#include "MotorCtrl.h"

#include "hwCtrl.h"
#include "PINdef.h"
#include "appTask.h"
//#include "pfdl.h"


volatile uint8_t MotorState[6],MotorStateReal[6];
uint16_t current1;
uint8_t OC1flag;
uint16_t OC_Count1=0;
uint8_t act_step[6];

void MotorValueInit(void)
{
    uint8_t i = 0;
    for (i = 0; i < 6; i++)
    {
        MotorState[i] = ACT_NOACT;
        MotorStateReal[i] = ACT_NOACT;
    }
}

void ToggleMotorState(void)
{
    static uint8_t KeyMode1 = 0;
    if(MotorState[0] != ACT_NOACT)
    {
        setMotorState(0,ACT_NOACT);
        return;
    }
    if (KeyMode1 == 0)
    {
        setMotorState(0,ACT_XQ);
        KeyMode1 = 1;
    }
    else
    {
        setMotorState(0,ACT_XH);
        KeyMode1 = 0;
    } 
}


void setMotorState(uint8_t motorid,uint8_t act)
{
    if (act <= ACT_XH && motorid < 6)
    {
        
        MotorState[motorid] = act;
        act_step[motorid] = 0;
    }
}




void MotorCtrl(void)//10ms
{
    if (OC1flag == 1)
    {
        OC1flag = 0;
        OC_Count1 = 0;
        MotorState[MOTOR1] = ACT_NOACT;
    }
    
    MotorStateReal[MOTOR1] = MotorState[MOTOR1];

    
    
    MOTOR1Ctrl(MotorStateReal[MOTOR1]);
    //MOTOR2Ctrl(MotorStateReal[MOTOR2]);
    //MOTOR1Ctrl(MotorState[MOTOR1]);
}

uint16_t getOC_th(void)
{

    return 100U;
    
}

void CurrentDetecte(void)
{
    
    
    uint16_t OC_th;
    current1 = getAdval(ADCH_RLY1);
    OC_th = getOC_th();
    if (current1 > OC_th && OC1flag == 0)
    {
        OC_Count1++;
        if (OC_Count1 >= 2000)
        {
            OC_Count1 = 0;
            OC1flag = 1;
        }
    }
    else
    {
        OC_Count1 = 0;
    }

}