/**
  ***************************************************************************************
  * @file    buffer.cpp
  * @author  lijihu
  * @version V1.0.0
  * @date    2025/05/10
  * @brief   实现缓冲器功能
			  *缓冲器说明
				光感：遮挡1，不遮挡0；
				耗材开关：有耗材0，无耗材1；
				按键：按下0，松开1；

				引脚：
				HALL1 --> PB2 (光感3)
				HALL2 --> PB3 (光感2)
				HALL3 --> PB4 (光感1)
				ENDSTOP_3 --> PB7(耗材开关)
				KEY1 --> PB13(后退)	
				KEY2 --> PB12(前进)
  *
  * @note    
  ***************************************************************************************
  * 版权声明 COPYRIGHT 2024 xxx@126.com
  ***************************************************************************************
**/

#ifndef __BUFFER_H__
#define __BUFFER_H__

#include <TMCStepper.h>
#include <Arduino.h>
#include <EEPROM.h>

#define HALL1       PB2 //光感3
#define HALL2       PB3 //光感2   
#define HALL3       PB4 //光感1

#define ENDSTOP_3   PB7 //耗材开关

#define KEY1        PB13 //后退
#define KEY2        PB12 //前进

#define EN_PIN      PA6 //使能
#define DIR_PIN     PA7 //方向
#define STEP_PIN    PC13 //步
#define UART        PB1 //软串口

#define DUANLIAO    PB15 //断料
#define ERR_LED     PA15 //指示灯
#define START_LED   PA8  //指示灯

#define DRIVER_ADDRESS 0b00 // TMC Driver address according to MS1 and MS2
#define R_SENSE 0.11f // Match to your driver

#define SPEED       300  //转速(单位：r/min)
#define Move_Divide_NUM			((int32_t)(64))		//(每步柔性件控制细分量)
#define VACTRUAL_VALUE (uint32_t)(SPEED*Move_Divide_NUM*200/60/0.715)   //VACTUAL寄存器值

#define STOP 0				//停止
#define I_CURRENT (600)		//电流
#define WRITE_EN_PIN(x) digitalWrite(EN_PIN,x)//使能EN引脚
#define FORWARD		1//耗材方向
#define BACK		0

#define DEBUG 0

//定义结构体存储缓冲器中各传感器的的状态
typedef struct Buffer
{
	//buffer1
	bool buffer1_pos1_sensor_state;	
	bool buffer1_pos2_sensor_state;		
	bool buffer1_pos3_sensor_state;		
	bool buffer1_material_swtich_state;	
	bool key1;
	bool key2;
	
}Buffer;

//电机状态控制枚举
typedef enum
{
	Forward=0,//向前
	Stop,		//停止
	Back		//后退
}Motor_State;

extern void buffer_sensor_init();
extern void buffer_motor_init();

extern void read_sensor_state(void);
extern void motor_control(void);

extern void buffer_init();
extern void buffer_loop(void);
extern void timer_it_callback();
extern void buffer_debug(void);

extern bool is_error;
extern uint32_t front_time;//前进时间
extern uint32_t timeout;
extern bool is_front;
extern TMC2209Stepper driver;


#endif