////////////////////////////////////////////////////////////////////////////////

/// FULL_BRIDGE�ļ�
///
///
/// ����hall��������������
/// @file    full_bridge.c 
/// @author  LH
/// @date    2022-07-19
/// @version v1.0 

////////////////////////////////////////////////////////////////////////////////

#include "full_bridge.h"
#include "ptz_struct.h"
#include "gd32f4xx_it.h"
#include "rotate_bldc.h"
#include "rotate_plan.h"
#include "device_adc_collect.h"
#include "gd32f4xx_timer.h"
#include "speed_to_bldc.h"


#ifdef Full_bridge

typedef void(*pctr) (void);

pctr h_six_step_commu[6];
pctr v_six_step_commu[6];


HALL_State H_Hall_state;
HALL_State V_Hall_state;


/*
********************************��������***********************************/
static unsigned int h_pwm_duty;
static unsigned int v_pwm_duty;
/*!
    \brief      none pwmռ�ձ�����
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.10.11
*/
//ˮƽ
void h_pwm_duty_change(unsigned int pwm_duty)
{
  h_pwm_duty = pwm_duty;
  
}
//��ֱ
void v_pwm_duty_change(unsigned int pwm_duty)
{
  v_pwm_duty = pwm_duty;
  
}


/*!
    \brief      hall״̬��ȡ
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.19
*/
unsigned char h_hall_senser_value_get()
{
  unsigned char hall_value;
  H_Hall_state.Hall_H1_state = gpio_input_bit_get(GPIOE, GPIO_PIN_10);
  H_Hall_state.Hall_H2_state = gpio_input_bit_get(GPIOE, GPIO_PIN_11);
  H_Hall_state.Hall_H3_state = gpio_input_bit_get(GPIOE, GPIO_PIN_12);
  
  hall_value = H_Hall_state.Hall_H1_state 
               |(H_Hall_state.Hall_H2_state << 1)
               |(H_Hall_state.Hall_H3_state << 2);
  return hall_value;
}

unsigned char v_hall_senser_value_get()
{
  unsigned char hall_value;
  V_Hall_state.Hall_H1_state = gpio_input_bit_get(GPIOE, GPIO_PIN_13);
  V_Hall_state.Hall_H2_state = gpio_input_bit_get(GPIOE, GPIO_PIN_14);
  V_Hall_state.Hall_H3_state = gpio_input_bit_get(GPIOE, GPIO_PIN_15);
  
  hall_value = V_Hall_state.Hall_H1_state 
               |(V_Hall_state.Hall_H2_state << 1)
               |(V_Hall_state.Hall_H3_state << 2);
  return hall_value;
}


/*!
    \brief      none U�����V���
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.21
*/
void h_uh_vl()
{
  H_EN1_OFF;//U
  H_EN2_ON;//V
  H_EN3_OFF;//W
  TIMER_CH0CV(TIMER2) = h_pwm_duty;//U199;//
  TIMER_CH1CV(TIMER2) = 0;//V
  TIMER_CH2CV(TIMER2) = 0;//W
}


/*!
    \brief      none W�����V���
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.21
*/
void h_wh_vl()
{
  H_EN1_OFF;//U
  H_EN2_ON;//V
  H_EN3_OFF;//W
  TIMER_CH0CV(TIMER2) = 0;//U
  TIMER_CH1CV(TIMER2) = 0;//V
  TIMER_CH2CV(TIMER2) = h_pwm_duty;//W199;//
}


/*!
    \brief      none W�����U���
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.21
*/
void h_wh_ul()
{
  H_EN1_ON;//U
  H_EN2_OFF;//V
  H_EN3_OFF;//W
  TIMER_CH0CV(TIMER2) = 0;//U
  TIMER_CH1CV(TIMER2) = 0;//V
  TIMER_CH2CV(TIMER2) = h_pwm_duty;//W199;//
}


/*!
    \brief      none V�����U���
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.21
*/
void h_vh_ul()
{
  H_EN1_ON;//U
  H_EN2_OFF;//V
  H_EN3_OFF;//W
  TIMER_CH0CV(TIMER2) = 0;//U
  TIMER_CH1CV(TIMER2) = h_pwm_duty;//V199;//
  TIMER_CH2CV(TIMER2) = 0;//W
}


