#ifndef __HALL_SENSOR_H
#define __HALL_SENSOR_H

#include "stm32f1xx_hal.h"

#define HALL_C_Pin          GPIO_PIN_9
#define HALL_C_GPIO_Port    GPIOC
#define HALL_A_Pin          GPIO_PIN_7
#define HALL_A_GPIO_Port    GPIOC
#define HALL_B_Pin          GPIO_PIN_8
#define HALL_B_GPIO_Port    GPIOC

#define ANGLE_60D		10922
#define ANGLE_120D  21844

#define HALL_ORIGIN (int8_t)0
//#define HALL_ORIGIN (int16_t)(-180)


//霍尔传感器检测结果
typedef struct
{
	uint32_t PWM_NumCnt;                       // PWM计数
	uint16_t Delta_Angle;                      // 步进角
	uint16_t Delta_AngleSum;                   // 67.5度内步进角累加和
	uint16_t SVM_Angle;                        // 电角度
	TrueOrFalse_Flag_Struct_t IsStopFlag;      // 停止标志
	TrueOrFalse_Flag_Struct_t InverterExistFlag;
	uint16_t motorspeed;
	uint16_t motorspeed_RCFlt;
	TrueOrFalse_Flag_Struct_t BackwardFlag;
}MC_HallSensorData_Struct_t;

//霍尔传感器输出状态
typedef struct
{
  uint8_t HallGropuStatus;
	uint8_t HallGropuStatus_Old;
}MC_HallSensorStatus_Struct_t;

extern const uint8_t HallSensorGroup_Encoder_Forward[8];
extern const uint8_t HallSensorGroup_Encoder_Backward[8];

extern MC_HallSensorData_Struct_t MC_HallSensorData;

extern uint8_t Hall_ReadState(void);
extern void HallSensor_GPIO_Init(void);
extern void HallSensorAngle_Init(void);
extern void HallSensor_Process(void);
extern int16_t MotorSpeedCal(uint16_t SVM_Angle, TrueOrFalse_Flag_Struct_t IsStopFlag);

#endif