/*
	Copyright 2016 - 2018 Benjamin Vedder	benjamin@vedder.se

	This file is part of the VESC firmware.

	The VESC firmware is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    The VESC firmware is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#include "mc_interface.h"
#include "mcpwm.h"
#include "mcpwm_foc.h"
#include "ledpwm.h"
#include "stm32f4xx_conf.h"
#include "hw.h"
#include "terminal.h"
#include "utils.h"
#include "ch.h"
#include "hal.h"
#include "commands.h"
#include "encoder.h"
#include "drv8301.h"
#include "drv8320.h"
#include "buffer.h"
#include <math.h>

// Macros
#define DIR_MULT		(m_conf.m_invert_direction ? -1.0 : 1.0)

// Global variables
volatile uint16_t ADC_Value[HW_ADC_CHANNELS];
volatile int ADC_curr_norm_value[3];

// Private variables
static volatile mc_configuration m_conf;
static mc_fault_code m_fault_now;
static int m_ignore_iterations;
static volatile unsigned int m_cycles_running;
static volatile bool m_lock_enabled;
static volatile bool m_lock_override_once;
static volatile float m_motor_current_sum;
static volatile float m_input_current_sum;
static volatile float m_motor_current_iterations;
static volatile float m_input_current_iterations;
static volatile float m_motor_id_sum;
static volatile float m_motor_iq_sum;
static volatile float m_motor_id_iterations;
static volatile float m_motor_iq_iterations;
static volatile float m_amp_seconds;
static volatile float m_amp_seconds_charged;
static volatile float m_watt_seconds;
static volatile float m_watt_seconds_charged;
static volatile float m_position_set;
static volatile float m_temp_fet;
static volatile float m_temp_motor;

// Sampling variables
#define ADC_SAMPLE_MAX_LEN		2000
__attribute__((section(".ram4"))) static volatile int16_t m_curr0_samples[ADC_SAMPLE_MAX_LEN];
__attribute__((section(".ram4"))) static volatile int16_t m_curr1_samples[ADC_SAMPLE_MAX_LEN];
__attribute__((section(".ram4"))) static volatile int16_t m_ph1_samples[ADC_SAMPLE_MAX_LEN];
__attribute__((section(".ram4"))) static volatile int16_t m_ph2_samples[ADC_SAMPLE_MAX_LEN];
__attribute__((section(".ram4"))) static volatile int16_t m_ph3_samples[ADC_SAMPLE_MAX_LEN];
__attribute__((section(".ram4"))) static volatile int16_t m_vzero_samples[ADC_SAMPLE_MAX_LEN];
__attribute__((section(".ram4"))) static volatile uint8_t m_status_samples[ADC_SAMPLE_MAX_LEN];
__attribute__((section(".ram4"))) static volatile int16_t m_curr_fir_samples[ADC_SAMPLE_MAX_LEN];
__attribute__((section(".ram4"))) static volatile int16_t m_f_sw_samples[ADC_SAMPLE_MAX_LEN];
__attribute__((section(".ram4"))) static volatile int8_t m_phase_samples[ADC_SAMPLE_MAX_LEN];
static volatile int m_sample_len;
static volatile int m_sample_int;
static volatile debug_sampling_mode m_sample_mode;
static volatile debug_sampling_mode m_sample_mode_last;
static volatile int m_sample_now;
static volatile int m_sample_trigger;
static volatile float m_last_adc_duration_sample;

// Private functions
static void update_override_limits(volatile mc_configuration *conf);

// Function pointers
static void(*pwn_done_func)(void) = 0;

// Threads
static THD_WORKING_AREA(timer_thread_wa, 1024);
static THD_FUNCTION(timer_thread, arg);
static THD_WORKING_AREA(sample_send_thread_wa, 1024);
static THD_FUNCTION(sample_send_thread, arg);
static thread_t *sample_send_tp;
//对静态变量m_conf传递电调参数值，并创建线程timer_thread_mcif，timer_thread_mcif
//初始化霍尔表，TIM1初始化(用于PWM产生)，TIM8初始化(用于ADC采样)，ADC普通及注入通道初始化，ADC对应DMA初始化及中断函数声明
//TIM2(用于计算RPM)初始化，设置ADC采样点，初始化TIM12，创建线程timer_thread，rpm_thread，设置看门狗
void mc_interface_init(mc_configuration *configuration) {
	m_conf = *configuration;
	m_fault_now = FAULT_CODE_NONE;
	m_ignore_iterations = 0;
	m_cycles_running = 0;
	m_lock_enabled = false;
	m_lock_override_once = false;
	m_motor_current_sum = 0.0;
	m_input_current_sum = 0.0;
	m_motor_current_iterations = 0.0;
	m_input_current_iterations = 0.0;
	m_motor_id_sum = 0.0;
	m_motor_iq_sum = 0.0;
	m_motor_id_iterations = 0.0;
	m_motor_iq_iterations = 0.0;
	m_amp_seconds = 0.0;
	m_amp_seconds_charged = 0.0;
	m_watt_seconds = 0.0;
	m_watt_seconds_charged = 0.0;
	m_position_set = 0.0;
	m_last_adc_duration_sample = 0.0;
	m_temp_fet = 0.0;
	m_temp_motor = 0.0;

	m_sample_len = 1000;
	m_sample_int = 1;
	m_sample_now = 0;
	m_sample_trigger = 0;
	m_sample_mode = DEBUG_SAMPLING_OFF;
	m_sample_mode_last = DEBUG_SAMPLING_OFF;

	// Start threads
	chThdCreateStatic(timer_thread_wa, sizeof(timer_thread_wa), NORMALPRIO, timer_thread, NULL);
	chThdCreateStatic(sample_send_thread_wa, sizeof(sample_send_thread_wa), NORMALPRIO - 1, sample_send_thread, NULL);

#ifdef HW_HAS_DRV8301
	drv8301_set_oc_mode(configuration->m_drv8301_oc_mode);
	drv8301_set_oc_adj(configuration->m_drv8301_oc_adj);
#elif defined(HW_HAS_DRV8320)
	drv8320_set_oc_mode(configuration->m_drv8301_oc_mode);
	drv8320_set_oc_adj(configuration->m_drv8301_oc_adj);
#endif

