/*
* 步进电机
 */

#pragma once

#ifdef __cplusplus
extern "C" {
#endif

/* Includes ----------------------------------------------------------------- */
#include "cmsis_os2.h"   
#include <stdbool.h>  
#include "bsp/pwm.h"  
/* Exported constants ------------------------------------------------------- */


/* Exported macro ----------------------------------------------------------- */
/* Exported types ----------------------------------------------------------- */

	
	/*每个电机需要的参数*/
typedef struct {
    BSP_PWM_Channel_t channel;
    bool reverse;
    bool gear;
} MOTOR_STEP_Param_t;
	
typedef struct{
	
	MOTOR_STEP_Param_t param;
	/* 脉冲个数 */
	int pulse;
	
}MOTOR_STEP_t;

int8_t Motor_Step_Init(MOTOR_STEP_t *param);
int8_t Motor_Step_Ctrl(MOTOR_STEP_t *param);
int8_t Motor_Step_Stop(MOTOR_STEP_t *motor_step);
#ifdef __cplusplus
}
#endif