/*!
    \brief      none V�����W���
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.21
*/
void h_vh_wl()
{
  H_EN1_OFF;//U
  H_EN2_OFF;//V
  H_EN3_ON;//W
  TIMER_CH0CV(TIMER2) = 0;//U
  TIMER_CH1CV(TIMER2) = h_pwm_duty;//V199;//
  TIMER_CH2CV(TIMER2) = 0;//W
}


/*!
    \brief      none U�����W���
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.21
*/
void h_uh_wl()
{
  H_EN1_OFF;//U
  H_EN2_OFF;//V
  H_EN3_ON;//W
  TIMER_CH0CV(TIMER2) = h_pwm_duty;//U199;//
  TIMER_CH1CV(TIMER2) = 0;//V
  TIMER_CH2CV(TIMER2) = 0;//W
}

/*!
    \brief      none �������򣬶���120��hall����ת˳��Ϊ546231����ת˳��Ϊ��7-��ת˳��,,�������ټ�1��
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.21
*/
pctr h_six_step_commu[6] =
{
  &h_uh_wl, &h_vh_ul, &h_vh_wl, &h_wh_vl, &h_uh_vl, &h_wh_ul
};


/*!
    \brief      none U�����V���
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.21
*/
void v_uh_vl()
{
  V_EN1_OFF;//U
  V_EN2_ON;//V
  V_EN3_OFF;//W
  TIMER_CH0CV(TIMER3) = v_pwm_duty;//U199;//
  TIMER_CH1CV(TIMER3) = 0;//V
  TIMER_CH2CV(TIMER3) = 0;//W
}


/*!
    \brief      none W�����V���
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.21
*/
void v_wh_vl()
{
  V_EN1_OFF;//U
  V_EN2_ON;//V
  V_EN3_OFF;//W
  TIMER_CH0CV(TIMER3) = 0;//U
  TIMER_CH1CV(TIMER3) = 0;//V
  TIMER_CH2CV(TIMER3) = v_pwm_duty;//W199;//
}


/*!
    \brief      none W�����U���
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.21
*/
void v_wh_ul()
{
  V_EN1_ON;//U
  V_EN2_OFF;//V
  V_EN3_OFF;//W
  TIMER_CH0CV(TIMER3) = 0;//U
  TIMER_CH1CV(TIMER3) = 0;//V
  TIMER_CH2CV(TIMER3) = v_pwm_duty;//W199;//
}


/*!
    \brief      none V�����U���
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.21
*/
void v_vh_ul()
{
  V_EN1_ON;//U
  V_EN2_OFF;//V
  V_EN3_OFF;//W
  TIMER_CH0CV(TIMER3) = 0;//U
  TIMER_CH1CV(TIMER3) = v_pwm_duty;//V199;//
  TIMER_CH2CV(TIMER3) = 0;//W
}


/*!
    \brief      none V�����W���
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.21
*/
void v_vh_wl()
{
  V_EN1_OFF;//U
  V_EN2_OFF;//V
  V_EN3_ON;//W
  TIMER_CH0CV(TIMER3) = 0;//U
  TIMER_CH1CV(TIMER3) = v_pwm_duty;//V199;//
  TIMER_CH2CV(TIMER3) = 0;//W
}


/*!
    \brief      none U�����W���
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.21
*/
void v_uh_wl()
{
  V_EN1_OFF;//U
  V_EN2_OFF;//V
  V_EN3_ON;//W
  TIMER_CH0CV(TIMER3) = v_pwm_duty;//U199;//
  TIMER_CH1CV(TIMER3) = 0;//V
  TIMER_CH2CV(TIMER3) = 0;//W
}

/*!
    \brief      none �������򣬶���120��hall����ת˳��Ϊ546231����ת˳��Ϊ��7-��ת˳��,,�������ټ�1��
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.21
*/
pctr v_six_step_commu[6] =
{
  &v_uh_wl, &v_vh_ul, &v_vh_wl, &v_wh_vl, &v_uh_vl, &v_wh_ul
};


