/*******************************************************************************
  * @file                   motor.c
  * @author:                MQjehovah                 mail:MQjehovah@hotmail.com
  * @version                1.0.0
  * @date                   2020.10.20
  * @brief                  
  ******************************************************************************
  * @attention
*******************************************************************************/
/* Includes ------------------------------------------------------------------*/
#include "motor.h"
/* Definition ----------------------------------------------------------------*/
motor_t motor_info;
static const uint8_t BLDC_STEP_FORWARD[8][6] = // Motor step
    {
        //A+,A-,B+,B-,C+,C-
        {0, 0, 0, 0, 0, 0}, //000
        {0, 0, 1, 0, 0, 1},
        {1, 0, 0, 1, 0, 0},
        {1, 0, 0, 0, 0, 1},
        {0, 1, 0, 0, 1, 0},
        {0, 1, 1, 0, 0, 0},
        {0, 0, 0, 1, 1, 0},
        {0, 0, 0, 0, 0, 0}, //111
};
/* Functions -----------------------------------------------------------------*/
/*******************************************************************************
  * @brief  停止电机            
  * @param  None              
  * @retval None              
  * @note   None              
*******************************************************************************/
void motor_stop()
{
    motor_info.state = MOTOR_STATE_STOP;
    TIM1->CCR1 = 0;
    TIM1->CCR2 = 0;
    TIM1->CCR3 = 0;
    TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
    TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
    TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);

    TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
    TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);
    TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
}

/*******************************************************************************
  * @brief  电机6步驱动法            
  * @param  None              
  * @retval None              
  * @note   None              
*******************************************************************************/
void motor_step()
{
    const uint8_t *step = BLDC_STEP_FORWARD[motor_info.hall_position];
    if (motor_info.hall_position == 0)
    {
        //停止处理
        TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
        TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
        TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
        TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);
        TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
        TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
        return;
    }
    if (motor_info.hall_position == 7)
    {
        //刹车处理
        TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
        TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
        TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
        TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);
        TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
        TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
        return;
    }
    //换相
    if (step[0]) //A+
    {
        TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1);
        TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable);
    }
    else
    {
        TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
    }
    if (step[1]) //A-
    {
        TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_ForcedAction_Active);
        TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Enable);
    }
    else
    {
        TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
    }

    if (step[2]) //B+
    {
        TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_OCMode_PWM1);
        TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Enable);
    }
    else
    {
        TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
    }
    if (step[3]) //B-
    {
        TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_ForcedAction_Active);
        TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable);
    }
    else
    {
        TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
    }

    if (step[4]) //C+
    {
        TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_OCMode_PWM1);
        TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Enable);
    }
    else
    {
        TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
    }
    if (step[5]) //C-
    {
        TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_ForcedAction_Active);
        TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Enable);
    }
    else
    {
        TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
    }
}

/*********************************END OF FILE**********************************/