/**
    @copyright (C) COPYRIGHT 2022 Fortiortech Shenzhen
    @file      MotorControl.c
    @author    Fortiortech  Appliction Team
    @since     Create:2021-04-10
    @date      Last modify:2022-07-14
    @note      Last modify author is Marcel
    @brief
*/

#include <MyProject.h>
/* Private variables ----------------------------------------------------------------------------*/

MotStateType data mcState;
MotStaM McStaSet;

/**
    @brief     电机控制状态机
    @warning   电机的状态只能在电机状态控制中切换，禁止在其他地方切换电机状态
    @date      2022-07-14
*/
void MC_Control(void)
{
    switch (mcState)
    {
        case mcReady:
            Motor_Ready();
            
            if (mcFaultSource != FaultNoSource)
            {
                mcState = mcFault;
            }
            else if ((mcCurOffset.OffsetFlag == 1) && (isCtrlPowOn))
            {
                mcState = mcInit;
                mcCurOffset.OffsetFlag = 0;
                mcCurOffset.OffsetCount = 0; // 偏置电压采集计数
                KS.ChangeKeyFlg = 1;
            }
            else
            {
            }
            
            break;
            
        case mcInit:
            if (mcFaultSource != FaultNoSource)
            {
                mcState = mcFault;
            }
            else if (!isCtrlPowOn)
            {
                mcState = mcStop;
            }
            else if (mcCurOffset.OffsetFlag == 1)
            {
                Motor_Init();
                #if (CHARGE_EN == Enable)
                mcFocCtrl.State_Count = CHARGE_TIME;
                mcState = mcCharge; // 跳入mcCharge状态
                #else
                #if (TAILWIND_MODE == NoTailWind)
                #if (ALIGN_MOME != ALIGN_DSIABLE)
                mcFocCtrl.mcPosCheckAngle = Align_Angle;
                mcState = mcAlign;
                mcFocCtrl.State_Count = Align_Time;
                #else
                mcState = mcStart;
                #endif
                #else
                mcFocCtrl.State_Count = TAILWIND_TIME; // 顺逆风判断时间
                mcState = mcTailWind;
                #endif
                #endif
            }
            
            break;
            
        case mcCharge:
            if (mcFaultSource != FaultNoSource)
            {
                mcState = mcFault;
            }
            else if (!isCtrlPowOn)
            {
                mcState = mcStop;
            }
            else
            {
                Motor_Charge();
                #if (IPMTEST == Enable)
                {
                    ;
                }
                #else
                
                if (mcFocCtrl.State_Count == 0)
                {
                    MOE = 0; // 关闭输出
                    #if (TAILWIND_MODE == NoTailWind)
                    {
                        #if (ALIGN_MOME != ALIGN_DSIABLE)
                        mcFocCtrl.mcPosCheckAngle = Align_Angle;
                        mcState = mcAlign;
                        mcFocCtrl.State_Count = Align_Time;
                        #else
                        mcState = mcStart;
                        #endif
                    }
                    #else
                    mcFocCtrl.State_Count = TAILWIND_TIME; // 顺逆风判断时间
                    mcState = mcTailWind;
                    #endif
                }
                
                #endif
            }
            
            break;
            #if (TAILWIND_MODE != NoTailWind)
            
        case mcTailWind:
            if (mcFaultSource != FaultNoSource)
            {
                mcState = mcFault;
            }
            else if (!isCtrlPowOn)
            {
                mcState = mcStop;
            }
            else
            {
                Motor_TailWind();
            }
            
            break;
            #endif
            #if (ALIGN_MOME != ALIGN_DSIABLE)
            
        case mcAlign:
            if (mcFaultSource != FaultNoSource)
            {
                mcState = mcFault;
            }
            else if (!isCtrlPowOn)
            {
                mcState = mcStop;
            }
            else
            {
                Motor_Align();
                #if (ALIGN_MOME == ALIGN_TEST)
                
                while (1)
                    ;
                    
                #else
                    
                if (mcFocCtrl.State_Count == 0)
                {
                    mcState = mcStart;
                    User.TPCtrlDealy = 5000; // 延时启动发热
                }
                    
                #endif
            }
            
            break;
            #endif
            
        case mcStart:
            if (mcFocCtrl.Start_Mode == TAILWIND_START) // 顺风启动
            {
                #if (TAILWIND_MODE == BEMFMethod)
                mcState = mcRun;
                #elif (TAILWIND_MODE == RSDMethod)
                mcState = mcRun;
                #elif (TAILWIND_MODE == FOCMethod)
                Motor_FocTailWind_Open();
                mcState = mcRun;
                #endif
            }
            else if (mcFocCtrl.Start_Mode == HEADWIND_START) // 逆风启动
            {
                if (mcFocCtrl.State_Count > 0) // 逆风启动刹车过程
                {
                    // 配置刹车代码
                    MC_Break();
                }
                else
                {
                    mcFocCtrl.State_Count = 200; // 顺逆风判断时间
                    mcState = mcReady;           // 刹车结束 切回顺逆风检测
                }
            }
            else // 静止启动
            {
                Motor_Static_Open();
                mcState = mcRun;
            }
            
            break;
            
        case mcRun:
            if (mcFaultSource != FaultNoSource)
            {
                mcState = mcFault;
            }
            else if (!isCtrlPowOn)
            {
                mcState = mcStop;
                mcFocCtrl.State_Count = 5; // 单位：1ms
            }
            else
            {
            }
            
            break;
            
        case mcStop:
            if (mcFaultSource != FaultNoSource)
            {
                mcState = mcFault;
            }
            else
            {
                MC_Stop();
            }
            
            break;
            
        case mcBrake:
            if (mcFaultSource != FaultNoSource)
            {
                mcState = mcFault;
            }
            
            if (mcFocCtrl.State_Count == 0)
            {
                fault.Voltage.VoltDetecBraketDuty = 0;
                fault.Voltage.FlagBrakeInit = 0;
                MOE = 0;
                DRV_OUT = 0x00;
                ClrBit(DRV_CR, FOCEN);
                mcState = mcReady;
                mcFocCtrl.State_Count = 10;
            }
            
            break;
            
        case mcFault:
            if (mcFaultSource == FaultUnderVoltageDC)
            {
                UnderProcess();  // 欠压保护处理函数
                //            Save_KeyValue(); // 保存按键值
            }
            else
            {
                MOE = 0;
                ClrBit(DRV_CR, FOCEN); // 关闭FOC
                
                if (mcFaultSource == FaultNoSource)
                {
                    mcState = mcReady;
                }
            }
            
            break;
            
        default:
            mcState = mcReady;
            break;
    }
}