#ifndef __BEMF_H
#define __BEMF_H

#ifdef MOT_LOCAL
#define MOT_EXT
#else
#define MOT_EXT extern
#endif

#include "gd32F30x.h"//#include "main.h"

/* GPIO pin definitions */
#define ALARM_OVERVOL                 BIT(0)                    /*!< GPIO pin 0 */
#define ALARM_LOWVOL                  BIT(1)                    /*!< GPIO pin 1 */
#define ALARM_OVERCUR                 BIT(2)                    /*!< GPIO pin 2 */
#define ALARM_3                       BIT(3)                    /*!< GPIO pin 3 */
#define ALARM_OVEROPENLOOP            BIT(4)                    /*!< GPIO pin 4 */
#define ALARM_TIMEOUT                 BIT(5)                    /*!< GPIO pin 5 */
#define ALARM_6                       BIT(6)                    /*!< GPIO pin 6 */
#define ALARM_7                       BIT(7)                    /*!< GPIO pin 7 */
#define ALARM_8                       BIT(8)                    /*!< GPIO pin 8 */
#define ALARM_9                       BIT(9)                    /*!< GPIO pin 9 */
#define ALARM_10                      BIT(10)                   /*!< GPIO pin 10 */
#define ALARM_11                      BIT(11)                   /*!< GPIO pin 11 */
#define ALARM_12                      BIT(12)                   /*!< GPIO pin 12 */
#define ALARM_13                      BIT(13)                   /*!< GPIO pin 13 */
#define ALARM_14                      BIT(14)                   /*!< GPIO pin 14 */
#define ALARM_15                      BIT(15)                   /*!< GPIO pin 15 */
#define ALARM_ALL                     BITS(0,15)                /*!< GPIO pin all */

typedef enum{
	
	IDEL = 0,
	START,
	POSITION,
	OPENLOOP,
	SWITCH,
	RUN,
	STOP,
	BRAKESTOP,
	TEST
}MCI_State_t;

typedef enum{
	
	DIR0 = 0,
	DIR1,
	DIRX
}MCI_DIR_t;

typedef enum{
	SPEED0 = 0,
	SPEEDUP ,
	SPEEDHOLD,
	SPEEDDOWN

}MCI_Speed_t;

#define POLE   					    3
#define DUTY_BASE           3
#define DUTY_POSITIONEND   35
#define DUTYMAX           100
#define INVERT_CNT         60
#define HIGHSPEED        1667
#define STARTGAP         5000

#define DUTYDEF          6000//temp para

typedef struct
{
	//set
	unsigned short state;	//motor main state
	unsigned short spd;//motor speed state
	unsigned short dir;	//motor direction
	unsigned short pulse;//motor power
	unsigned short gap; //motor invert_gap		

	//back
	unsigned short voltage;	//motor work voltage
	unsigned short current;	//motor work current
	unsigned short speed;		//motor work speed
	unsigned short alarm;		//motor alarm
	unsigned short invert_cnt;//motor invert_count
		
}MOTORDEF;
MOT_EXT MOTORDEF mci;

typedef struct
{
	unsigned short start_gap; //motor start_up gap
	unsigned short end_gap; //motor End of start_up gap
	unsigned short start_pulse;//motor start_up pulse
	unsigned short end_pulse;	//motor End of start_up pulse
		
}MOTORPOSITIONDEF;
MOT_EXT MOTORPOSITIONDEF Mcp;

MOT_EXT unsigned short adc_zero;

MOT_EXT unsigned short timer2;
MOT_EXT unsigned short test_bemf_start_cnt;
MOT_EXT unsigned short test_bemf_run_cnt;

MOT_EXT void BEMF_Init(uint16_t dir,uint16_t speed,uint16_t dutyDefault);
MOT_EXT void BEMF_Task(void);

#endif

/*
alarm:
bit 15 | bit 14 | bit 13 | bit 12 | bit 11 | bit 10 | bit 9 | bit 8 | bit 7 | bit 6 | bit 5 |  bit 4 |  bit 3 |  bit 2 | bit 1 |  bit 0 |
bit 15 | bit 14 | bit 13 | bit 12 | bit 11 | bit 10 | bit 9 | bit 8 | bit 7 | bit 6 | timout|  nobem |  Iover |  Ilow  | VMover|  VMlow |
*/