/**
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* @file cali.h
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* @author Ethan.Tao (tzj0429@163.com)
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* @brief
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* @version 0.1
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* @date 2022-05-07
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*
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* @copyright Copyright (c) 2022 Äþ²¨ÕýÀÊÆû³µÁ㲿¼þÓÐÏÞ¹«Ë¾
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*
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*/
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#ifndef CALI_H
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#define CALI_H
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#include "typedef.h"
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#define GEAR_ALPHA (0)
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#define GEAR_BETA (1)
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#define AUTO_GEAR_USED (GEAR_BETA)
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#define MANUAL_GEAR_USED (GEAR_ALPHA)
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#define VA_Z_CALA (36u) // 4B
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#define VA_M_CALA (40u) // 4B
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#define VA_MP_CALA (44u) // 4B
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#define VA_MN_CALA (48u) // 4B
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#define VA_X2_CALA (52u) // 4B
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#define VA_X1_CALA (56u) // 4B
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#define VA_Y1_CALA (60u) // 4B
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#define VA_Y2_CALA (64u) // 4B
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#define VA_GearGapAuto (68u) // 4B
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#define VA_GearGapManu (72u) // 4B
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#define VA_CALIBRATED_FLAG (76u) // 4B
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typedef struct
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{
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unsigned short alpha;
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unsigned short beta;
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} Angle_t;
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typedef struct cali
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{
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Angle_t Z;
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Angle_t M;
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Angle_t MP;
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Angle_t MN;
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Angle_t X2;
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Angle_t X1;
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Angle_t Y1;
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Angle_t Y2;
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Angle_t Auto_delta;
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Angle_t Manu_delta;
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uint32_t CalibratedFlag;
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} CaliData_t;
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typedef enum DCAL_CalCmd
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{
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CAL_INIT = 0x0000,
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CAL_Zero = 0x0001,
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CAL_M = 0x0002,
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CAL_MP = 0x0003,
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CAL_MN = 0x0004,
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CAL_X2 = 0x0005,
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CAL_X1 = 0x0006,
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CAL_Y1 = 0x0007,
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CAL_Y2 = 0x0008,
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CAL_GAP = 0x0009,
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CAL_FINISH = 0x000A
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} CAL_Cmd_e;
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typedef enum DCAL_CalStatus
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{
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CAL_IDLE = 0,
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CAL_In_Progress,
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CAL_Current_Done,
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Cal_Complete
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} CAL_CalStatus_e;
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extern CaliData_t Cali_O_AngleData;
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extern void Cali_Init(void);
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extern void Cali_Task(void *p);
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extern uint8_t Cali_GetDataLoadFlag(void);
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extern uint8_t Cali_SetCalibrationCmd(uint32_t cmd);
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extern uint8_t Cali_GetSaveCalibrationDataFlag(uint8_t cmd);
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#endif
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