	// Initialize encoder
#if !WS2811_ENABLE
	switch (m_conf.m_sensor_port_mode) {//初始默认为hall
	case SENSOR_PORT_MODE_ABI:
		encoder_init_abi(m_conf.m_encoder_counts);
		break;

	case SENSOR_PORT_MODE_AS5047_SPI:
		encoder_init_as5047p_spi();
		break;

	default:
		break;
	}
#endif

	// Initialize selected implementation
	switch (m_conf.motor_type) {//初始默认为MOTOR_TYPE_BLDC
	case MOTOR_TYPE_BLDC:
	case MOTOR_TYPE_DC:
		//初始化霍尔表，TIM1初始化(用于PWM产生)，TIM8初始化(用于ADC采样)，ADC普通及注入通道初始化，ADC对应DMA初始化及中断函数声明
//TIM2(用于计算RPM)初始化，设置ADC采样点，初始化TIM12，创建线程timer_thread，rpm_thread，设置看门狗
		mcpwm_init(&m_conf);
		break;

	case MOTOR_TYPE_FOC:
		mcpwm_foc_init(&m_conf);
		break;

	default:
		break;
	}
}

const volatile mc_configuration* mc_interface_get_configuration(void) {
	return &m_conf;
}

void mc_interface_set_configuration(mc_configuration *configuration) {
#if !WS2811_ENABLE
	if (m_conf.m_sensor_port_mode != configuration->m_sensor_port_mode) {
		encoder_deinit();
		switch (configuration->m_sensor_port_mode) {
		case SENSOR_PORT_MODE_ABI:
			encoder_init_abi(configuration->m_encoder_counts);
			break;

		case SENSOR_PORT_MODE_AS5047_SPI:
			encoder_init_as5047p_spi();
			break;

		default:
			break;
		}
	}

	if (configuration->m_sensor_port_mode == SENSOR_PORT_MODE_ABI) {
		encoder_set_counts(configuration->m_encoder_counts);
	}
#endif

#ifdef HW_HAS_DRV8301
	drv8301_set_oc_mode(configuration->m_drv8301_oc_mode);
	drv8301_set_oc_adj(configuration->m_drv8301_oc_adj);
#elif defined(HW_HAS_DRV8320)
	drv8320_set_oc_mode(configuration->m_drv8301_oc_mode);
	drv8320_set_oc_adj(configuration->m_drv8301_oc_adj);
#endif

	if (m_conf.motor_type == MOTOR_TYPE_FOC
			&& configuration->motor_type != MOTOR_TYPE_FOC) {
		mcpwm_foc_deinit();
		m_conf = *configuration;
		mcpwm_init(&m_conf);
	} else if (m_conf.motor_type != MOTOR_TYPE_FOC
			&& configuration->motor_type == MOTOR_TYPE_FOC) {
		mcpwm_deinit();
		m_conf = *configuration;
		mcpwm_foc_init(&m_conf);
	} else {
		m_conf = *configuration;
	}

	update_override_limits(&m_conf);

	switch (m_conf.motor_type) {
	case MOTOR_TYPE_BLDC:
	case MOTOR_TYPE_DC:
		mcpwm_set_configuration(&m_conf);
		break;

	case MOTOR_TYPE_FOC:
		mcpwm_foc_set_configuration(&m_conf);
		break;

	default:
		break;
	}
}

bool mc_interface_dccal_done(void) {
	bool ret = false;
	switch (m_conf.motor_type) {
	case MOTOR_TYPE_BLDC:
	case MOTOR_TYPE_DC:
		ret = mcpwm_is_dccal_done();
		break;

	case MOTOR_TYPE_FOC:
		ret = mcpwm_foc_is_dccal_done();
		break;

	default:
		break;
	}

	return ret;
}

/**
 * Set a function that should be called after each PWM cycle.
 *
 * @param p_func
 * The function to be called. 0 will not call any function.
 */
void mc_interface_set_pwm_callback(void (*p_func)(void)) {
	pwn_done_func = p_func;
}

/**
 * Lock the control by disabling all control commands.
 */
void mc_interface_lock(void) {
	m_lock_enabled = true;
}

/**
 * Unlock all control commands.
 */
void mc_interface_unlock(void) {
	m_lock_enabled = false;
}

/**
 * Allow just one motor control command in the locked state.
 */
void mc_interface_lock_override_once(void) {
	m_lock_override_once = true;
}

mc_fault_code mc_interface_get_fault(void) {
	return m_fault_now;
}

const char* mc_interface_fault_to_string(mc_fault_code fault) {
	switch (fault) {
	case FAULT_CODE_NONE: return "FAULT_CODE_NONE"; break;
	case FAULT_CODE_OVER_VOLTAGE: return "FAULT_CODE_OVER_VOLTAGE"; break;
	case FAULT_CODE_UNDER_VOLTAGE: return "FAULT_CODE_UNDER_VOLTAGE"; break;
	case FAULT_CODE_DRV: return "FAULT_CODE_DRV"; break;
	case FAULT_CODE_ABS_OVER_CURRENT: return "FAULT_CODE_ABS_OVER_CURRENT"; break;
	case FAULT_CODE_OVER_TEMP_FET: return "FAULT_CODE_OVER_TEMP_FET"; break;
	case FAULT_CODE_OVER_TEMP_MOTOR: return "FAULT_CODE_OVER_TEMP_MOTOR"; break;
	default: return "FAULT_UNKNOWN"; break;
	}
}

mc_state mc_interface_get_state(void) {
	mc_state ret = MC_STATE_OFF;
	switch (m_conf.motor_type) {
	case MOTOR_TYPE_BLDC:
	case MOTOR_TYPE_DC:
		ret = mcpwm_get_state();
		break;

	case MOTOR_TYPE_FOC:
		ret = mcpwm_foc_get_state();
		break;

	default:
		break;
	}

	return ret;
}

void mc_interface_set_duty(float dutyCycle) {
	if (mc_interface_try_input()) {
		return;
	}

	switch (m_conf.motor_type) {
	case MOTOR_TYPE_BLDC:
	case MOTOR_TYPE_DC:
		mcpwm_set_duty(DIR_MULT * dutyCycle);
		break;

	case MOTOR_TYPE_FOC:
		mcpwm_foc_set_duty(DIR_MULT * dutyCycle);
		break;

	default:
		break;
	}
}

void mc_interface_set_duty_noramp(float dutyCycle) {
	if (mc_interface_try_input()) {
		return;
	}

	switch (m_conf.motor_type) {
	case MOTOR_TYPE_BLDC:
	case MOTOR_TYPE_DC:
		mcpwm_set_duty_noramp(DIR_MULT * dutyCycle);
		break;

	case MOTOR_TYPE_FOC:
		mcpwm_foc_set_duty_noramp(DIR_MULT * dutyCycle);
		break;

	default:
		break;
	}
}

void mc_interface_set_pid_speed(float rpm) {
	if (mc_interface_try_input()) {
		return;
	}

