#ifndef __STEP_MOTOT_INIT_H__
#define __STEP_MOTOT_INIT_H__
#ifdef __cplusplus
extern "C" {
#endif

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

/* ---- 步进电机引脚 ---- */
#define STEPPER_PIN_A1   GPIO_NUM_20   /* A 相正 */
#define STEPPER_PIN_A2   GPIO_NUM_21   /* A 相负 */
#define STEPPER_PIN_B1   GPIO_NUM_23   /* B 相正 */
#define STEPPER_PIN_B2   GPIO_NUM_22   /* B 相负 */

/* ---- MCPWM 配置 ---- */
#define STEPPER_MCPWM_GROUP        0
#define STEPPER_PWM_RESOL_HZ       4000000U   /* 定时器时钟分辨率 4 MHz */
#define STEPPER_PWM_FREQ_HZ        8000U      /* PWM 载波频率 8 kHz */
#define STEPPER_DUTY_MAX           1000U      /* 占空比满量程，和 A_PULS_DUTY 等变量一致 */
#define STEPPER_STARTUP_DUTY_RAW   (STEPPER_DUTY_MAX / 2)
#define STEPPER_OPENLOOP_STEP_HZ   100U       /* 上电演示转动的步进频率 */
#define STEPPER_DEFAULT_RUN_STEPS  (STEPPER_OPENLOOP_STEP_HZ * 4U)

typedef enum {
    STEPPER_DIR_FORWARD = 1,//原为 1
    STEPPER_DIR_REVERSE = -1,//原为  -1
} stepper_motor_direction_t;

void stepper_motor_init(void);
void stepper_motor_set_duty_raw(uint16_t a_plus, uint16_t a_minus, uint16_t b_plus, uint16_t b_minus);
void stepper_motor_output_enable(void);
void stepper_motor_output_disable(void);
void stepper_motor_openloop_start(void);
void stepper_motor_openloop_start_dir(stepper_motor_direction_t direction);
void stepper_motor_forward(void);
void stepper_motor_reverse(void);
void stepper_motor_run_steps(stepper_motor_direction_t direction, uint32_t steps);
void stepper_motor_stop(void);
void stepper_motor_openloop_stop(void);
bool stepper_motor_output_is_enabled(void);
stepper_motor_direction_t stepper_motor_get_direction(void);

#ifdef __cplusplus
}
#endif
#endif /* __STEP_MOTOR_INIT_H__ */