/**
* @file MOTOR_STEP_ATY.h
*
* @param Project DEVICE_GENERAL_ATY_LIB
*
* @author ATY
*
* @copyright
*       - Copyright 2017 - 2023 MZ-ATY
*       - This code follows:
*           - MZ-ATY Various Contents Joint Statement -
*               <a href="https://mengze.top/MZ-ATY_VCJS">
*                        https://mengze.top/MZ-ATY_VCJS</a>
*           - CC 4.0 BY-NC-SA -
*               <a href="https://creativecommons.org/licenses/by-nc-sa/4.0/">
*                        https://creativecommons.org/licenses/by-nc-sa/4.0/</a>
*       - Your use will be deemed to have accepted the terms of this statement.
*
* @brief Familiar functions of SteppingMotor control
*
* @version
*       - 1_01_221231 > ATY
*           -# Preliminary version, first Release
*       - 1_02_230408 > ATY
*           -# Add State Machine and so
*       - 1_03_230426 > ATY
*           -# Change name "SteppingMotor_ATY" to "MOTOR_STEP_ATY"
********************************************************************************
*/

#ifndef __MOTOR_STEP_ATY_H
#define __MOTOR_STEP_ATY_H

#include "INCLUDE_ATY.h"
#include "HW_GPIO_ATY.h"
#include "HW_PWM_ATY.h"


/******************************* For user *************************************/
// #define __DEBUG_MOTOR_STEP_ATY
#define Motor_Channel 8

/******************************************************************************/

extern uint8_t motorEn;
extern uint8_t motorDir;
extern uint32_t motorSoftSpeed;
extern uint32_t motorSpeed;
extern uint32_t motorSoftTime;
extern uint32_t motorTime;

extern uint32_t motorStartCounter;
extern uint32_t motorStopCounter;       // for stall detection or driver error(TMC2209)

extern uint8_t motorSetState;           // 0: stop, 1: start hold, 2: start soft, 3: run speed, 4: change dir, 5: stop state, soft set 0 after use


#define MOTOR_EN_SET_ENABLE \
    do{GPIO_SET_L(MOTOR_EN_PORT, MOTOR_EN_PIN); motorEn = 1;}while(0)

#define MOTOR_EN_SET_DISABLE \
    do{GPIO_SET_H(MOTOR_EN_PORT, MOTOR_EN_PIN); motorEn = 0;}while(0)

#define MOTOR_DIR_OUT       0
#define MOTOR_DIR_IN        1
#define MOTOR_DIR_SET_IN \
    do{ \
        if(MOTOR_DIR_IN) \
            GPIO_SET_H(MOTOR_DIR_PORT, MOTOR_DIR_PIN); \
        else \
            GPIO_SET_L(MOTOR_DIR_PORT, MOTOR_DIR_PIN); \
        motorDir = MOTOR_DIR_IN; \
    }while(0)
#define MOTOR_DIR_SET_OUT \
    do{ \
        if(MOTOR_DIR_OUT) \
            GPIO_SET_H(MOTOR_DIR_PORT, MOTOR_DIR_PIN); \
        else \
            GPIO_SET_L(MOTOR_DIR_PORT, MOTOR_DIR_PIN); \
        motorDir = MOTOR_DIR_OUT; \
    }while(0)

#define MOTOR_STEP_SET_H \
    (GPIO_SET_H(MOTOR_STEP_PORT, MOTOR_STEP_PIN))
#define MOTOR_STEP_SET_L \
    (GPIO_SET_L(MOTOR_STEP_PORT, MOTOR_STEP_PIN))

#define MOTOR_DIAG_GET_H (GPIO_GET_H(MOTOR_DIAG_PORT, MOTOR_DIAG_PIN))
#define MOTOR_DIAG_GET_L (GPIO_GET_L(MOTOR_DIAG_PORT, MOTOR_DIAG_PIN))

#define MOTOR_PARAM_SET(dir, softSpeed, speed, softTime, time, setState) \
    do \
    { \
        motorDir = (uint8_t)dir; \
        motorSoftSpeed = (uint32_t)softSpeed; \
        motorSpeed = (uint32_t)speed; \
        motorSoftTime = (uint32_t)softTime; \
        motorTime = (uint32_t)time; \
        motorSetState = (uint8_t)setState; \
    } while(0)


void MotorStart(uint8_t dir, uint32_t speed);
void MotorStartSpeed(uint32_t speed);
void MotorStop(void);
void MotorStateMachine_Step(void);


#endif /* __MOTOR_STEP_ATY_H */

/******************************** End Of File *********************************/