/**
 * bldc_comm.c — 六步换相表实现
 *
 * TIM1 使用中心对齐模式 + 互补输出:
 *   CH1=U高, CH1N=U低
 *   CH2=V高, CH2N=V低
 *   CH3=W高, CH3N=W低
 *
 * PWM-ON 调制: 高侧始终导通 (CCR=ARR, 100%), 低侧 PWM 斩波
 */

#include "bldc_comm.h"

/* ==================== 换相表 (非 static, 供 fsm.c 使用) ==================== */
const CommEntry g_comm_table[COMM_STEP_COUNT] = {
    /* 步0 (0-60°):  U+ (CH1_ON)    V- (CH2N_PWM)    W悬空 */
    { CC1E | CC2NE, CC1NE | CC2E | CC3E | CC3NE, PWM_ARR_VALUE, 0, 0, 2 },
    /* 步1 (60-120°): U+ (CH1_ON)    W- (CH3N_PWM)    V悬空 */
    { CC1E | CC3NE, CC1NE | CC2E | CC2NE | CC3E, PWM_ARR_VALUE, 0, 0, 1 },
    /* 步2 (120-180°): V+ (CH2_ON)    W- (CH3N_PWM)    U悬空 */
    { CC2E | CC3NE, CC1E | CC1NE | CC2NE | CC3E, 0, PWM_ARR_VALUE, 0, 0 },
    /* 步3 (180-240°): V+ (CH2_ON)    U- (CH1N_PWM)    W悬空 */
    { CC2E | CC1NE, CC1E | CC2NE | CC3E | CC3NE, 0, PWM_ARR_VALUE, 0, 2 },
    /* 步4 (240-300°): W+ (CH3_ON)    U- (CH1N_PWM)    V悬空 */
    { CC3E | CC1NE, CC1E | CC2E | CC2NE | CC3NE, 0, 0, PWM_ARR_VALUE, 1 },
    /* 步5 (300-360°): W+ (CH3_ON)    V- (CH2N_PWM)    U悬空 */
    { CC3E | CC2NE, CC1E | CC1NE | CC2E | CC3NE, 0, 0, PWM_ARR_VALUE, 0 }
};

/* ==================== TIM1 CCER 初始化 ==================== */
void COMM_Init(void)
{
    TIM1->CCER = 0;
    TIM1->BDTR |= TIM_BDTR_MOE;
}

/* ==================== 执行换相 ==================== */
void COMM_SetStep(CommStep step, uint16_t duty)
{
    if (step >= COMM_STEP_COUNT) return;

    const CommEntry *e = &g_comm_table[step];

    TIM1->CCER &= ~CCER_POLARITY_MASK;
    TIM1->CCR1 = e->ch1_ccr;
    TIM1->CCR2 = e->ch2_ccr;
    TIM1->CCR3 = e->ch3_ccr;
    TIM1->CCER |= e->ccer_bits_set;
    TIM1->BDTR |= TIM_BDTR_MOE;
}