#ifndef EBRAKE_CTRL_H__
#define EBRAKE_CTRL_H__
#include "os/os_types.h"
#include "foc/core/ramp_ctrl.h"
#include "math/fix_math.h"

typedef struct {
	//float start;
	float target;
	float interpolation;
	float step_val;	
}e_Ramp;

typedef struct {
	u16  ebrk_time; //能量回收，时间越短，刹车性能或者回收越好
	u16  accl_time; //加速时间（ms），时间越短，加速性能越好
	u16  dec_time;  //降速时间
	bool hw_brake;
	bool is_ebrake;
	u32  brake_ts;//检测到刹车开始时间
	e_Ramp current;
	e_Ramp torque;
	e_Ramp speed;
	u16  ebrk_shadow;
	u16  accl_shadow;
	u16  dec_shadow;
	float ebrake_current;
	float current_shadow;
	float torque_shadow;
	float speed_shadow;
	bool is_ebrake_shadow;
}e_Ctrl;
static void eRamp_init(e_Ramp *r) {
	//r->start = 0;
	r->target = 0;
	r->interpolation = 0;
	r->step_val = 0;
}

static void eRamp_init_target(e_Ramp *r, float target) {
	//r->start = 0;
	r->target = target;
	r->interpolation = target;
	r->step_val = 0;
}

static void eRamp_set_target(e_Ramp *r, float target) {
	r->target = target;
}
static void eRamp_set_step(e_Ramp *r, float step) {
	r->step_val = step;
}

static void eRamp_running(e_Ramp *r) {
	float target = r->interpolation + r->step_val;
	if (r->step_val < 0) {
		if (target < r->target) {
			target = r->target;
		}
	}else {
		if (target > r->target) {
			target = r->target;
		}
	}
	r->interpolation = target;	
}

static float eRamp_get_intepolation(e_Ramp *r) {
	return r->interpolation;
}

static float eRamp_get_target(e_Ramp *r) {
	return r->target;
}

static void eRamp_set_step_target(e_Ramp *ramp, float c, u32 intval, u32 acct, u32 dect) {
	float c_now = eRamp_get_intepolation(ramp);
	float step_val = 0;
	int   sign = 1;

	if (c < c_now) {
		sign = -1;
	}
	u32 step_ms = intval;	
	if (sign > 0) { //增加扭矩
		step_val = (c - c_now)/(acct/step_ms);
		if (step_val < MIN_FLOAT) {
			step_val = MIN_FLOAT;
		}
	}else if (sign < 0) {
		step_val = (c_now - c)/(dect/step_ms);
		if (step_val < MIN_FLOAT) {
			step_val = MIN_FLOAT;
		}
		step_val = -step_val;
	}
	eRamp_set_target(ramp, c);
	eRamp_set_step(ramp, step_val);
}


void eCtrl_init(u16 accl_time, u16 dec_time);
void eCtrl_set_ebrk_time(u16 ebrk_time);
void eCtrl_brake_signal(bool hw_brake);
bool eCtrl_is_eBrk_enabled(void);
void eCtrl_set_TgtCurrent(float c);
void eCtrl_set_TgtTorque(float t);
void eCtrl_set_TgtSpeed(float s);
bool eCtrl_enable_eBrake(bool enable);
float eCtrl_get_RefSpeed(void);
float eCtrl_get_RefCurrent(void);
float eCtrl_get_RefTorque(void);
float eCtrl_get_FinalSpeed(void);
float eCtrl_get_FinalCurrent(void);
float eCtrl_get_FinalTorque(void);
void eCtrl_Running(void);

#endif /* EBRAKE_CTRL_H__ */