/* Copyright Statement:
 *
 * This software/firmware and related documentation ("AutoChips Software") are
 * protected under relevant copyright laws. The information contained herein is
 * confidential and proprietary to AutoChips Inc. and/or its licensors. Without
 * the prior written permission of AutoChips inc. and/or its licensors, any
 * reproduction, modification, use or disclosure of AutoChips Software, and
 * information contained herein, in whole or in part, shall be strictly
 * prohibited.
 *
 * AutoChips Inc. (C) 2016. All rights reserved.
 *
 * BY OPENING THIS FILE, RECEIVER HEREBY UNEQUIVOCALLY ACKNOWLEDGES AND AGREES
 * THAT THE SOFTWARE/FIRMWARE AND ITS DOCUMENTATIONS ("AUTOCHIPS SOFTWARE")
 * RECEIVED FROM AUTOCHIPS AND/OR ITS REPRESENTATIVES ARE PROVIDED TO RECEIVER
 * ON AN "AS-IS" BASIS ONLY. AUTOCHIPS EXPRESSLY DISCLAIMS ANY AND ALL
 * WARRANTIES, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE OR
 * NONINFRINGEMENT. NEITHER DOES AUTOCHIPS PROVIDE ANY WARRANTY WHATSOEVER WITH
 * RESPECT TO THE SOFTWARE OF ANY THIRD PARTY WHICH MAY BE USED BY,
 * INCORPORATED IN, OR SUPPLIED WITH THE AUTOCHIPS SOFTWARE, AND RECEIVER AGREES
 * TO LOOK ONLY TO SUCH THIRD PARTY FOR ANY WARRANTY CLAIM RELATING THERETO.
 * RECEIVER EXPRESSLY ACKNOWLEDGES THAT IT IS RECEIVER'S SOLE RESPONSIBILITY TO
 * OBTAIN FROM ANY THIRD PARTY ALL PROPER LICENSES CONTAINED IN AUTOCHIPS
 * SOFTWARE. AUTOCHIPS SHALL ALSO NOT BE RESPONSIBLE FOR ANY AUTOCHIPS SOFTWARE
 * RELEASES MADE TO RECEIVER'S SPECIFICATION OR TO CONFORM TO A PARTICULAR
 * STANDARD OR OPEN FORUM. RECEIVER'S SOLE AND EXCLUSIVE REMEDY AND AUTOCHIPS'S
 * ENTIRE AND CUMULATIVE LIABILITY WITH RESPECT TO THE AUTOCHIPS SOFTWARE
 * RELEASED HEREUNDER WILL BE, AT AUTOCHIPS'S OPTION, TO REVISE OR REPLACE THE
 * AUTOCHIPS SOFTWARE AT ISSUE, OR REFUND ANY SOFTWARE LICENSE FEES OR SERVICE
 * CHARGE PAID BY RECEIVER TO AUTOCHIPS FOR SUCH AUTOCHIPS SOFTWARE AT ISSUE.
 */
/**********<Incldue>**********/



#include "ac780x_gpio.h"
#include "ac780x.h"
#include "ac780x_timer.h"
#include "ac780x_pwm.h"
#include "pwm.h"
/**********<Prototype>*********/

/**********<Variable>*********/
uint32_t g_positvePulse;///<pulse width positive value
uint32_t g_negativePulse;///<pulse width negative value
uint32_t g_freq;///<pulse width period value
float g_duty;///<pulse duty value
uint32_t g_hallStatus;///<hall status value
uint32_t g_overFlowCount;//PWM1计数溢出中断
/**
* PWM1_CallBack
*
* @param[in] device: device pointer
* @param[in] wpara: callback parameter
* @param[in] lpara: callback parameter
* @return none
* @brief PWM CallBack
*/
void PWM1_CallBack(void *device, uint32_t wpara, uint32_t lpara)
{
    //PWM计数器溢出中断
    if (wpara & PWM_INIT_CNTOF_Msk) 
    {
        g_overFlowCount ++;
        //user add 
    
    }
    //PWM通道中断
    //通过判断回调返回的lpara对应PWM_STR_CHnSF_Msk位状态判断是否发生通道中断
    if (lpara & PWM_STR_CHSF_Msk)
    {
        
