/*
 * dmk.c
 *
 *  Created on: Jan 14, 2026
 *      Author: akeguo
 */
#include "dmk.h"
#include "main.h"
#include "dma.h"
#include "iwdg.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
uint16_t Is_First_Run = 0;

void handle_dmk_motor(uint16_t velocity, int state) {

//		if (Is_First_Run <= 5) {
//			HAL_Delay(50);
//			MB_WriteHoldingReg(1, 0, 4);//设置模式为0
//			HAL_Delay(100);
//			Is_First_Run++;;
//			return;
//		}

	char ms_100_state = HAL_GetTick() / 300 % 3;
	switch (ms_100_state) {
	case 1: {
		MB_WriteHoldingReg(1, 0x06a, velocity);
		break;
	}
	case 2: {
		if (state == 1) {
			//正转
			MB_WriteHoldingReg(1, 0x033, 0x01);

		} else if (state == 0) {
			//stop
			MB_WriteHoldingReg(1, 0x033, 0x0);

		} else if (state == 2) {
			//reverse
			MB_WriteHoldingReg(1, 0x033, 0x14);
		}
		break;
	}
	case 0: {
		MB_WriteHoldingReg(1, 0, 0);//设置模式为0
		break;
	}

	}


//HAL_Delay(80);
}