	switch (m_conf.motor_type) {
	case MOTOR_TYPE_BLDC:
	case MOTOR_TYPE_DC:
		mcpwm_set_pid_speed(DIR_MULT * rpm);
		break;

	case MOTOR_TYPE_FOC:
		mcpwm_foc_set_pid_speed(DIR_MULT * rpm);
		break;

	default:
		break;
	}
}

void mc_interface_set_pid_pos(float pos) {
	if (mc_interface_try_input()) {
		return;
	}

	m_position_set = pos;

	pos *= DIR_MULT;
	utils_norm_angle(&pos);

	switch (m_conf.motor_type) {
	case MOTOR_TYPE_BLDC:
	case MOTOR_TYPE_DC:
		mcpwm_set_pid_pos(pos);
		break;

	case MOTOR_TYPE_FOC:
		mcpwm_foc_set_pid_pos(pos);
		break;

	default:
		break;
	}
}

void mc_interface_set_current(float current) {
	if (mc_interface_try_input()) {
		return;
	}

	switch (m_conf.motor_type) {
	case MOTOR_TYPE_BLDC:
	case MOTOR_TYPE_DC:
		mcpwm_set_current(DIR_MULT * current);
		break;

	case MOTOR_TYPE_FOC:
		mcpwm_foc_set_current(DIR_MULT * current);
		break;

	default:
		break;
	}
}

void mc_interface_set_brake_current(float current) {
	if (mc_interface_try_input()) {
		return;
	}

	switch (m_conf.motor_type) {
	case MOTOR_TYPE_BLDC:
	case MOTOR_TYPE_DC:
		mcpwm_set_brake_current(DIR_MULT * current);
		break;

	case MOTOR_TYPE_FOC:
		mcpwm_foc_set_brake_current(DIR_MULT * current);
		break;

	default:
		break;
	}
}

/**
 * Set current relative to the minimum and maximum current limits.
 *
 * @param current
 * The relative current value, range [-1.0 1.0]
 */
void mc_interface_set_current_rel(float val) {
	if (val > 0.0) {
		mc_interface_set_current(val * m_conf.lo_current_motor_max_now);
	} else {
		mc_interface_set_current(val * fabsf(m_conf.lo_current_motor_min_now));
	}
}

/**
 * Set brake current relative to the minimum current limit.
 *
 * @param current
 * The relative current value, range [0.0 1.0]
 */
void mc_interface_set_brake_current_rel(float val) {
	mc_interface_set_brake_current(val * m_conf.lo_current_motor_max_now);
}

/**
 * Set open loop current vector to brake motor.
 *
 * @param current
 * The current value.
 */
void mc_interface_set_handbrake(float current) {
	if (mc_interface_try_input()) {
		return;
	}

	switch (m_conf.motor_type) {
	case MOTOR_TYPE_BLDC:
	case MOTOR_TYPE_DC:
		// TODO: Not implemented yet, use brake mode for now.
		mcpwm_set_brake_current(current);
		break;

	case MOTOR_TYPE_FOC:
		mcpwm_foc_set_handbrake(current);
		break;

	default:
		break;
	}
}

/**
 * Set handbrake brake current relative to the minimum current limit.
 *
 * @param current
 * The relative current value, range [0.0 1.0]
 */
void mc_interface_set_handbrake_rel(float val) {
	mc_interface_set_handbrake(val * fabsf(m_conf.lo_current_motor_min_now));
}

void mc_interface_brake_now(void) {
	mc_interface_set_duty(0.0);
}

/**
 * Disconnect the motor and let it turn freely.
 */
void mc_interface_release_motor(void) {
	mc_interface_set_current(0.0);
}

/**
 * Stop the motor and use braking.
 */
float mc_interface_get_duty_cycle_set(void) {
	float ret = 0.0;

	switch (m_conf.motor_type) {
	case MOTOR_TYPE_BLDC:
	case MOTOR_TYPE_DC:
		ret = mcpwm_get_duty_cycle_set();
		break;

	case MOTOR_TYPE_FOC:
		ret = mcpwm_foc_get_duty_cycle_set();
		break;

	default:
		break;
	}

	return DIR_MULT * ret;
}

float mc_interface_get_duty_cycle_now(void) {
	float ret = 0.0;

	switch (m_conf.motor_type) {
	case MOTOR_TYPE_BLDC:
	case MOTOR_TYPE_DC:
		ret = mcpwm_get_duty_cycle_now();
		break;

	case MOTOR_TYPE_FOC:
		ret = mcpwm_foc_get_duty_cycle_now();
		break;

	default:
		break;
	}

	return DIR_MULT * ret;
}

float mc_interface_get_sampling_frequency_now(void) {
	float ret = 0.0;

	switch (m_conf.motor_type) {
	case MOTOR_TYPE_BLDC:
	case MOTOR_TYPE_DC:
		ret = mcpwm_get_switching_frequency_now();
		break;

	case MOTOR_TYPE_FOC:
		ret = mcpwm_foc_get_sampling_frequency_now();
		break;

	default:
		break;
	}

	return ret;
}

float mc_interface_get_rpm(void) {
	float ret = 0.0;

	switch (m_conf.motor_type) {
	case MOTOR_TYPE_BLDC:
	case MOTOR_TYPE_DC:
		ret = mcpwm_get_rpm();
		break;

	case MOTOR_TYPE_FOC:
		ret = mcpwm_foc_get_rpm();
		break;

	default:
		break;
	}

	return DIR_MULT * ret;
}

/**
 * Get the amount of amp hours drawn from the input source.
 *
 * @param reset
 * If true, the counter will be reset after this call.
 *
 * @return
 * The amount of amp hours drawn.
 */
float mc_interface_get_amp_hours(bool reset) {
	float val = m_amp_seconds / 3600;

	if (reset) {
		m_amp_seconds = 0.0;
	}

	return val;
}

/**
 * Get the amount of amp hours fed back into the input source.
 *
 * @param reset
 * If true, the counter will be reset after this call.
 *
 * @return
 * The amount of amp hours fed back.
 */
float mc_interface_get_amp_hours_charged(bool reset) {
	float val = m_amp_seconds_charged / 3600;

	if (reset) {
		m_amp_seconds_charged = 0.0;
	}

	return val;
}

/**
 * Get the amount of watt hours drawn from the input source.
 *
 * @param reset
 * If true, the counter will be reset after this call.
 *
 * @return
 * The amount of watt hours drawn.
 */
float mc_interface_get_watt_hours(bool reset) {
	float val = m_watt_seconds / 3600;

