//
// Created by ZK on 2023/3/14.
//

#ifndef BOOOOMFOC_STSPIN32G4_EVB_ANGLE_H
#define BOOOOMFOC_STSPIN32G4_EVB_ANGLE_H

#include "APP_Main.h"

typedef enum {
    MT6816,
    AS5600
} tEncoderModel;

typedef struct {
    tEncoderModel EncoderModel;

    float32_t (*getAngle)();
} tAngle;

typedef struct {
    tAngle Angle;

    float32_t (*Angle_Init)();
} tData;

float32_t getAngle_MT6816();

float32_t getAngle_AS5600();

bool Data_Init(tData *data);


typedef struct sMT6825 {
    bool no_mag;
    bool over_speed;
    uint32_t angle;

    uint8_t rx_err_count;
    uint8_t check_err_count;
} tMT6825;

typedef struct sEncoder {
    int raw;
    int count_in_cpr;
    int count_in_cpr_prev;

    int64_t shadow_count;

    // pll use
    float pos_cpr_counts;
    float vel_estimate_counts;

    float pos;
    float vel;

    float phase;
    float phase_vel;

    float pll_kp;
    float pll_ki;
    float interpolation;
    float snap_threshold;
} tEncoder;

#endif //BOOOOMFOC_STSPIN32G4_EVB_ANGLE_H
