#include "global.h"

//轴实体
axis_object_t axis_objects[AXIS_NUMBER];



/**
 * 通过编号获取对象
 * 
 * @author lxz 
 * 
 * @param index 
 * 
 * @return axis_t* 
 */
axis_object_t* axis_get_by_index(unsigned char index) {
	if (index < AXIS_NUMBER) {
		return &axis_objects[index];
	}
	return (void *)0;
}

/**
 * 通过轴号获取对象，必须在初始化后才能使用这个API
 * 
 * @author lxz 
 * 
 * @param index 
 * 
 * @return axis_t* 
 */
axis_object_t* axis_get_by_axisno(unsigned char axisno) {
	unsigned char index = 0;
	while (index < AXIS_NUMBER) {
		if (axis_objects[index].axis_no == axisno) {
			return &axis_objects[index];
		}
	}

	return (void *)0;
}



typedef struct
{
	unsigned short no;
	unsigned short speed;
	int position;
	int dst_position;
	unsigned short aac;
	unsigned short ddc;
	unsigned short max_acc;
	unsigned short max_dec;
	unsigned short min_speed;
	unsigned short max_speed;
	unsigned short time_uint;
	unsigned short speed_unit;
} motion_parameter_t;




/**
 * 轴初始化，包括参数初始化，回掉函数设置
 * 
 * @author lxz 
 * 
 * @param void 
 */
void axis_app_init(void) {
	int index = 0;
	memset(&axis_objects[0], 0, sizeof(axis_objects));
	while (index < AXIS_NUMBER) 
        {
		//注册中断与调用对象
		axis_object_t *axis = axis_get_by_index(index);
		axis->axis_no = index;
		hw_pwm_it_register(index, axis_it_handle, axis);

		axis->clock = hw_pwm_get_clk(index);
		axis->period = 1;  //1个ms为一个时间单位
	    axis->speed_unit = 1;       //速度单位为1
		axis->min_steps = 1; 
		axis->max_aac = 5000;
		axis->max_acc = 4000;  //最大加速
		axis->max_dec = 4000;  //最大减度
		axis->start_speed = 1000;
		axis->acc_time = 20;
		axis->dec_time = 20;
		axis->accdec_mode = 4;       //加减模式清0
		axis->home_find_speed = 10;
		axis->home_high_speed = 100;
		axis->home_low_speed = 50;
		axis->inputs.home_high_speed_enable = 0;
		axis->home_offset = 0;
		axis->home_space = 200;

		axis->sw_positive_limit = 100000; //正软件限位
		axis->sw_negative_limit = -100;   //负软件限位

		axis->position = 0;          //当前位置清0
//		axis->accdec_mode = 0;       //加减模式清0

		//默认正转
		axis_cw(axis);
		//axis_enable(axis);
		//(axis);
		index++;
	}

	axis_x = axis_get_by_index(0);
	axis_y = axis_get_by_index(1);
        axis_z = axis_get_by_index(2);
        //设置方向输出电平
	axis_x->inputs.dir_reverse = 1;
	axis_y->inputs.dir_reverse = 1;
        axis_z->inputs.dir_reverse = 1;
        //设置使能输出电平
        axis_x->inputs.en_reverse = 1;
	axis_y->inputs.en_reverse = 1;
        axis_z->inputs.en_reverse = 1;


        
//        if(X_USE_OLD_DRIVE) ResetServoDrv_CPU(X_AXIS);
//      if(Y_USE_OLD_DRIVE) ResetServoDrv_CPU(Y_AXIS);
       
}



/**
 * 轴应用函数
 * 
 * @author lxz 
 * 
 * @param void 
 */
void axis_app_run(void) {
	int index = 0;
	while (index < AXIS_NUMBER) {
		axis_run(&axis_objects[index]);
		index++;
	}
}