#ifndef MOTOR_DEF_H
#define MOTOR_DEF_H

#include "controller.h"
#include "stdint.h"
#include "bsp_can.h"

#define LIMIT_MIN_MAX(x, min, max) (x) = (((x) <= (min)) ? (min) : (((x) >= (max)) ? (max) : (x)))

/* 输出反向标志 */
typedef enum
{
    OUTPUT_DIRECTION_NORMAL  = 0,
    OUTPUT_DIRECTION_REVERSE = 1,
} Output_Reverse_Flag_e;

/* 电机类型枚举 */
typedef enum
{
    MOTOR_TYPE_NONE = 0,
    DM_MOTOR,
} Motor_Type_e;

/* 电机控制器: PID 实例和外部反馈指针 */
typedef struct
{
    float *other_angle_feedback_ptr;  // 外部角度反馈指针 (如 IMU)
    float *other_speed_feedback_ptr;  // 外部速度反馈指针 (如 IMU 陀螺仪)

    PIDInstance angle_PID;
    PIDInstance speed_PID;
    PIDInstance current_PID;

    float pid_ref;
} Motor_Controller_s;

/* 电机控制器初始化配置 */
typedef struct
{
    float *other_angle_feedback_ptr;
    float *other_speed_feedback_ptr;

    PID_Init_Config_s angle_PID;
    PID_Init_Config_s speed_PID;
    PID_Init_Config_s current_PID;
} Motor_Controller_Init_s;

/* CAN 电机通用初始化结构体 */
typedef struct
{
    Motor_Controller_Init_s controller_param_init_config;
    Output_Reverse_Flag_e   output_reverse;
    Motor_Type_e            motor_type;
    CAN_Init_Config_s       can_init_config;
} Motor_Init_Config_s;

#endif // MOTOR_DEF_H