#ifndef _APP_H
#define _APP_H

#include "MyLib.h"
#include "serial_port.h"
#include "m1820.h"
#include "oled2.h"
#include "ads1220.h"
#include "tmc5160.h"
#include "main.h"
#include "i2c.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
#include "Uart1.h"
#include "gpio.h"
#include "key.h"
#include "motor.h"
#include "delay.h"
#include "stdio.h"
#include "stdlib.h"
#include "string.h"
#include "flash.h"

#define ocin1 HAL_GPIO_ReadPin(OCIN1_GPIO_Port,OCIN1_Pin)
#define ocin2 HAL_GPIO_ReadPin(OCIN2_GPIO_Port,OCIN2_Pin)

void app_act (void);
void motor_protect_ads(float threshold_neg, float threshold_pos);
void motor_protect_ocin(void);

extern int it_1ms_cnt ,it_1ms_flag;
extern int it_200ms_cnt ,it_200ms_flag;
extern int it_5ms_cnt ,it_5ms_flag;
extern int it_10ms_cnt ,it_10ms_flag;
extern int it_50ms_cnt ,it_50ms_flag;
extern int it_100ms_cnt ,it_100ms_flag;
extern int it_300ms_cnt ,it_300ms_flag;
extern int it_500ms_cnt ,it_500ms_flag;
extern int it_1000ms_cnt ,it_1000ms_flag;
extern int it_5000ms_cnt,it_5000ms_flag;
extern uint8_t rx_data2[6];
extern uint8_t magnet_tx[7];
extern unsigned int smp_intr_temp[2];
extern unsigned int smp_dpth_temp[2];
extern uint16_t flash_wrt[6];
extern uint16_t flash_rd[6];
//extern int I2C_ERROR_TIMES ,I2C_BUSY_TIMES ,I2C_TIMEOUT_TIMES ,I2C_OK_TIMES ;

extern signed int first_xa_32;//记录上电时电机位置

extern float X_ads1220;
extern float TEMP_M1820;
extern float X_ads1220_prc;


#endif