/**********************************
 * 文件名称: hall_sensor.c
 * 功能描述: 霍尔传感器模块
 * 功能: 读取霍尔传感器信号，计算电机角度和速度
 **********************************/
#include "main.h"
#include "hall_sensor.h"



Hall_TypeDef Hall = {0};  // 全局实例

Hall_TypeDef* Hall_Get(void)  
{
    return &Hall;
}

/**
 * @brief   TIM5中断处理函数
 * @note    处理霍尔传感器信号中断，计算电机角度和速度
 */
void TIM5_IRQHandler(void)
{
  float temp;

  if(TIM_GetFlagStatus(TIM5, TIM_FLAG_CC1) == SET)
  {
			Hall.ccr = (float)TIM_GetCapture1(TIM5);
			TIM_ClearFlag(TIM5, TIM_FLAG_CC1);
		
//    hall_angle_add = (float)HALL_ANGLE_FACTOR / temp;
//    hall_speed     = (float)HALL_SPEED_FACTOR / temp;

    uint8_t W = GPIO_ReadInputDataBit(HALL_CH3_GPIO_PORT, HALL_CH3_PIN); // 需要根据实际进行修改
    uint8_t V = GPIO_ReadInputDataBit(HALL_CH2_GPIO_PORT, HALL_CH2_PIN);
    uint8_t U = GPIO_ReadInputDataBit(HALL_CH1_GPIO_PORT, HALL_CH1_PIN);
    Hall.state = U;		//计算扇区
		Hall.state |= V << 1;
		Hall.state |= W << 2;

    switch(Hall.state)
    {
			// 645132
      case 0x06: Hall.angle = 0.0f;              break;
      case 0x04: Hall.angle = PI / 3.0f;         break;
      case 0x05: Hall.angle = 2 * PI / 3.0f;     break;
      case 0x01: Hall.angle = PI;                break;
      case 0x03: Hall.angle = 4 * PI / 3.0f;     break;
      case 0x02: Hall.angle = 5 * PI / 3.0f;     break;
      default: break;
    }
    
    Hall.angle += PHASE_SHIFT_ANGLE;
    
    if(Hall.angle < 0)    Hall.angle += 2*PI;
    if(Hall.angle > 2*PI) Hall.angle -= 2*PI;

    
  }
}