	if (reset) {
		m_watt_seconds = 0.0;
	}

	return val;
}

/**
 * Get the amount of watt hours fed back into the input source.
 *
 * @param reset
 * If true, the counter will be reset after this call.
 *
 * @return
 * The amount of watt hours fed back.
 */
float mc_interface_get_watt_hours_charged(bool reset) {
	float val = m_watt_seconds_charged / 3600;

	if (reset) {
		m_watt_seconds_charged = 0.0;
	}

	return val;
}

float mc_interface_get_tot_current(void) {
	float ret = 0.0;

	switch (m_conf.motor_type) {
	case MOTOR_TYPE_BLDC:
	case MOTOR_TYPE_DC:
		ret = mcpwm_get_tot_current();
		break;

	case MOTOR_TYPE_FOC:
		ret = mcpwm_foc_get_tot_current();
		break;

	default:
		break;
	}

	return ret;
}

float mc_interface_get_tot_current_filtered(void) {
	float ret = 0.0;

	switch (m_conf.motor_type) {
	case MOTOR_TYPE_BLDC:
	case MOTOR_TYPE_DC:
		ret = mcpwm_get_tot_current_filtered();
		break;

	case MOTOR_TYPE_FOC:
		ret = mcpwm_foc_get_tot_current_filtered();
		break;

	default:
		break;
	}

	return ret;
}

float mc_interface_get_tot_current_directional(void) {
	float ret = 0.0;

	switch (m_conf.motor_type) {
	case MOTOR_TYPE_BLDC:
	case MOTOR_TYPE_DC:
		ret = mcpwm_get_tot_current_directional();
		break;

	case MOTOR_TYPE_FOC:
		ret = mcpwm_foc_get_tot_current_directional();
		break;

	default:
		break;
	}

	return DIR_MULT * ret;
}

float mc_interface_get_tot_current_directional_filtered(void) {
	float ret = 0.0;

	switch (m_conf.motor_type) {
	case MOTOR_TYPE_BLDC:
	case MOTOR_TYPE_DC:
		ret = mcpwm_get_tot_current_directional_filtered();
		break;

	case MOTOR_TYPE_FOC:
		ret = mcpwm_foc_get_tot_current_directional_filtered();
		break;

	default:
		break;
	}

	return DIR_MULT * ret;
}

float mc_interface_get_tot_current_in(void) {
	float ret = 0.0;

	switch (m_conf.motor_type) {
	case MOTOR_TYPE_BLDC:
	case MOTOR_TYPE_DC:
		ret = mcpwm_get_tot_current_in();
		break;

	case MOTOR_TYPE_FOC:
		ret = mcpwm_foc_get_tot_current_in();
		break;

	default:
		break;
	}

	return ret;
}

float mc_interface_get_tot_current_in_filtered(void) {
	float ret = 0.0;

	switch (m_conf.motor_type) {
	case MOTOR_TYPE_BLDC:
	case MOTOR_TYPE_DC:
		ret = mcpwm_get_tot_current_in_filtered();
		break;

	case MOTOR_TYPE_FOC:
		ret = mcpwm_foc_get_tot_current_in_filtered();
		break;

	default:
		break;
	}

	return ret;
}

int mc_interface_get_tachometer_value(bool reset) {
	int ret = 0;

	switch (m_conf.motor_type) {
	case MOTOR_TYPE_BLDC:
	case MOTOR_TYPE_DC:
		ret = mcpwm_get_tachometer_value(reset);
		break;

	case MOTOR_TYPE_FOC:
		ret = mcpwm_foc_get_tachometer_value(reset);
		break;

	default:
		break;
	}

	return DIR_MULT * ret;
}

int mc_interface_get_tachometer_abs_value(bool reset) {
	int ret = 0;

	switch (m_conf.motor_type) {
	case MOTOR_TYPE_BLDC:
	case MOTOR_TYPE_DC:
		ret = mcpwm_get_tachometer_abs_value(reset);
		break;

	case MOTOR_TYPE_FOC:
		ret = mcpwm_foc_get_tachometer_abs_value(reset);
		break;

	default:
		break;
	}

	return ret;
}

float mc_interface_get_last_inj_adc_isr_duration(void) {
	float ret = 0.0;

	switch (m_conf.motor_type) {
	case MOTOR_TYPE_BLDC:
	case MOTOR_TYPE_DC:
		ret = mcpwm_get_last_inj_adc_isr_duration();
		break;

	case MOTOR_TYPE_FOC:
		ret = mcpwm_foc_get_last_inj_adc_isr_duration();
		break;

	default:
		break;
	}

	return ret;
}

float mc_interface_read_reset_avg_motor_current(void) {
	float res = m_motor_current_sum / m_motor_current_iterations;
	m_motor_current_sum = 0.0;
	m_motor_current_iterations = 0.0;
	return res;
}

float mc_interface_read_reset_avg_input_current(void) {
	float res = m_input_current_sum / m_input_current_iterations;
	m_input_current_sum = 0.0;
	m_input_current_iterations = 0.0;
	return res;
}

/**
 * Read and reset the average direct axis motor current. (FOC only)
 *
 * @return
 * The average D axis current.
 */
float mc_interface_read_reset_avg_id(void) {
	float res = m_motor_id_sum / m_motor_id_iterations;
	m_motor_id_sum = 0.0;
	m_motor_id_iterations = 0.0;
	return DIR_MULT * res; // TODO: DIR_MULT?
}

/**
 * Read and reset the average quadrature axis motor current. (FOC only)
 *
 * @return
 * The average Q axis current.
 */
float mc_interface_read_reset_avg_iq(void) {
	float res = m_motor_iq_sum / m_motor_iq_iterations;
	m_motor_iq_sum = 0.0;
	m_motor_iq_iterations = 0.0;
	return DIR_MULT * res;
}

float mc_interface_get_pid_pos_set(void) {
	return m_position_set;
}

float mc_interface_get_pid_pos_now(void) {
	float ret = 0.0;

	switch (m_conf.motor_type) {
	case MOTOR_TYPE_BLDC:
	case MOTOR_TYPE_DC:
		ret = encoder_read_deg();
		break;

	case MOTOR_TYPE_FOC:
		ret = mcpwm_foc_get_pid_pos_now();
		break;

	default:
		break;
	}

	ret *= DIR_MULT;
	utils_norm_angle(&ret);

	return ret;
}

float mc_interface_get_last_sample_adc_isr_duration(void) {
	return m_last_adc_duration_sample;
}

void mc_interface_sample_print_data(debug_sampling_mode mode, uint16_t len, uint8_t decimation) {
	if (len > ADC_SAMPLE_MAX_LEN) {
		len = ADC_SAMPLE_MAX_LEN;
	}

	if (mode == DEBUG_SAMPLING_SEND_LAST_SAMPLES) {
		chEvtSignal(sample_send_tp, (eventmask_t) 1);
	} else {
		m_sample_trigger = -1;
		m_sample_now = 0;
		m_sample_len = len;
		m_sample_int = decimation;
		m_sample_mode = mode;
	}
}

