a8000_protocol/api/zi_motor.hpp

#pragma once
#include <stdint.h>

#include <functional>

#include "apibasic/basic.hpp"

typedef struct {
  uint32_t sg_result : 10;
  uint32_t reserved0 : 5;
  uint32_t fsactive : 1;
  uint32_t cs_actual : 5;
  uint32_t reserved1 : 3;
  uint32_t stallguard : 1;
  uint32_t ot : 1;
  uint32_t otpw : 1;
  uint32_t s2ga : 1;
  uint32_t s2gb : 1;
  uint32_t ola : 1;
  uint32_t olb : 1;
  uint32_t stst : 1;
} TMC5130MotorStatus_t;

namespace iflytop {
using namespace std;
class ZIStepMotor {
 public:
  virtual ~ZIStepMotor() {}
  virtual int32_t step_motor_enable(int32_t enable)                              = 0;
  virtual int32_t step_motor_stop(int32_t breakstop)                             = 0;
  virtual int32_t step_motor_read_pos(int32_t* pos)                              = 0;
  virtual int32_t step_motor_easy_rotate(int32_t direction)                      = 0;
  virtual int32_t step_motor_easy_move_by(int32_t distance)                      = 0;
  virtual int32_t step_motor_easy_move_to(int32_t position)                      = 0;
  virtual int32_t step_motor_easy_move_to_zero()                                 = 0;
  virtual int32_t step_motor_easy_set_current_pos(int32_t pos)                   = 0;
  virtual int32_t step_motor_easy_move_to_io(int32_t ioindex, int32_t direction) = 0;
  virtual int32_t step_motor_active_cfg()                                        = 0;
  virtual int32_t step_motor_read_io_state(int32_t ioindex, int32_t* state)      = 0;

  /***********************************************************************************************************************
   *                                                        DEBUG                                                        *
   ***********************************************************************************************************************/
  virtual int32_t step_motor_read_tmc5130_status(int32_t* errorflag) = 0;
};
}  // namespace iflytop