        //user add
        //通道0中断
        if (lpara & PWM_STR_CH0SF_Msk)
        {
            
        }
        //通道1中断
        if (lpara & PWM_STR_CH1SF_Msk)
        {
            
        }
        
        
    }
}


/**
*
* @param[in] none
*
* @return none
*
* @brief PWM1 Init
*
*/
void Pwm1_Init(void)
{
    PWM_ConfigType pwmConfig;
    PWM_ModulationConfigType initModeStruct;
		PWM_IndependentChConfig independentChConfig[2];
	
		memset(&pwmConfig, 0, sizeof(pwmConfig));
    memset(&initModeStruct, 0, sizeof(initModeStruct));
	
	  //MSP_PWM_Init(PWM1);
	
	  /* independent channel 2 configuration */
    independentChConfig[0].channel = PWM_CH_2;
    independentChConfig[0].chValue = 0;
    independentChConfig[0].levelMode = PWM_HIGH_TRUE;
    independentChConfig[0].polarity = PWM_OUTPUT_POLARITY_ACTIVE_HIGH;
    independentChConfig[0].interruptEn = DISABLE;
    independentChConfig[0].initLevel = PWM_LOW_LEVEL;
    independentChConfig[0].triggerEn = DISABLE;

    /* independent channel 3 configuration */
    independentChConfig[1].channel = PWM_CH_3;
    independentChConfig[1].chValue = 0; //MOD_PWM>>1;
    independentChConfig[1].levelMode = PWM_HIGH_TRUE;
    independentChConfig[1].polarity = PWM_OUTPUT_POLARITY_ACTIVE_HIGH;
    independentChConfig[1].interruptEn = DISABLE;
    independentChConfig[1].initLevel = PWM_LOW_LEVEL;
    independentChConfig[1].triggerEn = DISABLE;

    initModeStruct.countMode = PWM_UP_COUNT;
    initModeStruct.deadtime = 24;
    initModeStruct.deadtimePsc = PWM_DEADTIME_DIVID_1;
    initModeStruct.initChOutputEn = ENABLE;
    initModeStruct.initTriggerEn = DISABLE;
		initModeStruct.independentChannelNum = 2;
    initModeStruct.independentChConfig = independentChConfig;

    pwmConfig.mode = PWM_MODE_MODULATION;
    pwmConfig.clkSource = PWM_CLK_SOURCE_APB;
    pwmConfig.clkPsc = PWM_PRES;
    pwmConfig.initValue = 0;
    pwmConfig.maxValue = MOD_PWM - 1;
    pwmConfig.overflowInterrupEn = ENABLE;
    pwmConfig.cntOverflowFreq = 0;
    pwmConfig.interruptEn = DISABLE;
    pwmConfig.callBack = PWM1_CallBack; //PWM中断回调
    pwmConfig.initModeStruct = &initModeStruct;

    PWM_Init(PWM1, &pwmConfig);	
		NVIC_SetPriority(PWM1_IRQn, 0); //设置PWM模块中断的优先级
}


//设置电机转运速度 , speed 取值 0--100；
void Motor_Setspeed(int8_t speed)
{
	 uint16_t chValue=0;
	 if(speed >= 0){ //电机正转， 开锁
		 
		if(speed > 100) speed = 100;
		 
		chValue = (uint16_t)(speed*1.0*MOD_PWM/100);
		PWM_SetChannelCountValue(PWM1, PWM_CH_3, 0);
		PWM_SetChannelCountValue(PWM1, PWM_CH_2, chValue);
		
	 }else{//电机反转， 关锁
		 
		 speed = -speed;
		 if(speed > 100) speed = 100;
		 
		chValue = (uint16_t)(speed*1.0*MOD_PWM/100);
		PWM_SetChannelCountValue(PWM1, PWM_CH_2, 0);
		PWM_SetChannelCountValue(PWM1, PWM_CH_3, chValue);
		 
	 }

}

void Motor_Positive(int8_t speed)
{
	uint16_t chValue=0;
	if(speed > 100) speed = 100;
		 
	chValue = (uint16_t)(speed*1.0*MOD_PWM/100);
	PWM_SetChannelCountValue(PWM1, PWM_CH_2, chValue);
	
}


void Motor_Negative(int8_t speed)
{
	uint16_t chValue=0;
	if(speed > 100) speed = 100;
		 
	chValue = (uint16_t)(speed*1.0*MOD_PWM/100);
	PWM_SetChannelCountValue(PWM1, PWM_CH_3, chValue);
}


