#ifndef __BSP_H__
#define __BSP_H__
#if defined (GD32F30X_HD) || defined (GD32F30X_XD) || defined (GD32F30X_CL)
#include "gd32f30x.h"
#elif defined GD32E10x
#include "gd32e10x.h"
#endif
#include "bsp/gpio.h"
#include "bsp/gd32_bkp.h"
#include "bsp/gd32_rtc.h"
#include "bsp/can.h"
#include "bsp/i2c.h"
#include "bsp/fmc_flash.h"
#include "bsp/can.h"


#define SYSTEM_CLOCK (120000000u) //system clk 120M Hz
#define TIM_CLOCK (SYSTEM_CLOCK) /*SystemClock_Config��TIM1��clk��sys PLL �������̶�2����PLLƵ��*/
#define TIM_CLOCK_MHz (120u)
#define ADC_CLOCK (30000000u)
#define ADC_CLOCK_MHz (30u)
#define NS_PER_TCLK (8u) /* (1/120000000 * 1000000000) */
#define NS_2_TCLK(ns) (((ns)/NS_PER_TCLK) + 1u) //ns תΪpwmʹ�õ��Ǹ�TIM��clk count
#define FOC_PWM_FS (16000u)
#define FOC_PWM_period (TIM_CLOCK/FOC_PWM_FS)
#define FOC_PWM_Half_Period (FOC_PWM_period/2)

#define FOC_CTRL_US (1.0f/(float)FOC_PWM_FS)

#define ADC_REGCHAN_SAMPLE_TIME ADC_SAMPLETIME_239POINT5
#define ADC_TRIG_CONV_LATENCY_CYCLES 12.5f
#define ADC_SAMPLING_CYCLES 13.5f

#define TIMER_UP_IRQ_PRIORITY 0
#define ADC_IRQ_PRIORITY 1
#define HALL_IRQ_PRIORITY 2
#define SCHED_TIMER_IRQ_PRIORITY 3
#define EBREAK_IRQ_PRIORITY 2
#define CAN_IRQ_PRIORITY       6 
#define RTC_IRQ_PRIORITY       7 
#define UART_IRQ_PRIORITY      6 
#define ENC_TIMER_IRQ_PRIORITY 2
#define ENC_PWM_IRQ_PRIORITY 2
#define ENC_I_EXIT_IRQ_PRIORITY 2
#define ENC_OTHER_IRQ_PRIORITY 8

#define THREE_SHUNTS_SAMPLE 1
#define ONE_SHUNT_SAMPLE 2

#define GPIO_HIGH_BRK_MODE 1
#define GPIO_LOW_BRK_MODE 2

#define ENCODER_MPS 1
#define ENCODER_MT  2


#define MOTOR_BLUESHARK_NEW1  1//蓝鲨大功率电机，双I形
#define MOTOR_BLUESHARK_NEW2  2//蓝鲨大功率电机，V形
#define MOTOR_BLUESHARK_OLD   3//目前量产的电机
#define MOTOR_BLUESHARK_ZD_100  4//中动100码编码器电机样品
#define MOTOR_BLUESHARK_A1      5

#ifdef GD32_FOC_DEMO
#include "bsp/board_gd32demo.h"
#elif defined (YUANQU_HW_V1)
#include "bsp/board_yuanqu.h"
#elif defined (MC100_HW_V1)
#include "bsp/board_mc100_v1.h"
#endif
void bsp_init(void);
void wdog_reload(void);
void system_reboot(void);
int wdog_set_timeout(int wdog_time);
void systick_open(void);

#endif /* __BSP_H__ */