#pragma once
/**
 * @file drv8710.hpp
 * @author zhaohe (h_zhaohe@163.com)
 * @brief
 * @version 0.1
 * @date 2023-04-14
 *
 * @copyright Copyright (c) 2023
 *
 *
 */
#include <stdint.h>

#include "sdk/os/zos.hpp"
#include "sdk\chip\zpwm_generator_muti_channel.hpp"
//

namespace iflytop {
// SUPPORT REG

/**
 * @brief Cubemx配置
 *
 *  1. 使能一个定时器，将In1引脚配置成PWM引脚
 */
class DRV8710 {
 public:
  typedef struct {
    ZPWMGeneratorMutiChannel::hardware_config_t pwm_cfg;
    int32_t                                     in1_chnannel_index;

    Pin_t in2;
    Pin_t nsleep;
    Pin_t nfault;
    bool  shaft;
    bool  enableTrace;

  } config_t;

  ZPWMGeneratorMutiChannel m_pwmCtrl;

  ZGPIO m_in2;
  ZGPIO m_nsleep;
  ZGPIO m_nfault;

  config_t m_cfg;
  //   ZGPIO so;

 public:
  DRV8710(){};

  void initialize(config_t* cfg);

  void enable(bool varenable);

  void moveForward(int32_t duty);   // 0->100
  void moveBackward(int32_t duty);  // 0->100

  void move(int32_t duty);  // -100->100

  bool isFault();

 private:
  void set_direcetion(bool direcetion);
};

}  // namespace iflytop