void uvw()
{
  V_EN1_OFF;//U
  V_EN2_OFF;//V
  V_EN3_OFF;//W
}

/*!
    \brief      none ˮƽֱ����ˢ��������
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.21
*/
//�ж������
void h_bldc_six_step()
{
//  H_ADC2_Phase_current();
  if(g_ptz.hori_start_stop_set == PTZ_HORI_START)
  {//�����������״̬
    H_Hall_state.Hall_value = h_hall_senser_value_get();
    if((H_Hall_state.Hall_value <= 6)&&(H_Hall_state.Hall_value >= 1))
    {
//      if(g_ptz.hori_direction_set == PTZ_HORI_DIR_RIGHT)
//      {//�����ת- 1
//        h_six_step_commu[(7-H_Hall_state.Hall_value) -1]();
//      }else{//�����ת
//        h_six_step_commu[H_Hall_state.Hall_value -1]();
//      }
      //ֱ����̨ת��
      if(g_ptz.hori_direction_set == PTZ_HORI_DIR_RIGHT)
      {//�����ת- 1
        
        h_six_step_commu[H_Hall_state.Hall_value -1]();
      }else{//�����ת
        h_six_step_commu[(7-H_Hall_state.Hall_value) -1]();
        
      }
      
    }
  }
}
/*!
    \brief      none ��ֱֱ����ˢ��������
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.21
*/
//�ж������
void v_bldc_six_step()
{
//  V_ADC0_Phase_current();
  if((g_ptz.vert_start_stop_set == PTZ_VERT_START) && (g_ptz.vert_pid.mode == PID_ADJUST_SPEED))
  {//�����������״̬
    V_Hall_state.Hall_value = v_hall_senser_value_get();
    if((V_Hall_state.Hall_value <= 6)&&(V_Hall_state.Hall_value >= 1))
    {
      if(g_ptz.vert_direction_set == PTZ_VERT_DIR_UP)
      {//�����ת- 1
        v_six_step_commu[V_Hall_state.Hall_value -1]();
      }else{//�����ת
        v_six_step_commu[(7-V_Hall_state.Hall_value) -1]();
      }
      
      
//      if(g_ptz.vert_pid.PidUT_float < 0)
//      {//����˼·��PID����Ϊ����ʱ������ת��
//        if(g_ptz.vert_direction_set == PTZ_VERT_DIR_UP)
//        {//�����ת- 1
//          v_six_step_commu[(7-V_Hall_state.Hall_value) -1]();
//        }else{//�����ת
//          v_six_step_commu[V_Hall_state.Hall_value -1]();
//        }
//      }
      
    }
  }
}


/*!
    \brief      none ��ֱ������٣�����
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.12.05
*/
void vert_dir_speed_start(unsigned int verf)
{
  V_EN1_OFF;//U
  V_EN2_ON;//V
  V_EN3_ON;//W
  TIMER_CH0CV(TIMER3) = verf;//U199;//
  TIMER_CH1CV(TIMER3) = 0;//V
  TIMER_CH2CV(TIMER3) = 0;//W
  
}

void vert_dir_speed_stop(void)
{
  V_EN1_OFF;//U
  V_EN2_OFF;//V
  V_EN3_OFF;//W
}


void hori_dir_speed_start(unsigned int verf)
{
  H_EN1_OFF;//U
  H_EN2_ON;//V
  H_EN3_ON;//W
  TIMER_CH0CV(TIMER2) = verf;//U199;//
  TIMER_CH1CV(TIMER2) = 0;//V
  TIMER_CH2CV(TIMER2) = 0;//W
}

void hori_dir_speed_stop(void)
{
  H_EN1_OFF;//U
  H_EN2_OFF;//V
  H_EN3_OFF;//W
}


/*!
    \brief      none �������
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.21
*/
void h_start_motor()
{
  //��ʱ��ʹ��
//  timer_enable(TIMER2);
  h_pwm_duty_change(0);
  TIMER_CH0CV(TIMER2) = 0 ;//
  TIMER_CH1CV(TIMER2) = 0 ;//
  TIMER_CH2CV(TIMER2) = 0 ;//
  
  H_EN1_OFF;//U
  H_EN2_OFF;//V
  H_EN3_OFF;//W
  
//  timer_interrupt_enable(TIMER2,TIMER_INT_UP);//��ʱ�������ж�ʹ��
}

void v_start_motor()
{
  //��ʱ��ʹ��
//  timer_enable(TIMER3);
  v_pwm_duty_change(0);
  TIMER_CH0CV(TIMER3) = 0 ;//
  TIMER_CH1CV(TIMER3) = 0 ;//
  TIMER_CH2CV(TIMER3) = 0 ;//
  
