#ifndef __INCLUDE_H
#define __INCLUDE_H

#include "stm32f4xx.h"

//结构体
typedef struct
{
	float time_lime;
	float max_current_lime;
	float high_speed_mag;
	float low_speed_mag;
	float dividi_rpm;
}PROTECT_PARAMETERS;

typedef struct
{
	float P;
	float I;
	float D;
}PID_PARAMETERS;

typedef struct
{
	u8 		buff[10];
	u8 		buff_cnt;
	u16   rpm;         //串口读取的转速(乘以一定公式)	
	float temperature; //串口读取的电调温度
	float voltage;		  //串口读取的电调电压
	float consumption; //功率
}USART_DATA;

typedef struct
{
	s16    aim_speed;   //目标pwm
	s16    new_speed;
	s16    last_aim;
	float  err;
	float  last_err;
	float  pret_err;
	float  integral;
	s16    pwm;
	s16    dshot_pwm;
	u32    dshot_data[18];
	u16    dshot_limit;
}PID_DATA;

typedef struct
{
	s8   stop_flag;
	u8   stall;
	u8   overload;     //过载次数	
	u16  stall_cnt;  
	u16  normal_cnt;
	u16  unormal_cnt; 
	u8   stall_err;    //堵转异常标志位
}STALL_PROTECT_DATA;

typedef struct
{
	u8     block_err;   //缠绕标志位
	s8     speed_lim; 	//功率输出削弱参数	
	u16    block_cnt; 	//缠绕累计值	
	u16    twin_cnt; 	
	u32    avg_sum;     //计算平均电流时的累计ADC值	
	float  STcurrent;   //根据转速获取的标准电流	
	double current;     //ADC检测的实际电流
	double current_correct;
}TWIN_PROTECT_DATA;

typedef struct
{
	u8         					numble;     //编号
	PID_DATA   					pid_data;   //PID用数据
	USART_DATA 					usart_data;
	TWIN_PROTECT_DATA		twin_data;
	STALL_PROTECT_DATA  stal_data;
	
}MOTOR;

//头文件
#include "delay.h"
#include "dshot.h"
#include "iwag.h"
#include "time.h"
#include "adc.h"
#include "usart.h"
#include "can.h"
#include "led.h"
#include "flash.h"
#include "delay.h"
#include "ntc.h"

//全局变量
#ifdef  __GLOBALS__
	#define EXT 
#else
	#define EXT extern
#endif

EXT u8 Updata_requre;
EXT u8 Pixhawk_requre;
EXT u16 light_pwm;
EXT u8 light_err;
EXT u16 usbl_opendown;
EXT u8 usbl_err;
//电机堵转标识
EXT u16 Motor_err_flag;	
EXT u8 DMA400Finishi;		

EXT float temperature;

EXT float Voltage;
EXT u32 Voltage_sum;

EXT u32 humidity;
EXT u32 humidity_sum;	
EXT u8	humidity_err;
//推进器和履带电机结构体
EXT MOTOR left_thruster;
EXT MOTOR right_thruster;
EXT MOTOR left_track_motor;
EXT MOTOR right_track_motor;
//左右履带转向
EXT s32 left_trank_direction;
EXT s32 right_trank_direction;
//PID
EXT PID_PARAMETERS track_PID;
//堵转参数
EXT PROTECT_PARAMETERS	protect_parameters;

//宏
#define max(x,y) (x>y?x:y)
#define min(x,y) (x<y?x:y)

//PB6 右推进器
#define RThruster_DSHOT_DMA_Config() DSHOT_DMA_Config(TIM4,TIM_DMA_CC1,DMA1_Stream0,DMA_Channel_2,(uint32_t)&(TIM4->CCR1),(uint32_t)right_thruster.pid_data.dshot_data);	
//PB7 右履带
#define RTrack_DSHOT_DMA_Config() DSHOT_DMA_Config(TIM4,TIM_DMA_CC2,DMA1_Stream3,DMA_Channel_2,(uint32_t)&(TIM4->CCR2),(uint32_t)right_track_motor.pid_data.dshot_data)
//PA7 左推进器
#define LThruster_DSHOT_DMA_Config() DSHOT_DMA_Config(TIM3,TIM_DMA_CC2,DMA1_Stream5,DMA_Channel_5,(uint32_t)&(TIM3->CCR2),(uint32_t)left_thruster.pid_data.dshot_data)
//PA5 左履带
#define LTrack_DSHOT_DMA_Config() DSHOT_DMA_Config(TIM2,TIM_DMA_CC1,DMA1_Stream5,DMA_Channel_3,(uint32_t)&(TIM2->CCR1),(uint32_t)left_track_motor.pid_data.dshot_data)

#define LED_ON   GPIO_SetBits(GPIOF, GPIO_Pin_0)
#define LED_OFF  GPIO_ResetBits(GPIOF, GPIO_Pin_0)
#define LED_TURN GPIO_ToggleBits(GPIOF, GPIO_Pin_0)
 
#define USBL_ON   GPIO_SetBits(GPIOA, GPIO_Pin_15)
#define USBL_OFF  GPIO_ResetBits(GPIOA, GPIO_Pin_15)
#define USBL_TURN GPIO_ToggleBits(GPIOA, GPIO_Pin_15)

#define LIGHT_ON   GPIO_SetBits(GPIOF, GPIO_Pin_15)
#define LIGHT_OFF  GPIO_ResetBits(GPIOF, GPIO_Pin_15)
#define LIGHT_TURN GPIO_ToggleBits(GPIOF, GPIO_Pin_15)

#define Read_LIGHT GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_9)
#define Read_USBL  GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_8)
#define Read_VIDEO GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_2)

#define CUT_LIGHT GPIO_ResetBits(GPIOF, GPIO_Pin_15)
#define CUT_USBL  GPIO_ResetBits(GPIOA, GPIO_Pin_15)
#define CUT_VIDEO GPIO_ResetBits(GPIOA, GPIO_Pin_1)

void SoftReset(void);

void ADC_Config(void);
void LED_Config(void);
void CAN_Config(void);
void TIM_Config(void);
void USBL_Config(void);
void Dshot_Config(void);
void Light_Config(void);
void USART_Config(void);
void All_motor_Config(void);
void Single_Motor_Config(MOTOR *motor,u8 num);

void Motor_AD_correct(void);
void Motor_Stall_check(void);
void AnaMotorData(MOTOR *Motor);
u16 GetDShotValue(int16_t value, int8_t lime);
void GetMotorData(USART_TypeDef* USARTx, MOTOR *Motor);
void Motor_Control(MOTOR* Motor,PID_PARAMETERS* MotorPID, u8 usePID);

void Send_Updata_requre(void);
void Send_Pixhawk_requre(void);

void SysTick_1ms_Task(void);
void SysTick_10ms_Task(void);
void SysTick_20ms_Task(void);
void SysTick_100ms_Task(void);
void SysTick_500ms_Task(void);
void Other_Task(void);

void Overcurrent_Detection_Config(void);

extern u8 hv_motor1_data[8];
extern u8 hv_motor2_data[8];
extern u8 hv_motor3_data[8];

#endif