#include "by_stepper.h"

#include <string.h>
#include <dwt_delay.h>
#include "by_debug.h"

// TODO 是否增加一个动作列表？一般都比较简单吧

struct by_stepper_t {
    uint8_t dir;
    stepper_speed_t speed;
};

struct by_stepper_t by_stepper;

void by_stepper_init(void)
{
    memset(&by_stepper, 0x00, sizeof(by_stepper));
}

void by_stepper_set_dir(uint8_t dir)
{
    by_stepper.dir = dir;
}

void by_stepper_set_speed(stepper_speed_t speed)
{
    by_stepper.speed = speed;
}

void by_stepper_run(void)
{
    // 根据预设条件发送脉冲
    gpio_bits_write(GPIOA, GPIO_PINS_8, by_stepper.dir ? TRUE : FALSE);                    // DIR
    gpio_bits_write(GPIOB, GPIO_PINS_15, !gpio_output_data_bit_read(GPIOB, GPIO_PINS_15)); // CLK
    DWT_Delay(40U * (uint16_t)by_stepper.speed);
}

void by_stepper_stop(void)
{
}