#ifndef _HALL_SENSOR_H__
#define _HALL_SENSOR_H__
#include "os/os_types.h"
#include "bsp/bsp.h"
#include "math/fix_math.h"
#include "foc/core/PI_Controller.h"


#define STATE_0 (uint8_t)0
#define STATE_1 (uint8_t)1
#define STATE_2 (uint8_t)2
#define STATE_3 (uint8_t)3
#define STATE_4 (uint8_t)4
#define STATE_5 (uint8_t)5
#define STATE_6 (uint8_t)6
#define STATE_7 (uint8_t)7

#define THETA_NONE        (float)0xFFFF
#define SAMPLE_MAX_COUNT 6

typedef struct {
	u32       	ticks[SAMPLE_MAX_COUNT];
	u32   		ticks_sum;
	u32   		index;
	u32			filled;
}hsample_t;

typedef struct {
	bool			inited;
	float   		phase_offset;
	float			mot_poles;
	u8				state; // state = A <<2+ B <<1 + C
	float			low_res_pos; //每个霍尔中断更新一次，60度
	s8				dir;
	s8				prev_dir;
	s8				dir_set;
	u32				edge_ticks;
	u32				last_delta_ticks;
	float			elec_angle; //经过插值的高分辨率角度
	float			elec_angle_vel;
	float			elec_angle_edge; //霍尔中断的时候，上面插值高分辨率的角度所存
	float			delta_angle_edge;
	float			angle_smooth_step;
	float			angle_smooth_cnt;
	float			velocity_filted;
	float			position;
	hsample_t		samples;
	bool			b_trns_det; //速度突变
	u32				sig_errors;
	u32				noise_errors;
}hall_t;

void hall_init(void);
float hall_update_elec_angle(void);
float hall_get_elec_angle(void);
float hall_get_velocity(void);
float hall_get_vel_counts(void);
float hall_get_position(void);
float hall_offset_detect(float *off);
void  hall_set_direction(s8 dir);
hall_t *hall_get(void);

#endif /* _HALL_SENSOR_H__ */