  V_EN1_OFF;//U
  V_EN2_OFF;//V
  V_EN3_OFF;//W
  
//  timer_interrupt_enable(TIMER3,TIMER_INT_UP);//��ʱ�������ж�ʹ��
}


/*!
    \brief      none ���ֹͣ
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.21
*/
void h_stop_motor()
{
  h_pwm_duty_change(0);
//  //����͵�ƽ
  TIMER_CH0CV(TIMER2) = 0;
  TIMER_CH1CV(TIMER2) = 0;
  TIMER_CH2CV(TIMER2) = 0;
  
  H_EN1_OFF;//U
  H_EN2_OFF;//V
  H_EN3_OFF;//W
//  //��ʱ���ر�
//  timer_disable(TIMER2);
//  timer_interrupt_disable(TIMER2,TIMER_INT_UP);//��ʱ�������ж�ʹ��
}

void v_stop_motor()
{
  v_pwm_duty_change(0);
//  //����͵�ƽ
  TIMER_CH0CV(TIMER3) = 0;
  TIMER_CH1CV(TIMER3) = 0;
  TIMER_CH2CV(TIMER3) = 0;
  
  V_EN1_OFF;//U
  V_EN2_OFF;//V
  V_EN3_OFF;//W
//  //��ʱ���ر�
//  timer_disable(TIMER3);
//  timer_interrupt_disable(TIMER3,TIMER_INT_UP);//��ʱ�������ж�ʹ��
}


/*!
    \brief      hall���ų�ʼ��
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.10.11
*/
static void hall_io_init(void)
{
//  //��������ʱ��
//  rcu_periph_clock_enable(RCU_GPIOE);
//  
//  //ˮƽ����PE10-H1,PE11-H2,PE12-H3������ֱPE13-H1,PE14-H2,PE15-H3
//  //��������Ϊ����ģʽ
//  gpio_mode_set(GPIOE, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_10);
//  gpio_mode_set(GPIOE, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_11);
//  gpio_mode_set(GPIOE, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_12);
//  
//  gpio_mode_set(GPIOE, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_13);
//  gpio_mode_set(GPIOE, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_14);
//  gpio_mode_set(GPIOE, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_15);
  
  H_Hall_state.Hall_H1_state = 0;
  H_Hall_state.Hall_H2_state = 0;
  H_Hall_state.Hall_H3_state = 0;
  H_Hall_state.Hall_value = 0;
  
  V_Hall_state.Hall_H1_state = 0;
  V_Hall_state.Hall_H2_state = 0;
  V_Hall_state.Hall_H3_state = 0;
  V_Hall_state.Hall_value = 0;

}

/*!
    \brief      none ���������ų�ʼ��
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.10.11
*/
void bridge_io_init(void)
{
  rcu_periph_clock_enable(RCU_GPIOA);
  rcu_periph_clock_enable(RCU_GPIOC);
  rcu_periph_clock_enable(RCU_GPIOD);
  rcu_periph_clock_enable(RCU_GPIOE);
  //H_EN1--PC9//H_EN2--PA8//H_EN3--PA11
  gpio_mode_set(GPIOC, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_9);
  gpio_mode_set(GPIOA, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_8);
  gpio_mode_set(GPIOA, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_11);
  gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_8| GPIO_PIN_11);
  gpio_output_options_set(GPIOC, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_9);
  //V_EN1--PD10//V_EN2--PD11//V_EN3--PD15
  gpio_mode_set(GPIOD, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_10);
  gpio_mode_set(GPIOD, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_11);
  gpio_mode_set(GPIOD, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_15);
  gpio_output_options_set(GPIOD, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_10| GPIO_PIN_11| GPIO_PIN_15);
  
  //GD�İ���������Խ������޸ġ����������������ŵ�Դ�������ţ������������Ķϵ縴λ��
  gpio_mode_set(GPIOE, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_0);//ˮƽ��Դ��������
  gpio_mode_set(GPIOE, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_1);//��ֱ��Դ��������
  gpio_output_options_set(GPIOE, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_0| GPIO_PIN_1);
  
  H_EN1_OFF;
  H_EN2_OFF;
  H_EN3_OFF;
  
  V_EN1_OFF;
  V_EN2_OFF;
  V_EN3_OFF;
  hall_io_init();
  
  H_BRIDGE_POWER_ON;
//  V_BRIDGE_POWER_ON;
    
}


#endif