.Ref_Speed; }		
#define CADENCE_MODE_ENABLE 0
																					
/*****************************函数声明******************************/
extern void MC_SensorInit(void);
extern void MC_Init(void);
extern void MC_ControlParam_Init(void);
extern void MC_CalParam_Cal(MC_WorkMode_Struct_t p_MC_WorkMode,\
                            ADC_SensorData_Struct_t p_ADC_SensorData,\
										        MC_GearSt_Struct_t GearSt, \
                            TrueOrFalse_Flag_Struct_t Break_Flag, \
                            TrueOrFalse_Flag_Struct_t GearSensor_Flag, \
                            MC_CalParam_Struct_t* p_MC_CalParam);
extern void MC_MotorStar(FlagStatus* StarFlag);
extern void MC_MotorStop(FlagStatus* StarFlag);
extern void SpdProportion_calculate(void);
#endif