#ifndef __MOTOR_CONTROL_H__
#define __MOTOR_CONTROL_H__

#ifdef __cplisplus
extern "C" {
#endif

#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/queue.h"
#include "freertos/semphr.h"
#define MOTOR_WITH_MAGNET_RING 0 //带磁环的时候
#define OLD_MOTOR 0 //旧电机参数
typedef enum
{
   MOTOR_POSITION_ZERO = 0,
    MOTOR_POSITION_LEFT_15 ,
    MOTOR_POSITION_RIGHT_15 ,
    MOTOR_POSITION_LEFT_30 ,
    MOTOR_POSITION_RIGHT_30 ,
    MOTOR_POSITION_LEFT_90 ,   
    MOTOR_POSITION_RIGHT_90 , 
    MOTOR_POSITION_LEFT_180 ,
    MOTOR_POSITION_RIGHT_180,
    MOTOR_POSITION_LEFT_2 ,//微步

}MOTOR_POSITION;

typedef enum
{
    MOTOR_CW,
    MOTOR_CCW,   
}MOTOR_DIR;

typedef struct 
{
    uint32_t run_to_left_15;
    uint32_t run_to_left_30;
    uint32_t run_to_left_90;
    uint32_t run_to_left_180;
    uint32_t run_to_right_15;
    uint32_t run_to_right_30;
    uint32_t run_to_right_180;

}MOTOR_RUN_TIME;

extern TaskHandle_t motor_control_handle; 
extern MOTOR_DIR motor_dir;

extern MOTOR_POSITION motor_current_position ;
extern MOTOR_POSITION motor_target_position  ;
extern SemaphoreHandle_t motor_action_down_sem;
void motor_control_init(void);
void motor_control_task(void *pvParameter);
void motor_run_dir(MOTOR_DIR dir);

/** 串行入队执行；满则丢最旧再入队，避免 Overwrite 丢命令 */
bool motor_post_cmd(uint32_t cmd);
/** play_sticker 方向：左右切换时先排队 0x0A；0x00 在头仍左/右时排队 0x0A；与上次同字节且侧向未变则跳过 */
bool motor_post_play_sticker_direction(uint8_t direction);
void motor_post_cmd_from_isr(uint32_t cmd, BaseType_t *pxHigherPriorityTaskWoken);

#ifdef __cplusplus
 }
#endif


#endif