/*******************************************************************************
  * @file                   motor.c
  * @author:                MQjehovah                 mail:MQjehovah@hotmail.com
  * @version                1.0.0
  * @date                   2020.10.20
  * @brief                  
  ******************************************************************************
  * @attention
*******************************************************************************/
/* Includes ------------------------------------------------------------------*/
#include "motor.h"
#include "GPIO.h"
/* Definition ----------------------------------------------------------------*/
motor_t motor_info;
/* Functions -----------------------------------------------------------------*/
/*******************************************************************************
  * @brief  启动电机            
  * @param  None              
  * @retval None              
  * @note   开启霍尔捕捉中断，提供启动力              
*******************************************************************************/
void motor_start(void)
{
    motor_info.state = 1;
    //TODO:开启霍尔捕捉中断
    motor_info.hall_position = get_hall_position();
    motor_step();
}

/*******************************************************************************
  * @brief  停止电机            
  * @param  None              
  * @retval None              
  * @note   None              
*******************************************************************************/
void motor_stop(void)
{
    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   H-PWM, L-ON    
  *         电流始终由正极流向负极，所以PWM总是出现在A+、B+、C+,负极保持导通          
*******************************************************************************/
void motor_step(void)
{
    u8 step = motor_info.hall_position;
    switch (step)
    {
    case 0x03: //第二步 C+ B-
        TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_OCMode_PWM1);
        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_Enable);
        TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_ForcedAction_Active);
        TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
        TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable);
        TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
        break;
    case 0x01: //第三步 C+ A-
        TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_OCMode_PWM1);
        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_Enable);
        TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_ForcedAction_Active);
        TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Enable);
        TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);
        TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
        break;
    case 0x05: //第四步 B+ A-
        TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_OCMode_PWM1);
        TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
        TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Enable);
        TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
        TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_ForcedAction_Active);
        TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Enable);
        TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);
        TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
        break;
    case 0x04: //第五步 B+ C-
        TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_OCMode_PWM1);
        TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
        TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Enable);
        TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
        TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_ForcedAction_Active);
        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_Enable);
        break;
    case 0x06: //第六步 A+ C-
        TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1);
        TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable);
        TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
        TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
        TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_ForcedAction_Active);
        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_Enable);
        break;
    case 0x02: //第一步 A+ B-
        // GPIO_WritePin(&PB5, HIGH);
        TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1);
        TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable);
        TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
        TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
        TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_ForcedAction_Active);
        TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
        TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable);
        TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
        break;

    default:
    // GPIO_WritePin(&PB5, HIGH);
        GPIO_WritePin(&PB5, LOW);
        //motor_stop();
        break;
    }
    TIM_GenerateEvent(TIM1, TIM_EventSource_COM);
}

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