#pragma once
#include "project_configs.h"

#define MAX_USR_NAME_SIZE 5

#define MOTO_POWER_EN_IO PC2
#define MOTO1_CSN_IO     PB3
#define MOTO2_CSN_IO     PB4
#define MOTO3_CSN_IO     PB5
#define MOTO4_CSN_IO     PB6
#define MOTO1_DRV_ENN_IO PD0
#define MOTO2_DRV_ENN_IO PD1
#define MOTO3_DRV_ENN_IO PD2
#define MOTO4_DRV_ENN_IO PD3
#define ID1_IO           PE0
#define ID2_IO           PE1
#define ID3_IO           PD7
#define ID4_IO           PD9
#define ID5_IO           PD8
#define IO_OUT1_IO       PC0
#define IO_OUT2_IO       PC1

#define MOTOR_SPI_INS hspi1
/***********************************************************************************************************************
 *                                                      MOTOR_CFG                                                      *
 ***********************************************************************************************************************/
#define MOTOR_SHAFT          false
#define STEPMOTOR_IHOLD      10
#define STEPMOTOR_IRUN       20
#define STEPMOTOR_IHOLDDELAY 100
#define MOTOR_VSTART         200  // 启动速度
#define MOTOR_A1             100  // 阶段1_加速度
#define MOTOR_AMAX           300  // 阶段2_加速度
#define MOTOR_V1             500  // 阶段2_开始速度
#define MOTOR_TZEROWAIT      100  // 速度零点点切换时间