/*
 * 配置相关
 */

/* Includes ----------------------------------------------------------------- */
#include "module/config.h"
#include "bsp/can.h"

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */

/* Exported variables ------------------------------------------------------- */

// 机器人参数配置
Config_RobotParam_t robot_config = {

    .imu_param =
        {
            .can = BSP_CAN_2,
            .can_id = 0x6FF,
            .device_id = 0x42,
            .master_id = 0x43,
        },
    .joint_param =
        {
            {
                // 左髋关节
                .can = BSP_CAN_1,
                .motor_id = 124,
                .host_id = 0xFF,
                .module = MOTOR_LZ_RSO3,
                .reverse = false,
                .mode = MOTOR_LZ_MODE_MOTION,
            },
            {
                // 左膝关节
                .can = BSP_CAN_1,
                .motor_id = 125,
                .host_id = 0xFF,
                .module = MOTOR_LZ_RSO3,
                .reverse = false,
                .mode = MOTOR_LZ_MODE_MOTION,
            },
            {
                // 右膝关节
                .can = BSP_CAN_1,
                .motor_id = 126,
                .host_id = 0xFF,
                .module = MOTOR_LZ_RSO3,
                .reverse = true,
                .mode = MOTOR_LZ_MODE_MOTION,
            },
            {
                // 右髋关节
                .can = BSP_CAN_1,
                .motor_id = 127,
                .host_id = 0xFF,
                .module = MOTOR_LZ_RSO3,
                .reverse = true,
                .mode = MOTOR_LZ_MODE_MOTION,
            },
        },
};

/* Private function prototypes ---------------------------------------------- */
/* Exported functions ------------------------------------------------------- */

/**
 * @brief 获取机器人配置参数
 * @return 机器人配置参数指针
 */
Config_RobotParam_t *Config_GetRobotParam(void) { return &robot_config; }