/**
 * Get filtered MOSFET temperature. The temperature is pre-calculated, so this
 * functions is fast.
 *
 * @return
 * The filtered MOSFET temperature.
 */
float mc_interface_temp_fet_filtered(void) {
	return m_temp_fet;
}

/**
 * Get filtered motor temperature. The temperature is pre-calculated, so this
 * functions is fast.
 *
 * @return
 * The filtered motor temperature.
 */
float mc_interface_temp_motor_filtered(void) {
	return m_temp_motor;
}

// MC implementation functions

/**
 * A helper function that should be called before sending commands to control
 * the motor. If the state is detecting, the detection will be stopped.
 *
 * @return
 * The amount if milliseconds left until user commands are allowed again.
 *
 */
int mc_interface_try_input(void) {
	// TODO: Remove this later
	if (mc_interface_get_state() == MC_STATE_DETECTING) {
		mcpwm_stop_pwm();
		m_ignore_iterations = MCPWM_DETECT_STOP_TIME;
	}

	int retval = m_ignore_iterations;

	if (!m_ignore_iterations && m_lock_enabled) {
		if (!m_lock_override_once) {
			retval = 1;
		} else {
			m_lock_override_once = false;
		}
	}

	switch (m_conf.motor_type) {
	case MOTOR_TYPE_BLDC:
	case MOTOR_TYPE_DC:
		if (!mcpwm_init_done()) {
			retval = 1;
		}
		break;

	case MOTOR_TYPE_FOC:
		if (!mcpwm_foc_init_done()) {
			retval = 1;
		}
		break;

	default:
		break;
	}

	return retval;
}

void mc_interface_fault_stop(mc_fault_code fault) {
	if (m_fault_now == fault) {
		m_ignore_iterations = m_conf.m_fault_stop_time_ms;
		return;
	}

	if (mc_interface_dccal_done() && m_fault_now == FAULT_CODE_NONE) {
		// Sent to terminal fault logger so that all faults and their conditions
		// can be printed for debugging.
		utils_sys_lock_cnt();
		volatile int val_samp = TIM8->CCR1;
		volatile int current_samp = TIM1->CCR4;
		volatile int tim_top = TIM1->ARR;
		utils_sys_unlock_cnt();

		fault_data fdata;
		fdata.fault = fault;
		fdata.current = mc_interface_get_tot_current();
		fdata.current_filtered = mc_interface_get_tot_current_filtered();
		fdata.voltage = GET_INPUT_VOLTAGE();
		fdata.duty = mc_interface_get_duty_cycle_now();
		fdata.rpm = mc_interface_get_rpm();
		fdata.tacho = mc_interface_get_tachometer_value(false);
		fdata.cycles_running = m_cycles_running;
		fdata.tim_val_samp = val_samp;
		fdata.tim_current_samp = current_samp;
		fdata.tim_top = tim_top;
		fdata.comm_step = mcpwm_get_comm_step();
		fdata.temperature = NTC_TEMP(ADC_IND_TEMP_MOS);
#ifdef HW_HAS_DRV8301
		if (fault == FAULT_CODE_DRV) {
			fdata.drv8301_faults = drv8301_read_faults();
		}
#elif defined(HW_HAS_DRV8320)
		if (fault == FAULT_CODE_DRV) {
			fdata.drv8301_faults = drv8320_read_faults();
		}
#endif
		terminal_add_fault_data(&fdata);
	}

	m_ignore_iterations = m_conf.m_fault_stop_time_ms;

	switch (m_conf.motor_type) {
	case MOTOR_TYPE_BLDC:
	case MOTOR_TYPE_DC:
		mcpwm_stop_pwm();
		break;

	case MOTOR_TYPE_FOC:
		mcpwm_foc_stop_pwm();
		break;

	default:
		break;
	}

	m_fault_now = fault;
}

void mc_interface_mc_timer_isr(void) {
	ledpwm_update_pwm(); // LED PWM Driver update

	const float input_voltage = GET_INPUT_VOLTAGE();

	// Check for faults that should stop the motor
	static int wrong_voltage_iterations = 0;
	if (input_voltage < m_conf.l_min_vin ||
			input_voltage > m_conf.l_max_vin) {
		wrong_voltage_iterations++;

		if ((wrong_voltage_iterations >= 8)) {
			mc_interface_fault_stop(input_voltage < m_conf.l_min_vin ?
					FAULT_CODE_UNDER_VOLTAGE : FAULT_CODE_OVER_VOLTAGE);
		}
	} else {
		wrong_voltage_iterations = 0;
	}

	if (mc_interface_get_state() == MC_STATE_RUNNING) {
		m_cycles_running++;
	} else {
		m_cycles_running = 0;
	}

	if (pwn_done_func) {
		pwn_done_func();
	}

	const float current = mc_interface_get_tot_current_filtered();
	const float current_in = mc_interface_get_tot_current_in_filtered();
	m_motor_current_sum += current;
	m_input_current_sum += current_in;
	m_motor_current_iterations++;
	m_input_current_iterations++;

	m_motor_id_sum += mcpwm_foc_get_id();
	m_motor_iq_sum += mcpwm_foc_get_iq();
	m_motor_id_iterations++;
	m_motor_iq_iterations++;

	float abs_current = mc_interface_get_tot_current();
	float abs_current_filtered = current;
	if (m_conf.motor_type == MOTOR_TYPE_FOC) {
		// TODO: Make this more general
		abs_current = mcpwm_foc_get_abs_motor_current();
		abs_current_filtered = mcpwm_foc_get_abs_motor_current_filtered();
	}

	// Current fault code
	if (m_conf.l_slow_abs_current) {
		if (fabsf(abs_current_filtered) > m_conf.l_abs_current_max) {
			mc_interface_fault_stop(FAULT_CODE_ABS_OVER_CURRENT);
		}
	} else {
		if (fabsf(abs_current) > m_conf.l_abs_current_max) {
			mc_interface_fault_stop(FAULT_CODE_ABS_OVER_CURRENT);
		}
	}

	// DRV fault code
	if (IS_DRV_FAULT()) {
		mc_interface_fault_stop(FAULT_CODE_DRV);
	}

