#include <stdint.h>

#include "sdk\components\tmc\ic\ztmc4361A.hpp"
#include "sdk\components\tmc\ic\ztmc5130.hpp"

namespace iflytop {
class Hardware {
 public:
  typedef enum { kcan, kuart } from_where_t;
  int32_t m_device_id = 0;

 public:
  void    initialize(int deviceId);
  int32_t process_rx_packet(from_where_t fromwhere, uint8_t *packet, int32_t len, uint8_t *receipt, int32_t &receiptsize, bool &matching);
  void    loop();

  TMC5130 *getMotor1();
  TMC5130 *getMotor2();

  void setmotor1(int16_t acc_rpm2, int16_t rpm, int16_t idlepower, int16_t power);
  void recovermotor1();
  bool ismotor1error();

  void setmotor2(int16_t acc_rpm2, int16_t rpm, int16_t idlepower, int16_t power);
  void recovermotor2();
  bool ismotor2error();
};

}  // namespace iflytop