#ifndef __BSP_DRIVER_SPEED_HALL_H_
#define __BSP_DRIVER_SPEED_HALL_H_
//#include "ptz_type_select.h"

#include "gd32f4xx.h"


// typedef struct _speed_t {
//     uint32_t hallNum;           //霍尔编码器次数（运行方向的）
//     uint32_t startTime_60ms;    //开始时间
//     uint32_t startTime_us;
//     uint32_t endTime_60ms;      //结束时间
//     uint32_t endTime_us;
//     uint8_t flag;               //标志位
// }speed_t;

typedef struct _speed_t {
    uint32_t startTime_60ms;    //开始时间
    uint32_t startTime_us;
    uint32_t endTime_60ms;      //结束时间
    uint32_t endTime_us;
    float speed;                //速度
    float lastSpeed;            //上一次速度
}speed_t;

typedef struct _speed_pid_t {
    float kp;
    float ki;
    float kd;
    float sum_error;        //积分误差
}speed_pid_t;

typedef struct _speed_to_hall {
    speed_t hori_speed_t;
    speed_t vert_speed_t;
    speed_pid_t hori_speed_pid;
    speed_pid_t vert_speed_pid;
    uint32_t time_60ms;
}speed_hall;

typedef enum _calculation_speed_type {
    calculation_disable = 0,        //未开始计算速度
    calculation_enable = 1,         //使能计算速度
    calculation_ok = 2,             //达到计算速度时间
    calculation_start = 3,          //开始计算速度
    calculation_end = 4,            //结束计算速度
}calculation_speed_type;



extern speed_hall g_speed_to_hall;

#define TIME_60MS_MAX       4000000000
#define SPEED_TIMER_PERIOD  60000

void init_hall_speed_module(void);

extern void get_hori_speed(void);
extern void get_vert_speed(void);


#endif