/*
 * @Author: wujunchao 24472040@qq.com
 * @Date: 2024-10-14 14:42:21
 * @LastEditors: wujunchao 24472040@qq.com
 * @LastEditTime: 2024-10-15 17:15:02
 * @FilePath: \mfps\App\Src\uniform.c
 * @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
 */
#include "uniform.h"
//2024_10_14新增功能：匀速往/返运动，要求速度可调
//为避免与旧程序冲突，使用↑↓组合键对[OLED,Key,LED]程序进行切换

uint32_t uniform_speed;
uint32_t uniform_speed_prv;
uint8_t limit_old = 0;

void uniform_motion(void)
{
    switch (uniform_limit(200, 1800))
    {
        case 0:
        {
            if(limit_old != 0)
            {
                OLED_ShowString(0,6,"-----",16,0);
                OLED_ShowString(64,6,"-----",16,0);

                limit_old = 0;
            }
            
        }
        break;

        case 1:
        {
            if(limit_old != 1)
            {
                OLED_ShowCN(0,6,20,0);				//正常“到”，第6页
                OLED_ShowCN(20,6,21,0);				//正常“达”，第6页

                GREEN_OFF;
                BLUE_ON;

                limit_old = 1;   
            }
            disp_new = 1;
            return;
        }

        case 2:
        {
            if(limit_old != 2)
            {
                OLED_ShowCN(64,6,20,0);				//正常“到”，第6页
                OLED_ShowCN(84,6,21,0);				//正常“达”，第6页

                GREEN_ON;
                BLUE_OFF;

                limit_old = 2;
            }
            disp_new = 1;
            return;
        }
        
        default:
        break;
    }

    switch (direc_select)
    {
        case 0:     //正向运动
        {
            tmc5160_operate(1,51200*60);

            if(it_500ms_flag)
            {
                it_500ms_flag = 0;

                GREEN_TOG;
                BLUE_OFF;
            }
        }
        break;

        case 1:     //反向运动
        {
             tmc5160_operate(2,51200*60);

            if(it_500ms_flag)
            {
                it_500ms_flag = 0;

                GREEN_OFF;
                BLUE_TOG;
            }
        }
        break;
        
        default:
        break;
    }
}

char uniform_limit(float start, float end)
{
    if( ( ocin1 == 0 )&&( direc_select != 0 ) )
    {
        //电机停止
        tmc5160_operate(0,0);
        return 1;
    }
    if( ( ocin2 == 0 )&&( direc_select != 1 ) )
    {
        //电机停止
         tmc5160_operate(0,0);
         return 2;
    }

    if( ( X_ads1220 <= start )&&( direc_select != 0 ) )
    {
        //电机停止
         tmc5160_operate(0,0);
         return 1;
    }
    if( ( X_ads1220 >= end )&&( direc_select != 1 ) )
    {
        //电机停止
        tmc5160_operate(0,0);
        return 2;
    }
    
    return 0;
}

void speed_set(uint32_t uni_speed)
{
    if(uni_speed != uniform_speed)
    {
        uniform_speed =uni_speed;
        uniform_speed_prv = uniform_speed;

        //VMAX
        TMC5160_SPIWriteInt(VMAX_ADDR, uniform_speed,1);
        //V1 
        TMC5160_SPIWriteInt(V1_ADDR, uniform_speed/2,1);
    }
}