	// Watt and ah counters
	const float f_samp = mc_interface_get_sampling_frequency_now();
	if (fabsf(current) > 1.0) {
		// Some extra filtering
		static float curr_diff_sum = 0.0;
		static float curr_diff_samples = 0;

		curr_diff_sum += current_in / f_samp;
		curr_diff_samples += 1.0 / f_samp;

		if (curr_diff_samples >= 0.01) {
			if (curr_diff_sum > 0.0) {
				m_amp_seconds += curr_diff_sum;
				m_watt_seconds += curr_diff_sum * input_voltage;
			} else {
				m_amp_seconds_charged -= curr_diff_sum;
				m_watt_seconds_charged -= curr_diff_sum * input_voltage;
			}

			curr_diff_samples = 0.0;
			curr_diff_sum = 0.0;
		}
	}

	bool sample = false;

	switch (m_sample_mode) {
	case DEBUG_SAMPLING_NOW:
		if (m_sample_now == m_sample_len) {
			m_sample_mode = DEBUG_SAMPLING_OFF;
			m_sample_mode_last = DEBUG_SAMPLING_NOW;
			chSysLockFromISR();
			chEvtSignalI(sample_send_tp, (eventmask_t) 1);
			chSysUnlockFromISR();
		} else {
			sample = true;
		}
		break;

	case DEBUG_SAMPLING_START:
		if (mc_interface_get_state() == MC_STATE_RUNNING || m_sample_now > 0) {
			sample = true;
		}

		if (m_sample_now == m_sample_len) {
			m_sample_mode_last = m_sample_mode;
			m_sample_mode = DEBUG_SAMPLING_OFF;
			chSysLockFromISR();
			chEvtSignalI(sample_send_tp, (eventmask_t) 1);
			chSysUnlockFromISR();
		}
		break;

	case DEBUG_SAMPLING_TRIGGER_START:
	case DEBUG_SAMPLING_TRIGGER_START_NOSEND: {
		sample = true;

		int sample_last = -1;
		if (m_sample_trigger >= 0) {
			sample_last = m_sample_trigger - m_sample_len;
			if (sample_last < 0) {
				sample_last += ADC_SAMPLE_MAX_LEN;
			}
		}

		if (m_sample_now == sample_last) {
			m_sample_mode_last = m_sample_mode;
			sample = false;

			if (m_sample_mode == DEBUG_SAMPLING_TRIGGER_START) {
				chSysLockFromISR();
				chEvtSignalI(sample_send_tp, (eventmask_t) 1);
				chSysUnlockFromISR();
			}

			m_sample_mode = DEBUG_SAMPLING_OFF;
		}

		if (mc_interface_get_state() == MC_STATE_RUNNING && m_sample_trigger < 0) {
			m_sample_trigger = m_sample_now;
		}
	} break;

	case DEBUG_SAMPLING_TRIGGER_FAULT:
	case DEBUG_SAMPLING_TRIGGER_FAULT_NOSEND: {
		sample = true;

		int sample_last = -1;
		if (m_sample_trigger >= 0) {
			sample_last = m_sample_trigger - m_sample_len;
			if (sample_last < 0) {
				sample_last += ADC_SAMPLE_MAX_LEN;
			}
		}

		if (m_sample_now == sample_last) {
			m_sample_mode_last = m_sample_mode;
			sample = false;

			if (m_sample_mode == DEBUG_SAMPLING_TRIGGER_FAULT) {
				chSysLockFromISR();
				chEvtSignalI(sample_send_tp, (eventmask_t) 1);
				chSysUnlockFromISR();
			}

			m_sample_mode = DEBUG_SAMPLING_OFF;
		}

		if (m_fault_now != FAULT_CODE_NONE && m_sample_trigger < 0) {
			m_sample_trigger = m_sample_now;
		}
	} break;

	default:
		break;
	}

	if (sample) {
		static int a = 0;
		a++;

		if (a >= m_sample_int) {
			a = 0;

			if (m_sample_now >= ADC_SAMPLE_MAX_LEN) {
				m_sample_now = 0;
			}

			int16_t zero;
			if (m_conf.motor_type == MOTOR_TYPE_FOC) {
				zero = (ADC_V_L1 + ADC_V_L2 + ADC_V_L3) / 3;
				m_phase_samples[m_sample_now] = (uint8_t)(mcpwm_foc_get_phase() / 360.0 * 250.0);
//				m_phase_samples[m_sample_now] = (uint8_t)(mcpwm_foc_get_phase_observer() / 360.0 * 250.0);
//				float ang = utils_angle_difference(mcpwm_foc_get_phase_observer(), mcpwm_foc_get_phase_encoder()) + 180.0;
//				m_phase_samples[m_sample_now] = (uint8_t)(ang / 360.0 * 250.0);
			} else {
				zero = mcpwm_vzero;
				m_phase_samples[m_sample_now] = 0;
			}

			if (mc_interface_get_state() == MC_STATE_DETECTING) {
				m_curr0_samples[m_sample_now] = (int16_t)mcpwm_detect_currents[mcpwm_get_comm_step() - 1];
				m_curr1_samples[m_sample_now] = (int16_t)mcpwm_detect_currents_diff[mcpwm_get_comm_step() - 1];

				m_ph1_samples[m_sample_now] = (int16_t)mcpwm_detect_voltages[0];
				m_ph2_samples[m_sample_now] = (int16_t)mcpwm_detect_voltages[1];
				m_ph3_samples[m_sample_now] = (int16_t)mcpwm_detect_voltages[2];
			} else {
				m_curr0_samples[m_sample_now] = ADC_curr_norm_value[0];
				m_curr1_samples[m_sample_now] = ADC_curr_norm_value[1];

				m_ph1_samples[m_sample_now] = ADC_V_L1 - zero;
				m_ph2_samples[m_sample_now] = ADC_V_L2 - zero;
				m_ph3_samples[m_sample_now] = ADC_V_L3 - zero;
			}

			m_vzero_samples[m_sample_now] = zero;
			m_curr_fir_samples[m_sample_now] = (int16_t)(mc_interface_get_tot_current() * (8.0 / FAC_CURRENT));
			m_f_sw_samples[m_sample_now] = (int16_t)(f_samp / 10.0);
			m_status_samples[m_sample_now] = mcpwm_get_comm_step() | (mcpwm_read_hall_phase() << 3);

			m_sample_now++;

			m_last_adc_duration_sample = mc_interface_get_last_sample_adc_isr_duration();
		}
	}
}

void mc_interface_adc_inj_int_handler(void) {
	switch (m_conf.motor_type) {
	case MOTOR_TYPE_BLDC:
	case MOTOR_TYPE_DC:
		mcpwm_adc_inj_int_handler();
		break;

	case MOTOR_TYPE_FOC:
		break;

	default:
		break;
	}
}

/**
 * Update the override limits for a configuration based on MOSFET temperature etc.
 *
 * @param conf
 * The configaration to update.
 */
 //检测MOS温度保护，电机温度保护，最大最小转速限制，电池低压保护，功率限制
static void update_override_limits(volatile mc_configuration *conf) {
	const float v_in = GET_INPUT_VOLTAGE();
	const float rpm_now = mc_interface_get_rpm();

