#ifndef __L6235D_H_
#define __L6235D_H_
#include  <includes.h>
#include "gd32f4xx_gpio.h"
#include "ptz_type_select.h"
#ifdef L6235D

//中断里面使用
#define L6235D_HORI_H1_PIN       13
#define L6235D_HORI_H2_PIN       14
#define L6235D_HORI_H3_PIN       15

#define L6235D_VERT_H1_PIN       6
#define L6235D_VERT_H2_PIN       7
#define L6235D_VERT_H3_PIN       8


//水平电机,水平电机PD11-EN,PD12-F/R,PD10-BRK
//DrvGPIO_ClrBit(L6235D_HORI_DIAG_PORT,L6235D_HORI_DIAG_PIN);
#define L6235D_HORI_REV         gpio_bit_reset(GPIOD,GPIO_PIN_12)
#define L6235D_HORI_FWD         gpio_bit_set(GPIOD,GPIO_PIN_12)

#define L6235D_HORI_BRAKE_STOP  gpio_bit_reset(GPIOD,GPIO_PIN_10)
#define L6235D_HORI_BRAKE_START gpio_bit_set(GPIOD,GPIO_PIN_10)

#define L6235D_HORI_EN_ENABLE   gpio_bit_set(GPIOD,GPIO_PIN_11)
#define L6235D_HORI_EN_DISABLE  gpio_bit_reset(GPIOD,GPIO_PIN_11)

/****************************************************************/

//垂直电机PA8-EN,PA11-F/R,PC9-BRK
//DrvGPIO_ClrBit(L6235D_VERT_DIAG_PORT,L6235D_VERT_DIAG_PIN);
#define L6235D_VERT_REV   gpio_bit_reset(GPIOA,GPIO_PIN_11)
#define L6235D_VERT_FWD   gpio_bit_set(GPIOA,GPIO_PIN_11)

#define L6235D_VERT_BRAKE_STOP  gpio_bit_reset(GPIOC,GPIO_PIN_9)
#define L6235D_VERT_BRAKE_START gpio_bit_set(GPIOC,GPIO_PIN_9)

#define L6235D_VERT_EN_ENABLE  gpio_bit_set(GPIOA,GPIO_PIN_8)
#define L6235D_VERT_EN_DISABLE gpio_bit_reset(GPIOA,GPIO_PIN_8)

/****************************************************************/  


///电机是否刹车
///电机刹车
#define L6235D_MOTOR_STOP    0
///电机启动
#define L6235D_MOTOR_START   1


#define L6235D_HALL_SAVE_NUM     100//霍尔状态保存总数

void l6235d_init();
char l6235d_hori_set_direction(char dir);
char l6235d_vert_set_direction(char dir);
char l6235d_hori_start_stop(char flag);
char l6235d_vert_start_stop(char flag);
//DAC输出
void dac_hori_vr(unsigned int Vref);
void dac_vert_vr(unsigned int Vref);

#endif


///电机转动方向
///电机正转
#define L6235D_MOTOR_DIR_FWD  0
///电机反转
#define L6235D_MOTOR_DIR_REV  1



#define L6235D_HALL_H1     1 //霍尔传感器1
#define L6235D_HALL_H2     2 //霍尔传感器2
#define L6235D_HALL_H3     3 //霍尔传感器3


#endif