/***
 * @Author: shenghao.xu
 * @Date: 2023-06-13 16:58:57
 * @LastEditors: shenghao.xu
 * @LastEditTime: 2023-06-13 16:59:13
 * @Description:电机驱动模块
 * @email:545403892@qq.com
 * @Copyright (c) 2023 by shenghao.xu, All Rights Reserved.
 */

#ifndef __MOTOR_H
#define __MOTOR_H
#include "lib.h"
#include "gpio.h"
#include "tim.h"

/* 步进电机参数相关宏 */
#define PULSE_REV 400.0                  /* 每圈脉冲数 */
#define MAX_STEP_ANGLE (360 / PULSE_REV) /* 最小步距(360/PULSE_REV) */

typedef enum
{
    PWM_CHANNEL_1 = TIM_CHANNEL_1,
    PWM_CHANNEL_2 = TIM_CHANNEL_2,
    PWM_CHANNEL_3 = TIM_CHANNEL_3,
    PWM_CHANNEL_4 = TIM_CHANNEL_4,
} pwm_channel_e;

typedef enum
{
    DIR_CCW = 0, /* 逆时针旋转 */
    DIR_CW,      /* 顺时针旋转 */
} dir_e;
typedef enum
{
    DIRECT_CURRENT_MOTOR, // 直流电机
    STEP_MOTOR,           // 步进电机
    SERVO_MOTOR,          // 舵机
} motor_type_e;           // 电机类型枚举定义

typedef enum
{
    DIRECT_CURRENT_MOTOR_MAX,
} direct_current_motor_number_e; // 直流电机编号枚举定义

typedef enum
{
    STEP_MOTOR_1,
    STEP_MOTOR_MAX,
} step_motor_number_e; // 步进电机编号枚举定义

typedef enum
{
    SERVO_MOTOR_MAX,
} servo_motor_number_e; // 舵机编号枚举定义

#pragma pack(1)
typedef struct
{
    GPIO_TypeDef *GPIOx;
    uint16_t GPIO_Pin;
} motor_gpio_t;
#pragma pack()

// 接口定义
typedef struct
{
    // public:
    void (*init)(step_motor_number_e num, TIM_HandleTypeDef *tim_handle, motor_gpio_t dir_gpio, motor_gpio_t en_gpio, pwm_channel_e pwm_channel); // 初始化
    void (*stop)(step_motor_number_e num);                                                                                                        // 停止

    void (*set_angle)(step_motor_number_e num, uint32_t angle, dir_e dir); // 将角度转换成脉冲个数并运行

    void (*stop_cb)(step_motor_number_e num); // 停止回调函数,在stop中执行

    // private:
    void (*run)(step_motor_number_e num, dir_e dir); // 运行
} step_motor_interface_t;

#pragma pack(1)

typedef struct
{

} direct_current_motor_t; // 直流电机结构体

typedef struct
{
    int angle;                     /* 设置需要旋转的角度 */
    dir_e dir;                     /* 方向 */
    uint8_t en;                    /* 使能 */
    volatile uint32_t pulse_count; /* 脉冲个数记录 */
    volatile int add_pulse_count;  /* 脉冲个数累计 */
    volatile uint32_t step_angle;  /* 步距 */
} step_motor_attribute_t;
typedef struct
{
    TIM_HandleTypeDef *tim_handle; /* 定时器句柄 */
    motor_gpio_t dir_gpio;         /* 方向引脚 */
    motor_gpio_t en_gpio;          /* 脱机引脚 */
    pwm_channel_e pwm_channel;     /* pwm通道 */

    step_motor_attribute_t attribute; /* 步进电机属性 */

    step_motor_interface_t interface; /* 步进电机接口 */

} step_motor_t; // 步进电机结构体

typedef struct
{
} servo_motor_t; // 舵机结构体

typedef struct
{

} motor_t;
#pragma pack()

/*------------------------电机使能引脚控制--------------------------------*/
#define ST_ENR(x, port, pin)                                                                           \
    do                                                                                                 \
    {                                                                                                  \
        x ? HAL_GPIO_WritePin(port, pin, GPIO_PIN_RESET) : HAL_GPIO_WritePin(port, pin, GPIO_PIN_SET); \
    } while (0)

/*----------------------- 方向引脚控制 -----------------------------------*/
#define ST_DIR(x, port, pin)                                                                           \
    do                                                                                                 \
    {                                                                                                  \
        x ? HAL_GPIO_WritePin(port, pin, GPIO_PIN_SET) : HAL_GPIO_WritePin(port, pin, GPIO_PIN_RESET); \
    } while (0)
/******************************************************************************************/

extern void motor_init(void);
extern direct_current_motor_t *get_direct_current_motor(direct_current_motor_number_e number);
extern step_motor_t *get_step_motor(step_motor_number_e number);
extern servo_motor_t *get_servo_motor(servo_motor_number_e number);

#endif