/*
 * @Author: DaMing zxm5337@163.com
 * @Date: 2024-03-28 09:58:33
 * @LastEditors: 张小明 zxm5337@163.com
 * @LastEditTime: 2024-05-28 11:08:29
 * @FilePath: \Proxi_CheckBoard\User\App\motor.h
 * @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
 */
#ifndef __CTRL_LOGIC_H__
#define __CTRL_LOGIC_H__
#include "gpio.h"
#include "data_type_def.h"
#include "motor.h"

#define BEEP_MUTE_OPEN() HAL_GPIO_WritePin(BEEPER_EN_GPIO_Port, BEEPER_EN_Pin, GPIO_PIN_SET)

#define BEEP_MUTE_CLOSE() HAL_GPIO_WritePin(BEEPER_EN_GPIO_Port, BEEPER_EN_Pin, GPIO_PIN_RESET)

#define SCREW_PITCH 1.0f

#define STEP_PER_CIRL 200 * 528

#define DISTANCE_MAX 26.5f
#define DISTANCE_MIN 0.0f

#define DISTANCE_RATED 24.00f
#define DISTANCE_ZERO 0.00f

typedef struct 
{
    BOOL en;
    uint32_t delay;
    uint32_t time;
}beep_t;

typedef struct 
{
   BOOL busy_flag;
   uint8_t ctr_seq;
   uint8_t senor_seq;
   uint32_t timer;
   uint32_t delay;
   float32 current;
}pars_cmd_time_t;

extern beep_t beep_1;
extern pars_cmd_time_t pars_cmd_time_A;
extern pars_cmd_time_t pars_cmd_time_B;

void fun_ctr_motor(motor_t *motor);
void fun_ctr_beep(uint16_t delay_ms);

#endif