/**
* @file MOTOR_STEP_SPEED_T_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 Trapezoidal acceleration and deceleration control implementation for stepper motor
*
* @note  import angle to use COMPENSATE
*
* @version
*       - 1_00_260119 > ATY
*           -# Initial version based on trapezoidal acceleration algorithm
********************************************************************************
*/

#ifndef __MOTOR_STEP_SPEED_T_C_ATY_H
#define __MOTOR_STEP_SPEED_T_C_ATY_H

#include "INCLUDE_ATY.h"

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

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

/* Motion states */
#define MSSTC_STATE_STANDBY     0   // Standby
#define MSSTC_STATE_STOP        1   // Stopped
#define MSSTC_STATE_ACCEL       2   // Accelerating
#define MSSTC_STATE_DECEL       3   // Decelerating
#define MSSTC_STATE_FULL        4   // Full speed
#define MSSTC_STATE_COMPENSATE  5   // COMPENSATE

#define MSSTC_MODE_DISTANCE_CLOSE   0
#define MSSTC_MODE_DISTANCE_OPEN    1
#define MSSTC_MODE_SPEED_OPEN       2

/* Motor control device structure */
struct MOTOR_STEP_SPEED_T_C_ATY_Dev{
    /* Hardware control functions */
    uint8_t (*enSet)(uint8_t en);
    uint8_t (*dirSet)(uint8_t dir);
    void (*start)(void);
    void (*stop)(void);
    void (*setTimerCompare)(uint32_t value);

    // MCU params
    uint32_t timerFreq;         // Timer frequency in Hz
    // motor params
    uint32_t fullSteps;         // steps per revolution, 360 / 1.8 degree = 200 steps
    uint32_t microstepping;     // 1/8 = 8, 1/16, 1/32, 1/64, 1/128, 1/256

    uint8_t enable;
    uint8_t direction;

    uint32_t fullSpeed;         // rad/sec / unitDiv
    uint32_t unitDivision;      // 10 -> 0.1 rad, set 1 to ignore
    uint32_t acceleration;      // rad/sec^2 / unitDiv, set 0 to disable acceleration
    uint32_t deceleration;      // rad/sec^2 / unitDiv, set 0 to disable deceleration

    uint8_t mode;
    float angleLock;
    uint8_t powerOnlyRun;
    uint8_t turnBackAllowed;
    uint8_t runState;

    uint32_t stepCountCurrent;  // current total step counter
    uint32_t accelSteps;        // accelerate to fullSpeed steps
    uint32_t accelLimit;        // max acceleration steps before deceleration
    uint32_t decelSteps;        // decelerate to stop steps
    uint32_t decelStart;        // Step position to start deceleration

    uint8_t lock;
};


uint8_t MSSTC_Move(struct MOTOR_STEP_SPEED_T_C_ATY_Dev* dev,
    uint32_t steps, float startAngle);

void MSSTC_IRQHandler(struct MOTOR_STEP_SPEED_T_C_ATY_Dev* dev);

void MSSTC_Scram(struct MOTOR_STEP_SPEED_T_C_ATY_Dev* dev);
void MSSTC_Stop(struct MOTOR_STEP_SPEED_T_C_ATY_Dev* dev);
uint8_t MSSTC_IsRunning(struct MOTOR_STEP_SPEED_T_C_ATY_Dev* dev);
void MSSTC_UpdateFullSpeed(struct MOTOR_STEP_SPEED_T_C_ATY_Dev* dev);

void MSSTC_UpdateAngle(struct MOTOR_STEP_SPEED_T_C_ATY_Dev* dev,
    uint32_t turn, float angle);

#endif /* __MOTOR_STEP_SPEED_T_C_ATY_H */

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