/**
 * @file    emm_v5.h
 * @brief   Emm_V5.0 步进闭环电机驱动器 - ESP-IDF 组件
 * @author  移植自 Arduino 版本 (原作者: ZHANGDATOU)
 *
 * 通信协议: UART, 115200bps, 8N1
 * 使用方式:
 *   Emm_V5_Init(UART_NUM_1, GPIO_NUM_6, GPIO_NUM_7);
 */

#ifndef EMM_V5_H
#define EMM_V5_H

#include <stdint.h>
#include <stdbool.h>
#include "driver/uart.h"
#include "driver/gpio.h"
#include "esp_log.h"

#ifdef __cplusplus
extern "C" {
#endif

/* ============================================================
 * 可配置常量
 * ============================================================ */
#define EMM_V5_UART_BAUDRATE    115200
#define EMM_V5_UART_BUF_SIZE    256

/* LED 指示 (GPIO2 为多数 ESP32 板载 LED) */
#define EMM_V5_LED_GPIO         GPIO_NUM_2

/* 接收超时时间 (毫秒) */
#define EMM_V5_RX_TIMEOUT_MS    100

/* ============================================================
 * 系统参数枚举 (与 Arduino 版本一致)
 * ============================================================ */
typedef enum {
    S_VER   = 0,      /* 读取固件版本和对应的硬件版本 */
    S_RL    = 1,      /* 读取相电阻和相电感 */
    S_PID   = 2,      /* 读取PID参数 */
    S_VBUS  = 3,      /* 读取总线电压 */
    S_CPHA  = 5,      /* 读取相电流 */
    S_ENCL  = 7,      /* 读取经过线性化校准后的编码器值 */
    S_TPOS  = 8,      /* 读取电机目标位置角度 */
    S_VEL   = 9,      /* 读取电机实时转速 */
    S_CPOS  = 10,     /* 读取电机实时位置角度 */
    S_PERR  = 11,     /* 读取电机位置误差角度 */
    S_FLAG  = 13,     /* 读取使能/到位/堵转状态标志位 */
    S_Conf  = 14,     /* 读取驱动参数 */
    S_State = 15,     /* 读取系统状态参数 */
    S_ORG   = 16,     /* 读取正在回零/回零失败状态标志位 */
} EmmSysParams_t;

/* ============================================================
 * API 函数声明
 * ============================================================ */

/**
 * @brief  初始化 UART 和 LED GPIO
 * @param  port    UART 端口号, 如 UART_NUM_1
 * @param  tx_pin  TX 引脚, 如 GPIO_NUM_6
 * @param  rx_pin  RX 引脚, 如 GPIO_NUM_7
 */
void Emm_V5_Init(uart_port_t port, int tx_pin, int rx_pin);
void Emm_V5_Reset_CurPos_To_Zero(uint8_t addr);
void Emm_V5_Reset_Clog_Pro(uint8_t addr);
void Emm_V5_Read_Sys_Params(uint8_t addr, EmmSysParams_t s);
void Emm_V5_Modify_Ctrl_Mode(uint8_t addr, bool svF, uint8_t ctrl_mode);
void Emm_V5_En_Control(uint8_t addr, bool state, bool snF);
void Emm_V5_Vel_Control(uint8_t addr, uint8_t dir, uint16_t vel, uint8_t acc, bool snF);
void Emm_V5_Pos_Control(uint8_t addr, uint8_t dir, uint16_t vel, uint8_t acc,
                        uint32_t clk, bool raF, bool snF);
void Emm_V5_Stop_Now(uint8_t addr, bool snF);
void Emm_V5_Synchronous_motion(uint8_t addr);
void Emm_V5_Origin_Set_O(uint8_t addr, bool svF);
void Emm_V5_Origin_Modify_Params(uint8_t addr, bool svF, uint8_t o_mode,
    uint8_t o_dir, uint16_t o_vel, uint32_t o_tm,
    uint16_t sl_vel, uint16_t sl_ma, uint16_t sl_ms, bool potF);
void Emm_V5_Origin_Trigger_Return(uint8_t addr, uint8_t o_mode, bool snF);
void Emm_V5_Origin_Interrupt(uint8_t addr);
uint8_t Emm_V5_Receive_Data(uint8_t *rxCmd, uint8_t maxLen);

#ifdef __cplusplus
}
#endif

#endif /* EMM_V5_H */