/**
* @file MOTOR_STEP_C_ATY.h
*
* @param Project DEVICE_GENERAL_ATY_LIB
*
* @author ATY
*
* @copyright
*       - Copyright 2017 - 2026 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 functions of close loop stepper motor control for C platform
*        Based on position feedback from encoder (e.g. MT6816)
*
* @version
*       - 1_00_260109 > ATY
*           -# Preliminary version
********************************************************************************
*/

#ifndef __MOTOR_STEP_C_ATY_H
#define __MOTOR_STEP_C_ATY_H

#include "INCLUDE_ATY.h"

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

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

struct MOTOR_STEP_C_ATY_Dev{
    uint8_t (*enSet)(uint8_t en);
    uint8_t (*dirSet)(uint8_t dir);

    void (*pwmSet)(float frequency, float dutycycle);
    void (*pwmSetCount)(float frequency, float dutycycle, uint16_t step);

    uint8_t mode;
    uint8_t enable;
    uint8_t direction;
    uint16_t stepCount;
    float frequency;        // Hz
    float dutyCycle;        // 0-100f
    float speed;            // rpm

    uint8_t autoPower;
    uint8_t forbidReverseCorrection;
                            /* if used for flow control, fix over steps may lead
                             no effect or bad effect, set this to 1 to forbid motor
                             reverse */
    uint8_t positionFixFlag;
    float startAngle;
    float targetAngle;
    uint8_t angleLock;

    uint16_t cycleSpace;    // in ms

    uint16_t fullSteps;     // steps per revolution, 360 / 1.8 degree = 200 steps
    uint8_t microstepping;  // 1/8 = 8, 1/16, 1/32, 1/64, 1/128, 1/256

    uint8_t lock;
};

#define MOTOR_STEP_C_MODE_POST_MOTION 0x00   // post-Motion Correction
#define MOTOR_STEP_C_MODE_NOCOUNT 0x01       // continuous mode - run continuously
#define MOTOR_STEP_C_MODE_POSITION_CC 0x02   // position Closed-Loop Control
#define MOTOR_STEP_C_MODE_ANGLE_LOCK 0x03    // angle lock

uint8_t MSC_Cycle(struct MOTOR_STEP_C_ATY_Dev* dev,
    uint8_t mode, uint8_t enable, uint8_t direction,
    uint16_t stepCount,
    float frequency, float dutyCycle, float speed,
    float currentAngle, float targetAngle);

#endif /* __MOTOR_STEP_C_ATY_H */

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