	UTILS_LP_FAST(m_temp_fet, NTC_TEMP(ADC_IND_TEMP_MOS), 0.1);
	UTILS_LP_FAST(m_temp_motor, NTC_TEMP_MOTOR(conf->m_ntc_motor_beta), 0.1);

	// Temperature MOSFET
	float lo_min_mos = conf->l_current_min;
	float lo_max_mos = conf->l_current_max;
	if (m_temp_fet < conf->l_temp_fet_start) {
		// Keep values
	} else if (m_temp_fet > conf->l_temp_fet_end) {
		lo_min_mos = 0.0;
		lo_max_mos = 0.0;
		mc_interface_fault_stop(FAULT_CODE_OVER_TEMP_FET);
	} else {
		float maxc = fabsf(conf->l_current_max);
		if (fabsf(conf->l_current_min) > maxc) {
			maxc = fabsf(conf->l_current_min);
		}

		maxc = utils_map(m_temp_fet, conf->l_temp_fet_start, conf->l_temp_fet_end, maxc, 0.0);

		if (fabsf(conf->l_current_min) > maxc) {
			lo_min_mos = SIGN(conf->l_current_min) * maxc;
		}

		if (fabsf(conf->l_current_max) > maxc) {
			lo_max_mos = SIGN(conf->l_current_max) * maxc;
		}
	}

	// Temperature MOTOR
	float lo_min_mot = conf->l_current_min;
	float lo_max_mot = conf->l_current_max;
	if (m_temp_motor < conf->l_temp_motor_start) {
		// Keep values
	} else if (m_temp_motor > conf->l_temp_motor_end) {
		lo_min_mot = 0.0;
		lo_max_mot = 0.0;
		mc_interface_fault_stop(FAULT_CODE_OVER_TEMP_MOTOR);
	} else {
		float maxc = fabsf(conf->l_current_max);
		if (fabsf(conf->l_current_min) > maxc) {
			maxc = fabsf(conf->l_current_min);
		}

		maxc = utils_map(m_temp_motor, conf->l_temp_motor_start, conf->l_temp_motor_end, maxc, 0.0);

		if (fabsf(conf->l_current_min) > maxc) {
			lo_min_mot = SIGN(conf->l_current_min) * maxc;
		}

		if (fabsf(conf->l_current_max) > maxc) {
			lo_max_mot = SIGN(conf->l_current_max) * maxc;
		}
	}

	// Decreased temperatures during acceleration
	// in order to still have braking torque available
	const float temp_fet_accel_start = utils_map(conf->l_temp_accel_dec, 0.0, 1.0, conf->l_temp_fet_start, 25.0);
	const float temp_fet_accel_end = utils_map(conf->l_temp_accel_dec, 0.0, 1.0, conf->l_temp_fet_end, 25.0);
	const float temp_motor_accel_start = utils_map(conf->l_temp_accel_dec, 0.0, 1.0, conf->l_temp_motor_start, 25.0);
	const float temp_motor_accel_end = utils_map(conf->l_temp_accel_dec, 0.0, 1.0, conf->l_temp_motor_end, 25.0);

	float lo_fet_temp_accel = 0.0;
	if (m_temp_fet < temp_fet_accel_start) {
		lo_fet_temp_accel = conf->l_current_max;
	} else if (m_temp_fet > temp_fet_accel_end) {
		lo_fet_temp_accel = 0.0;
	} else {
		lo_fet_temp_accel = utils_map(m_temp_fet, temp_fet_accel_start,
				temp_fet_accel_end, conf->l_current_max, 0.0);
	}

	float lo_motor_temp_accel = 0.0;
	if (m_temp_motor < temp_motor_accel_start) {
		lo_motor_temp_accel = conf->l_current_max;
	} else if (m_temp_motor > temp_motor_accel_end) {
		lo_motor_temp_accel = 0.0;
	} else {
		lo_motor_temp_accel = utils_map(m_temp_motor, temp_motor_accel_start,
				temp_motor_accel_end, conf->l_current_max, 0.0);
	}

	// RPM max
	float lo_max_rpm = 0.0;
	const float rpm_pos_cut_start = conf->l_max_erpm * conf->l_erpm_start;
	const float rpm_pos_cut_end = conf->l_max_erpm;
	if (rpm_now < rpm_pos_cut_start) {
		lo_max_rpm = conf->l_current_max;
	} else if (rpm_now > rpm_pos_cut_end) {
		lo_max_rpm = 0.0;
	} else {
		lo_max_rpm = utils_map(rpm_now, rpm_pos_cut_start, rpm_pos_cut_end, conf->l_current_max, 0.0);
	}

	// RPM min
	float lo_min_rpm = 0.0;
	const float rpm_neg_cut_start = conf->l_min_erpm * conf->l_erpm_start;
	const float rpm_neg_cut_end = conf->l_min_erpm;
	if (rpm_now > rpm_neg_cut_start) {
		lo_min_rpm = conf->l_current_max;
	} else if (rpm_now < rpm_neg_cut_end) {
		lo_min_rpm = 0.0;
	} else {
		lo_min_rpm = utils_map(rpm_now, rpm_neg_cut_start, rpm_neg_cut_end, conf->l_current_max, 0.0);
	}

	float lo_max = utils_min_abs(lo_max_mos, lo_max_mot);
	float lo_min = utils_min_abs(lo_min_mos, lo_min_mot);

	lo_max = utils_min_abs(lo_max, lo_max_rpm);
	lo_max = utils_min_abs(lo_max, lo_min_rpm);
	lo_max = utils_min_abs(lo_max, lo_fet_temp_accel);
	lo_max = utils_min_abs(lo_max, lo_motor_temp_accel);

	if (lo_max < conf->cc_min_current) {
		lo_max = conf->cc_min_current;
	}

	if (lo_min > -conf->cc_min_current) {
		lo_min = -conf->cc_min_current;
	}

	conf->lo_current_max = lo_max;
	conf->lo_current_min = lo_min;

