#ifndef _ENC_INTF_H__
#define _ENC_INTF_H__
#include "os/os_types.h"
#include "bsp/bsp.h"

#define PWM_TIME_CLK 10000000U

#ifdef GD32_FOC_DEMO
#define ENC_A_GROUP GPIOA
#define ENC_A_PIN GPIO_PIN_6
#define ENC_A_RCU RCU_GPIOA
#define ENC_A_MODE GPIO_MODE_IN_FLOATING

#define ENC_B_GROUP GPIOA
#define ENC_B_PIN GPIO_PIN_7
#define ENC_B_RCU RCU_GPIOA
#define ENC_B_MODE GPIO_MODE_IN_FLOATING

#define ENC_PWM_GROUP GPIOB
#define ENC_PWM_PIN GPIO_PIN_6
#define ENC_PWM_RCU RCU_GPIOB
#define ENC_PWM_MODE GPIO_MODE_IN_FLOATING

#define ENC_I_GROUP GPIOB     /*测量编码器的ABI的I信号，360度同步一次*/
#define ENC_I_PIN GPIO_PIN_0
#define ENC_I_RCU RCU_GPIOB
#define ENC_I_MODE GPIO_MODE_IPU
#define ENC_I_IRQ  EXTI0_IRQn
#define ENC_I_EXTI EXTI_0
#define ENC_I_EXIT_SRC_GROUP GPIO_PORT_SOURCE_GPIOB
#define ENC_I_EXIT_SRC_PIN GPIO_PIN_SOURCE_0

#define ENC_TIMER TIMER2  /* 测量编码器的ABI信号的AB信号 */
#define ENC_TIMER_RCU RCU_TIMER2
#define ENC_TIMER_IRQ TIMER2_IRQn
#define ENC_TIMER_IRQHandler TIMER2_IRQHandler

#define ENC_PWM_TIMER TIMER3    /* 测量绝对编码器PWM输出的占空比，获取转子angle*/
#define ENC_PWM_TIMER_RCU RCU_TIMER3
#define ENC_PWM_TIMER_IRQ TIMER3_IRQn
#define ENC_PWM_TIMER_CHAN  TIMER_CH_0
#define ENC_PWM_TIMER_IRQ_CH TIMER_INT_CH0
#define ENC_PWM_TIMER_INT_FLG TIMER_INT_FLAG_CH0
#define ENC_PWM_IRQHandler TIMER3_IRQHandler

#else
#define ENC_A_GROUP GPIOB
#define ENC_A_PIN GPIO_PIN_8
#define ENC_B_GROUP GPIOB
#define ENC_B_PIN GPIO_PIN_7
#define ENC_PWM_GROUP GPIOB
#define ENC_PWM_PIN GPIO_PIN_6
#endif

#define ENC_DIR_UP 1
#define ENC_DIR_DOWN 2

#define ENC_PWM_Calc_P(t) ((float)t / (float)PWM_TIME_CLK)

#define ENC_COUNT TIMER_CNT(ENC_TIMER)

#define ENC_Direction() ((TIMER_CTL0(ENC_TIMER) & TIMER_CTL0_DIR)?ENC_DIR_DOWN:ENC_DIR_UP)

#define ENC_OverFlow() ((TIMER_INTF(ENC_TIMER) & TIMER_FLAG_UP)?true:false)
#define ENC_ClearUpFlags() (TIMER_INTF(ENC_TIMER) = (~(uint32_t)TIMER_FLAG_UP))

void enc_intf_quadrature_init(u32 rate);
void enc_intf_pwm_counter(void);
void enc_intf_init(u32 rate);

#endif /*_ENC_INTF_H__*/