# if 0

/**
* PWM1_GenerateFrequency
* 
* @param[in] none
* @return none
*
* @brief 
* 1.PWM1_CH0,PWM1_CH1组合模式，PWM1_CH0输出频率为20K，占空比为25%的波形，PWM1_CH1与PWM1_CH0波形互补，带1us死区插入。
* 2.PWM1_CH6,PWM1_CH7独立PWM模式（边沿对齐），生成频率为20K，PWM1_CH6占空比50%，PWM1_CH7占空比25%的波形。
* 3.PWM计数器溢出中断，对输出PWM波进行计数
*
*/
void PWM1_GenerateFrequency(void)
{
    PWM_CombineChConfig combineChConfig[1]; //组合模式相关结构体
    PWM_IndependentChConfig independentChConfig[2];//独立模式相关结构体
    PWM_ModulationConfigType pwmConfig; //PWM模式相关结构体
    PWM_ConfigType config; //PWM模块结构体
    //结构体数据清零
    memset(&combineChConfig, 0, sizeof(combineChConfig));
    memset(&independentChConfig, 0, sizeof(independentChConfig));
    memset(&pwmConfig, 0, sizeof(pwmConfig));
    memset(&config, 0, sizeof(config));
    
    /*通道0/1配成组合模式PWM输出*/
    /*
    向上计数组合模式：
    周期=(MCVR-CNTIN+1)*PWM计数器时钟周期
    占空比=|CH(n+1)V-CH(n)V|*PWM计数器时钟周期
    向上-向下计数组合模式：
    周期=2*(MCVR-CNTIN)*PWM计数器时钟周期
    占空比=2*(|CH(n+1)V-CH(n)V|)*PWM计数器时钟周期
    */
    combineChConfig[0].pairChannel = PWM_CH_0; //PWM通道对数，PWM_CH_0/2/4/6对应PAIR0/1/2/3
    /*
    组合模式占空比由ch1stValue,ch2ndValue共同决定，pwmConfig.countMode配为PWM_UP_COUNT(计数器向上计数)时，占空比为:(ch1stValue-ch2ndValue)/(config.maxValue + 1)
    */
    combineChConfig[0].ch1stValue = MOD_PWM >> 2; //通道2n channel值，n为PWM对数编号 
    combineChConfig[0].ch2ndValue = MOD_PWM >> 1; //通道2n+1 channel值，n为PWM对数编号 
    combineChConfig[0].levelMode = PWM_HIGH_TRUE; //输出PWM高有效,如果占空比设为25%，是指的高有效电平占比25%
    combineChConfig[0].deadtimeEn = ENABLE;//死区插入使能，组合模式才支持死区插入
    combineChConfig[0].complementEn = ENABLE;//互补模式使能,使能后，PWM通道波形互补，DISABLE波形输出同向
    combineChConfig[0].ch1stMatchDir = PWM_MATCH_DIR_DOWN;//仅在向上-向下计数(countMode为PWM_UP_DOWN_COUNT)组合模式有效，用于选择匹配生效点方向
    combineChConfig[0].ch2ndMatchDir = PWM_MATCH_DIR_DOWN;//仅在向上-向下计数(countMode为PWM_UP_DOWN_COUNT)组合模式有效，用于选择匹配生效点方向
    combineChConfig[0].ch1stPolarity = PWM_OUTPUT_POLARITY_ACTIVE_HIGH;//输出极性高有效，PWM mask后PWM输出低电平
    combineChConfig[0].ch2ndPolarity = PWM_OUTPUT_POLARITY_ACTIVE_HIGH;//输出极性高有效，PWM mask后PWM输出低电平
    combineChConfig[0].ch1stInterruptEn = DISABLE;//PWM通道匹配中断使能位
    combineChConfig[0].ch2ndInterruptEn = DISABLE;//PWM通道匹配中断使能位
    combineChConfig[0].ch1stInitLevel = PWM_LOW_LEVEL;//PWM初始电平输出为低，该配置受initChOutputEn控制，决定PWM计数器未工作前PWM口的输出电平值。
    combineChConfig[0].ch2ndInitLevel = PWM_LOW_LEVEL;//PWM初始电平输出为低，该配置受initChOutputEn控制，决定PWM计数器未工作前PWM口的输出电平值。
    combineChConfig[0].ch1stTriggerEn = DISABLE;//通道2n外部触发使能，n为PWM对数编号
    combineChConfig[0].ch2ndTriggerEn = DISABLE;//通道2n+1外部触发使能，n为PWM对数编号
    /*
    边沿对齐PWM模式：
    周期=(MCVR-CNTIN+1)*PWM计数器时钟周期
    占空比=(CHnV-CNTIN+1)*PWM计数器时钟周期
    中心对齐PWM模式：
    周期=2*(MCVR-CNTIN)*PWM计数器时钟周期
    占空比=2*(CH(n)V-CNTIN)*PWM计数器时钟周期
    */
    /*channel 6*/
    independentChConfig[0].channel = PWM_CH_6; //通道6
    independentChConfig[0].chValue = MOD_PWM >> 1;//通道6 channel值，输出占空比 = chValue / (config.maxValue + 1) = 50%
    independentChConfig[0].levelMode = PWM_HIGH_TRUE; //输出PWM高有效
    independentChConfig[0].polarity = PWM_OUTPUT_POLARITY_ACTIVE_HIGH; //输出极性高有效，PWM mask后PWM输出低电平
    independentChConfig[0].interruptEn = DISABLE;//PWM通道匹配中断使能位
    independentChConfig[0].initLevel = PWM_LOW_LEVEL;//PWM初始电平输出为低，该配置受initChOutputEn控制，决定PWM计数器未工作前PWM口的输出电平值。
    independentChConfig[0].triggerEn = DISABLE;//通道外部触发使能
    /*channel 7*/
    independentChConfig[1].channel = PWM_CH_7; //通道7
    independentChConfig[1].chValue = MOD_PWM >> 2;//通道7 channel值，输出占空比 = chValue / (config.maxValue + 1) = 25%
    independentChConfig[1].levelMode = PWM_HIGH_TRUE; //输出PWM高有效
    independentChConfig[1].polarity = PWM_OUTPUT_POLARITY_ACTIVE_HIGH; //输出极性高有效，PWM mask后PWM输出低电平
    independentChConfig[1].interruptEn = DISABLE;//PWM通道匹配中断使能位
    independentChConfig[1].initLevel = PWM_LOW_LEVEL;//PWM初始电平输出为低，该配置受initChOutputEn控制，决定PWM计数器未工作前PWM口的输出电平值。
    independentChConfig[1].triggerEn = DISABLE;//通道外部触发使能

