#ifndef _TMC5160_H
#define _TMC5160_H

#include "main.h"

void TMC5160_SPIWriteInt(uint8_t addr, uint32_t data,uint8_t rw);
void TMC5160_SPIReadInt(uint8_t addr, uint8_t record[5]);
void tmc5160_init(void);
void tmc5160_act(void);
void TMC5160A_Init_Gpio(void);
signed int Raw_32(uint8_t raw[5]);
void tmc5160_operate(char operate_mode, uint32_t steps);

extern char tmc5160_sw;
extern char busy_flag;
extern char ocin1;
extern char ocin2;
extern float Xads_temp[2];
extern char temp_cnt;
extern char str_print[20];
extern uint8_t XA[5],VA[5],RAMP_STAT[5],DRV_STAT[5];
extern signed int XA_32,VA_32,RAMP_STAT_32,DRV_STAT_32 ;				//ÓÐÕý¸º
extern uint16_t SG_RESULT_16;
extern char tmc5160_sw;

#define RAMPMODE_ADDR 0x20
#define XTARGET_ADDR 0x2D
#define A1_ADDR 0x24
#define AMAX_ADDR 0x26
#define V1_ADDR 0x25
#define VMAX_ADDR 0x27
#define D1_ADDR 0x2A
#define DMAX_ADDR 0x28
#define XACTUAL_ADDR 0x21
#define VACTUAL_ADDR 0x22
#define RAMP_STAT_ADDR 0X35 //ramp status
#define DRV_STAT_ADDR 0x6F  //driver status - stallguard2 value

#endif