/**
* @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
*       - 1_01_240112 > ATY
*           -# add multy addr and channel
*           -# add lock
********************************************************************************
*/

#ifndef __MOTOR_DC_ATY_H
#define __MOTOR_DC_ATY_H

#include "INCLUDE_ATY.h"

/******************************* For user *************************************/

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

struct MOTOR_DC_ATY_Dev
{
    uint8_t id;

    uint8_t motorEn;
    uint8_t motorDir;

    uint32_t motorSpeed;
    uint32_t motorSpeedCounter;

    uint32_t motorSoftSteps;
    uint32_t motorSteps;
    uint32_t motorStepCounter;

    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, 10: scram motor

    float speedIncreaseStep;
    uint8_t lineProType;
    float lineProParam;

    void (*signalSet)(uint8_t pin, uint8_t level);

    uint8_t lock;
    uint8_t debugEnable;
    void (*LOG)(const char*, ...);
};


#define MOTOR_DC_PARAM_SET(en, dir, speed, softSteps, steps, setState, dev) \
    do \
    { \
        dev->motorEn = (uint8_t)en; \
        dev->motorDir = (uint8_t)dir; \
        dev->motorSpeed = (uint32_t)speed; \
        dev->motorSoftSteps = (uint32_t)softSteps; \
        dev->motorSteps = (uint32_t)steps; \
        dev->motorSetState = (uint8_t)setState; \
    } while(0)

#define MOTOR_DC_PARAM_GET(en, dir, speed, softSteps, steps, setState, dev) \
    do \
    { \
        en = dev.motorEn; \
        dir = dev.motorDir; \
        speed = dev.motorSpeed; \
        softSteps = dev.motorSoftSteps; \
        steps = dev.motorSteps; \
        setState = dev.motorSetState; \
    } while(0)


uint8_t MOTOR_DC_Start(uint8_t dir, uint32_t speed, struct MOTOR_DC_ATY_Dev* dev);
uint8_t MOTOR_DC_Stop(struct MOTOR_DC_ATY_Dev* dev);
void MOTOR_DC_StateMachine_PWM(struct MOTOR_DC_ATY_Dev* dev);
void MOTOR_DC_StateMachine(struct MOTOR_DC_ATY_Dev* dev);

#define MOTOR_DC_SET_REVERSE           4
#define MOTOR_DC_SET_START_DIRECTLY    3
#define MOTOR_DC_SET_START_SOFT        2
#define MOTOR_DC_SET_STOP              0
#define MOTOR_DC_SET_SCRAM             10
#define MOTOR_DC_SET_FINISHED          5
#define MOTOR_DC_SET_RUNNING           1

/* for motor soft start  */
#define MOTOR_DC_S_PARAM_C                   0.5f      // 0-1

#endif /* __MOTOR_DC_ATY_H */

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