#ifndef _HAL_H__
#define _HAL_H__
#include "stm32f3xx_hal.h"

#define PWM_UH_Pin GPIO_PIN_8
#define PWM_UH_GPIO_Port GPIOA
#define PWM_VH_Pin GPIO_PIN_9
#define PWM_VH_GPIO_Port GPIOA
#define PWM_WH_Pin GPIO_PIN_10
#define PWM_WH_GPIO_Port GPIOA


#define PWM_EN_U_Pin GPIO_PIN_10
#define PWM_EN_U_GPIO_Port GPIOC
#define PWM_EN_V_Pin GPIO_PIN_11
#define PWM_EN_V_GPIO_Port GPIOC
#define PWM_EN_W_Pin GPIO_PIN_12
#define PWM_EN_W_GPIO_Port GPIOC


#define CURR_AMPL_W_Pin GPIO_PIN_0
#define CURR_AMPL_W_GPIO_Port GPIOC
#define CURR_AMPL_V_Pin GPIO_PIN_1
#define CURR_AMPL_V_GPIO_Port GPIOC
#define TEMPERATURE_Pin GPIO_PIN_2
#define TEMPERATURE_GPIO_Port GPIOC
#define CURR_AMPL_U_Pin GPIO_PIN_0
#define CURR_AMPL_U_GPIO_Port GPIOA
#define BUS_VOLTAGE_Pin GPIO_PIN_1
#define BUS_VOLTAGE_GPIO_Port GPIOA

#define M1_OCP_Pin GPIO_PIN_11
#define M1_OCP_GPIO_Port GPIOA

#define HALL_1_PIN GPIO_PIN_15
#define HALL_1_GROUP GPIOA
#define HALL_2_PIN GPIO_PIN_3
#define HALL_2_GROUP GPIOB
#define HALL_3_PIN GPIO_PIN_10
#define HALL_3_GROUP GPIOB

#define CURRENT_U_ADC_CHANNAL 6
#define CURRENT_V_ADC_CHANNAL 7
#define CURRENT_W_ADC_CHANNAL 1


#define READ_HALL1() (HAL_GPIO_ReadPin(HALL_1_GROUP, HALL_1_PIN) == GPIO_PIN_SET ?1:0)
#define READ_HALL2() (HAL_GPIO_ReadPin(HALL_2_GROUP, HALL_2_PIN) == GPIO_PIN_SET ?1:0)
#define READ_HALL3() (HAL_GPIO_ReadPin(HALL_3_GROUP, HALL_3_PIN) == GPIO_PIN_SET ?1:0)

#define SYSTEM_CLOCK (72000000L)
#define TIM_CLOCK (SYSTEM_CLOCK * 2) /*SystemClock_Config中TIM1的clk从sys PLL 过来，固定2倍的PLL频率*/
#define TIM_CLOCK_MHz (144)
#define ADC_CLOCK (SYSTEM_CLOCK)
#define ADC_CLOCK_MHz (72)
#define NS_PER_TCLK (7) /* (1/144000000 * 1000000000) */
#define NS_2_TCLK(ns) ((ns/NS_PER_TCLK) + 1) //ns 转为pwm使用的那个TIM的clk count
#define FOC_FS (20 * 1000)
#define FOC_PWM_period (TIM_CLOCK/FOC_FS)
#define FOC_PWM_Half_Period (FOC_PWM_period/2)
#define MAX_VBUS (12.f) //12v

#define ADC_TRIG_CONV_LATENCY_CYCLES 3.5f
#define ADC_SAMPLING_CYCLES 7.5f


#define HW_DEAD_TIME_NS  800
#define HW_RISE_TIME_NS  50
#define HW_NOISE_TIME_NS 50
#define TDead NS_2_TCLK(HW_DEAD_TIME_NS)/* 死区时间 */ 
#define TRise NS_2_TCLK(HW_RISE_TIME_NS)/* MOS 开关时间*/
#define TNoise NS_2_TCLK(HW_NOISE_TIME_NS)/* MOS开关引入的开关噪声时间 */
#define TADC   ((uint16_t)((ADC_TRIG_CONV_LATENCY_CYCLES + ADC_SAMPLING_CYCLES) * 2 * TIM_CLOCK_MHz) / ADC_CLOCK_MHz + 1u)/* ADC 采样时间 */

void Error_Handler(void);
void SystemClock_Config(void);
void HAL_GPIO_init(void);
void HAL_NVIC_Init(void);
void HAL_EXIT_Init(void);

#endif /* _HAL_H__ */