    /*modulation mode config*/
    pwmConfig.countMode = PWM_UP_COUNT; //PWM计数器模式 (不同的计数模式频率及占空比计算方式不同)
    pwmConfig.independentChannelNum = 2; //独立通道数
    pwmConfig.combineChannelNum = 1; //组合对数
    pwmConfig.independentChConfig = independentChConfig; //独立通道配置变量地址赋值
    pwmConfig.combineChConfig = combineChConfig; //组合通道配置变量地址赋值
    pwmConfig.deadtimePsc = PWM_DEADTIME_DIVID_1;//死区插入分频值，与deadtime一起决定插入死区的时间。
    pwmConfig.deadtime = 24;  //死区时间 = (DTPSC * DTVAL)/PWM计数器时钟周期 = 1*24/24000000 = 1us
    pwmConfig.initChOutputEn = ENABLE; //使能初始化通道输出，使能后独立PWM模式的initLevel和组合PWM模式的ch1stInitLevel和ch2ndPolarity配置才会生效
    pwmConfig.initTriggerEn = DISABLE; //通道外部触发使能
    
    /*pwm config*/
    config.mode = PWM_MODE_MODULATION;//PWM模块配置为PWM模式
    config.initModeStruct = &pwmConfig;//PWM配置结构体地址赋值
    config.clkSource = PWM_CLK_SOURCE_APB; //PWM时钟源配置
    config.clkPsc = PWM_PRES;//PWM时钟源分频
    config.initValue = 0;//计数器初始寄存器值
    config.maxValue = MOD_PWM - 1; //PWM计数器最大值
    config.overflowInterrupEn = ENABLE;//计数器溢出中断使能
    config.cntOverflowFreq = 0;//CNTOF中断产生的频率与计数器频率的关系(0-127), 0表示每次计数器溢出都产生溢出中断，1表示间隔1次，2表示间隔2次，以此内推。
    config.interruptEn = ENABLE; //PWM中断使能
    config.callBack = PWM1_CallBack; //PWM中断回调
    
    PWM_Init(PWM1, &config); //配置初始化生效

    NVIC_SetPriority(PWM1_IRQn, 0); //设置PWM模块中断的优先级
}

#endif 
/**********<End>*********/