/**
* @file MOTOR_DC_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 DCMotor control
*
* @version
*       - 1_01_230426 > ATY
*           -# Preliminary version, first Release
********************************************************************************
*/

#ifndef __MOTOR_DC_ATY_H
#define __MOTOR_DC_ATY_H

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


/******************************* For user *************************************/
// #define __DEBUG_MOTOR_DC_ATY
// #define Motor_Channel 2

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

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 motorSpeedCounter;
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_STANDBY \
    do{GPIO_SET_L(MOTOR_A_PORT, MOTOR_A_PIN); GPIO_SET_L(MOTOR_B_PORT, MOTOR_B_PIN); motorEn = 0;}while(0)
#define MOTOR_STOP \
    do{GPIO_SET_H(MOTOR_A_PORT, MOTOR_A_PIN); GPIO_SET_H(MOTOR_B_PORT, MOTOR_B_PIN); motorEn = 0;}while(0)
#define MOTOR_IN \
    do{GPIO_SET_L(MOTOR_A_PORT, MOTOR_A_PIN); GPIO_SET_H(MOTOR_B_PORT, MOTOR_B_PIN); motorEn = 1;}while(0)
#define MOTOR_OUT \
    do{GPIO_SET_H(MOTOR_A_PORT, MOTOR_A_PIN); GPIO_SET_L(MOTOR_B_PORT, MOTOR_B_PIN); motorEn = 1;}while(0)

/*
#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       2
#define MOTOR_DIR_IN        1
/*
#define MOTOR_DIR_SET_IN \
    do{GPIO_SET_H(MOTOR_DIR_PORT, MOTOR_DIR_PIN); motorDir = MOTOR_DIR_IN;}while(0)
#define MOTOR_DIR_SET_OUT \
    do{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_PARAM_SET(dir, softSpeed, speed, softTime, time, setState) \
    do \
    { \
        motorDir = dir; \
        motorSoftSpeed = softSpeed; \
        motorSpeed = speed; \
        motorSoftTime = softTime; \
        motorTime = time; \
        motorSetState = setState; \
    } while(0)


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


#endif /* __MOTOR_DC_ATY_H */

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