	// Battery cutoff
	float lo_in_max_batt = 0.0;
	if (v_in > conf->l_battery_cut_start) {
		lo_in_max_batt = conf->l_in_current_max;
	} else if (v_in < conf->l_battery_cut_end) {
		lo_in_max_batt = 0.0;
	} else {
		lo_in_max_batt = utils_map(v_in, conf->l_battery_cut_start,
				conf->l_battery_cut_end, conf->l_in_current_max, 0.0);
	}

	// Wattage limits
	const float lo_in_max_watt = conf->l_watt_max / v_in;
	const float lo_in_min_watt = conf->l_watt_min / v_in;

	const float lo_in_max = utils_min_abs(lo_in_max_watt, lo_in_max_batt);
	const float lo_in_min = lo_in_min_watt;

	conf->lo_in_current_max = utils_min_abs(conf->l_in_current_max, lo_in_max);
	conf->lo_in_current_min = utils_min_abs(conf->l_in_current_min, lo_in_min);

	// Maximum current right now
//	float duty_abs = fabsf(mc_interface_get_duty_cycle_now());
//
//	// TODO: This is not an elegant solution.
//	if (m_conf.motor_type == MOTOR_TYPE_FOC) {
//		duty_abs *= SQRT3_BY_2;
//	}
//
//	if (duty_abs > 0.001) {
//		conf->lo_current_motor_max_now = utils_min_abs(conf->lo_current_max, conf->lo_in_current_max / duty_abs);
//		conf->lo_current_motor_min_now = utils_min_abs(conf->lo_current_min, conf->lo_in_current_min / duty_abs);
//	} else {
//		conf->lo_current_motor_max_now = conf->lo_current_max;
//		conf->lo_current_motor_min_now = conf->lo_current_min;
//	}

	// Note: The above code should work, but many people have reported issues with it. Leaving it
	// disabled for now until I have done more investigation.
	conf->lo_current_motor_max_now = conf->lo_current_max;
	conf->lo_current_motor_min_now = conf->lo_current_min;
}
//定时检测驱动是否有错误
//检测MOS温度保护，电机温度保护，最大最小转速限制，电池低压保护，功率限制
//辅助功能开启
static THD_FUNCTION(timer_thread, arg) {
	(void)arg;

	chRegSetThreadName("mcif timer");

	for(;;) {
		// Decrease fault iterations
		if (m_ignore_iterations > 0) {
			m_ignore_iterations--;
		} else {
			if (!IS_DRV_FAULT()) {
				m_fault_now = FAULT_CODE_NONE;
			}
		}

		update_override_limits(&m_conf); //检测MOS温度保护，电机温度保护，最大最小转速限制，电池低压保护，功率限制

		// Update auxiliary output
		switch (m_conf.m_out_aux_mode) {
			case OUT_AUX_MODE_OFF:
				AUX_OFF();
				break;

			case OUT_AUX_MODE_ON_AFTER_2S:
				if (chVTGetSystemTimeX() >= MS2ST(2000)) {
					AUX_ON();
				}
				break;

			case OUT_AUX_MODE_ON_AFTER_5S:
				if (chVTGetSystemTimeX() >= MS2ST(5000)) {
					AUX_ON();
				}
				break;

			case OUT_AUX_MODE_ON_AFTER_10S:
				if (chVTGetSystemTimeX() >= MS2ST(10000)) {
					AUX_ON();
				}
				break;

			default:
				break;
		}

		chThdSleepMilliseconds(1);
	}
}
//将采集数据添加到buffer末尾， //申请互斥锁，然后将数据data添加到handler_num所在的发送缓冲区里，然后由handler_num代表的硬件发送缓冲区里的数据，最后释放互斥锁
static THD_FUNCTION(sample_send_thread, arg) {
	(void)arg;

	chRegSetThreadName("SampleSender");

	sample_send_tp = chThdGetSelfX();

	for(;;) {
		chEvtWaitAny((eventmask_t) 1);

		int len = 0;
		int offset = 0;

		switch (m_sample_mode_last) {
		case DEBUG_SAMPLING_NOW:
		case DEBUG_SAMPLING_START:
			len = m_sample_len;
			break;

		case DEBUG_SAMPLING_TRIGGER_START:
		case DEBUG_SAMPLING_TRIGGER_FAULT:
		case DEBUG_SAMPLING_TRIGGER_START_NOSEND:
		case DEBUG_SAMPLING_TRIGGER_FAULT_NOSEND:
			len = ADC_SAMPLE_MAX_LEN;
			offset = m_sample_trigger - m_sample_len;
			break;

		default:
			break;
		}

		for (int i = 0;i < len;i++) {
			uint8_t buffer[40];
			int32_t index = 0;
			int ind_samp = i + offset;

			while (ind_samp >= ADC_SAMPLE_MAX_LEN) {
				ind_samp -= ADC_SAMPLE_MAX_LEN;
			}

			while (ind_samp < 0) {
				ind_samp += ADC_SAMPLE_MAX_LEN;
			}

			buffer[index++] = COMM_SAMPLE_PRINT;
			buffer_append_float32_auto(buffer, (float)m_curr0_samples[ind_samp] * FAC_CURRENT, &index);
			buffer_append_float32_auto(buffer, (float)m_curr1_samples[ind_samp] * FAC_CURRENT, &index);
			buffer_append_float32_auto(buffer, ((float)m_ph1_samples[ind_samp] / 4096.0 * V_REG) * ((VIN_R1 + VIN_R2) / VIN_R2), &index);
			buffer_append_float32_auto(buffer, ((float)m_ph2_samples[ind_samp] / 4096.0 * V_REG) * ((VIN_R1 + VIN_R2) / VIN_R2), &index);
			buffer_append_float32_auto(buffer, ((float)m_ph3_samples[ind_samp] / 4096.0 * V_REG) * ((VIN_R1 + VIN_R2) / VIN_R2), &index);
			buffer_append_float32_auto(buffer, ((float)m_vzero_samples[ind_samp] / 4096.0 * V_REG) * ((VIN_R1 + VIN_R2) / VIN_R2), &index);
			buffer_append_float32_auto(buffer, (float)m_curr_fir_samples[ind_samp] / (8.0 / FAC_CURRENT), &index);
			buffer_append_float32_auto(buffer, (float)m_f_sw_samples[ind_samp] * 10.0, &index);
			buffer[index++] = m_status_samples[ind_samp];
			buffer[index++] = m_phase_samples[ind_samp];

			commands_send_packet(buffer, index); //申请互斥锁，然后将数据data添加到handler_num所在的发送缓冲区里，然后由handler_num代表的硬件发送缓冲区里的数据，最后释放互斥锁
		}
	}
}