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#include <stddef.h>
#include <stdint.h>
#include <stdio.h>
#include "main.h"
#include "project.hpp"
//
// #include "sdk/components/single_axis_motor_control_v2/single_axis_motor_control_v2.hpp"
#include "sdk/components/iflytop_can_slave_modules/idcard_reader_service.hpp"
#include "sdk/components/single_axis_motor_control/single_axis_motor_control.hpp"
#include "sdk/hal/zhal.hpp"
#include "sdk\components\iflytop_can_slave_modules\io_control_service.hpp"
#include "sdk\components\iflytop_can_slave_v1\iflytop_can_slave.hpp"
#include "sdk\components\m3078\m3078_code_scaner.hpp"
#include "sdk\components\tmc\ic\ztmc4361A.hpp"
#include "sdk\components\tmc\ic\ztmc5130.hpp"
//
#include "sdk\components\huacheng_sensor\dp600_pressure_sensor.hpp"
#include "sdk\components\zcan_module\huacheng_pressure_sensor.hpp"
#include "sdk\components\zcan_module\zcan_basic_order_module.hpp"
#include "sdk\components\zcan_module\zcan_pump_ctrl_module.hpp"
#include "sdk\components\zcan_module\zcan_trigle_warning_light_ctl_module.hpp"
//
#include "driver/preportional_valve_ctrl.hpp"
#include "iwdg.h"
#include "sdk\components\cmdscheduler\cmd_scheduler_v2.hpp"
#include "sdk\hal\zuart.hpp"
namespace iflytop { extern IflytopCanProtocolStackProcesser m_protocolStack;
extern TMC5130 m_motor1; extern TMC5130 m_motor2;
extern ZGPIO debuglight;
extern ZGPIO triLight_R; extern ZGPIO triLight_G; extern ZGPIO triLight_B; extern ZGPIO triLight_BEEP;
extern ZGPIO m_input1; extern ZGPIO m_input2; extern ZGPIO m_input3; extern ZGPIO m_input4; extern ZGPIO m_input5;
extern ZGPIO OUT_PD14; extern ZGPIO OUT_PD15;
extern ZCanReceiver m_canReceiver; extern ZCanBasicOrderModule m_basicOrderModule; extern ZCanPumpCtrlModule m_pumpCtrlModule; extern HuachengPressureSensor m_huachengPressureSensor; extern CmdSchedulerV2 cmdScheduler; // 比例阀
extern PreportionalValveCtrl m_PreportionalValveHost;
void device_init(); void setmotor(TMC5130 *motor, int16_t acc_rpm2, int16_t rpm, int16_t idlepower, int16_t power); void air_compressor_ch_select(int32_t val); void air_compressor_valve1_set(int32_t val); void air_compressor_valve2_set(int32_t val); void air_compressor_read_pressure(int32_t *ack); void triple_warning_light_ctl(uint8_t r, uint8_t g, uint8_t b, uint8_t warning);
int32_t preportional_valve_is_busy(int32_t *busy);
}; // namespace iflytop
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