#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