#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"
#include "app/nv_storage.h"

typedef struct {
	bool running;
	u32  start_ts;
	u32  det_ts;
	u32  rpm;
	bool error;
}fan_t;

typedef struct {
	bool   b_start;
	float  throttle;
	bool   b_ignor_throttle;
	bool   b_calibrate;
	bool   b_force_run;
	bool   b_runStall; //是否堵转
	bool   b_lock_motor;
	bool   b_auto_hold;
	bool   b_break;
	bool   b_epm;
	EPM_Dir_t epm_dir;
	bool   b_epm_cmd_move;
	u32    runStall_time;
	float  runStall_pos;
	u8     u_throttle_ration;
	s8     s_direction;
	u32    n_brake_errors;
	u32    n_CritiCalErrMask;
	u8     mode;
	bool   b_is96Mode;
	u8     n_gear;
	mc_gear_t *gear_cfg;
	u32    n_autohold_time;
	bool   b_wait_brk_release;
	bool   b_updated;
	fan_t  fan[2];
}motor_t;

motor_t * mc_params(void);
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);
bool mc_auto_hold(bool hold);
void mc_set_throttle_r(u8 r);
void mc_use_throttle(void);
bool mc_current_sensor_calibrate(float current);
bool mc_encoder_zero_calibrate(s16 vd);
bool mc_set_foc_mode(u8 mode);
bool mc_is_epm(void);
bool mc_start_epm(bool epm);
bool mc_start_epm_move(EPM_Dir_t dir, bool is_command);
void mc_get_running_status(u8 *data);
bool mc_command_epm_move(EPM_Dir_t dir);
bool mc_throttle_epm_move(EPM_Dir_t dir);
void mc_need_update(void);
bool mc_is_start(void);
bool mc_set_gear(u8 gear);
u8 mc_get_gear(void);
void mc_set_critical_error(u8 err);
void mc_clr_critical_error(u8 err);
u32 mc_get_critical_error(void);
void mc_set_fan_duty(u8 duty);
void mc_force_run_open(s16 vd, s16 vq);

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 void motor_encoder_update(void) {
#ifdef USE_ENCODER_HALL
	hall_sensor_get_theta();
#elif defined (USE_ENCODER_ABI)
	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 float motor_encoder_get_position(void) {
#ifdef USE_ENCODER_HALL
	return 0;
#elif defined (USE_ENCODER_ABI)
	return encoder_get_position();
#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(bool start) {
#ifdef USE_ENCODER_HALL
		hall_sensor_clear(direction);
#elif defined (USE_ENCODER_ABI)
		encoder_init_clear();
#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 void motor_encoder_data_upload(void) {
#ifdef USE_ENCODER_HALL
	
#elif defined (USE_ENCODER_ABI)
	encoder_detect_upload();
#else
	#error "Postion sensor ERROR"
#endif
}


static __INLINE float motor_encoder_zero_phase_detect(float *enc_off){
#ifdef USE_ENCODER_HALL
	return 0.0f;
#elif defined (USE_ENCODER_ABI)
	return encoder_zero_phase_detect(enc_off);
#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__ */