#ifndef _MOTOR_H__
#define _MOTOR_H__
#include "os/os_types.h"
#include "foc/core/PMSM_FOC_Core.h"
#include "foc/motor/hall.h"
#include "foc/motor/encoder.h"

typedef struct {
	bool   b_start;
	float  throttle;
	bool   b_ignor_throttle;
	s16    s_testAngle;
	s32    s_targetFix;
	s8     s_direction;
	u32    n_brake_errors;
	u8     mode;
}motor_t;

void mc_init(void);
bool mc_start(u8 mode);
bool mc_stop(void);
void mc_encoder_off_calibrate(s16 vd);
bool mc_throttle_released(void);
bool mc_lock_motor(bool lock);
void mc_set_spd_torque(s32 target);
void mc_use_throttle(void);
bool mc_current_sensor_calibrate(float current);
bool mc_encoder_zero_calibrate(s16 vd);

static __INLINE float motor_encoder_get_angle(void) {
#ifdef USE_ENCODER_HALL
	return hall_sensor_get_theta();
#elif defined (USE_ENCODER_ABI)
	return encoder_get_theta();
#else
	#error "Postion sensor ERROR"
#endif
}

static __INLINE float motor_encoder_get_speed(void) {
#ifdef USE_ENCODER_HALL
	return hall_sensor_get_speed();
#elif defined (USE_ENCODER_ABI)
	return encoder_get_speed();
#else
	#error "Postion sensor ERROR"
#endif
}

static __INLINE float motor_encoder_get_vel_count(void) {
#ifdef USE_ENCODER_HALL
	return 0;
#elif defined (USE_ENCODER_ABI)
	return encoder_get_vel_count();
#else
	#error "Postion sensor ERROR"
#endif
}

static __INLINE void motor_encoder_init(void) {
#ifdef USE_ENCODER_HALL
		hall_sensor_init();
#elif defined (USE_ENCODER_ABI)
		encoder_init();
#else
	#error "Postion sensor ERROR"
#endif
}

static __INLINE void motor_encoder_start(s8 direction) {
#ifdef USE_ENCODER_HALL
		hall_sensor_clear(direction);
#elif defined (USE_ENCODER_ABI)
		encoder_init_clear(direction);
#else
	#error "Postion sensor ERROR"
#endif
}

static __INLINE void motor_encoder_offset(float angle) {
#ifdef USE_ENCODER_HALL
		hall_detect_offset(angle);
#elif defined (USE_ENCODER_ABI)
		encoder_detect_offset(angle);
#else
	#error "Postion sensor ERROR"
#endif
}

static __INLINE void motor_encoder_offset_finish(void) {
#ifdef USE_ENCODER_HALL
		hall_detect_offset_finish();
#elif defined (USE_ENCODER_ABI)
		encoder_detect_finish();
#else
	#error "Postion sensor ERROR"
#endif
}

static __INLINE bool motor_encoder_offset_is_finish(void) {
#ifdef USE_ENCODER_HALL
	return false;
#elif defined (USE_ENCODER_ABI)
	return encoder_detect_finish();
#else
	#error "Postion sensor ERROR"
#endif
}

static __INLINE float motor_encoder_zero_phase_detect(void){
#ifdef USE_ENCODER_HALL
	return 0.0f;
#elif defined (USE_ENCODER_ABI)
	return encoder_zero_phase_detect();
#else
	#error "Postion sensor ERROR"
#endif
}

static __INLINE void motor_encoder_set_direction(s8 dir) {
#ifdef USE_ENCODER_HALL
			hall_set_direction(dir);
#elif defined (USE_ENCODER_ABI)
			encoder_set_direction(dir);
#else
	#error "Postion sensor ERROR"
#endif
}

static __INLINE void motor_encoder_lock_pos(bool lock) {
#ifdef USE_ENCODER_HALL
		
#elif defined (USE_ENCODER_ABI)
		encoder_lock_position(lock);
#else
	#error "Postion sensor ERROR"
#endif
}


#endif /* _MOTOR_H__ */