/* 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 "Motor.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 Motor_Init
*
*/
void Motor_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
}


void Motor_Positive(uint8_t speed)
{
	uint16_t chValue=0;
	if(speed > 100) speed = 100;
	//speed = 100 -speed;
		 
	chValue = (uint16_t)speed*(MOD_PWM-1)/100;
	
	printf("Motor_Positive, speed:%d \r\n", speed);
	PWM_SetChannelCountValue(PWM1, PWM_CH_3, 0);
	PWM_SetChannelCountValue(PWM1, PWM_CH_2, chValue);
	
}


void Motor_Negative(uint8_t speed)
{
	uint16_t chValue=0;
	if(speed > 100) speed = 100;
	//speed = 100 -speed;
		 
	chValue = (uint16_t)speed*MOD_PWM/100;
	printf("Motor_Negative, speed:%d \r\n", speed);
	
	PWM_SetChannelCountValue(PWM1, PWM_CH_2, 0);
	PWM_SetChannelCountValue(PWM1, PWM_CH_3, chValue);
	
}

//电机停止转动 
void Motor_Stop(void)
{
	PWM_SetChannelCountValue(PWM1, PWM_CH_2, 0);
	PWM_SetChannelCountValue(PWM1, PWM_CH_3, 0);
}

/**********<End>*********/