/*
 *********************************************************************************************************
 *                                                xmk guide
 *                                          huali xmk guide process
 *
 *                                 (c) Copyright 2016-2020, hualijidian.com
 *                                           All Rights Reserved
 *
 * File    : port.h
 * By      : eric
 * Date    : 2018年7月10日
 * Version : V0.0.1
 *********************************************************************************************************
 */

#ifndef __HARDWARE_H_
#define __HARDWARE_H_
#include "string.h"
#include "drv_flash.h"
#include "iocfg.h"
#include "env.h"
/*
 *********************************************************************************************************
 *                                              日志
 *********************************************************************************************************
 */
/*
 *********************************************************************************************************
 *                                              硬件
 *********************************************************************************************************
 */
// 判断举升是否在顶端
#define LIFT1_IS_IN_TOP              !I.Lft1InTop	//顶升的限位
// 判断举升是否在底部
#define LIFT1_IS_IN_BOTTOM           !I.Lft1InBottom

#define DIR_LIFT2_IS_IN_FB           !I.Lft2InTop	//实际使用是常闭的，与逻辑相反
#define DIR_LIFT2_IS_IN_LR           !I.Lft2InBottom

#define LIFT1_UP                     LIFT_V1 = 0;LIFT_V3 = 0;LIFT_V5 = 0;LIFT_V2 = 1;LIFT_V4 = 1;LIFT_V6 = 1;
#define LIFT1_DOWN                   LIFT_V1 = 0;LIFT_V5 = 0;LIFT_V6 = 0;LIFT_V2 = 1;LIFT_V3 = 1;LIFT_V4 = 1;
#define LIFT1_STOP                   LIFT_V1 = 1;LIFT_V2 = 1;LIFT_V3 = 1;LIFT_V4 = 1;LIFT_V5 = 1;LIFT_V6 = 1;


#define DIR_LIFT2_UP                 LIFT_V4 = 0;LIFT_V2 = 0;LIFT_V3 = 0;LIFT_V1 = 1;LIFT_V5 = 1;LIFT_V6 = 1;
#define DIR_LIFT2_DOWN               LIFT_V4 = 0;LIFT_V6 = 0;LIFT_V2 = 0;LIFT_V1 = 1;LIFT_V3 = 1;LIFT_V5 = 1;
#define DIR_LIFT2_STOP               LIFT_V1 = 1;LIFT_V2 = 1;LIFT_V3 = 1;LIFT_V4 = 1;LIFT_V5 = 1;LIFT_V6 = 1;

#define DEC_PRESS_1                  LIFT_V7 = 0;
#define DEC_PRESS_2                  LIFT_V8 = 0;
#define DEC_PRESS_STOP               LIFT_V7 = 1;LIFT_V8 = 1

#define BTY_AUTO_ON                  LIFT_V10 = 0
#define BTY_AUTO_OFF                 LIFT_V10 = 1


#define CARGO_IS_IN_FORWARD_MID           !I.Npn8
#define CARGO_IS_IN_BACKWARD_MID          !I.Npn7
#define CARGO_IS_IN_FORWARD_STOP          !I.Npn10
#define CARGO_IS_IN_BACKWARD_STOP         !I.Npn9


#define OBS_FORWARD_EN              OBS1_OUT1 = 0;OBS1_OUT2 = 1; OBS2_OUT1 = 1;OBS2_OUT2 = 1
#define OBS_LEFT_EN                 OBS1_OUT1 = 1;OBS1_OUT2 = 0; OBS2_OUT1 = 1;OBS2_OUT2 = 1
#define OBS_BACKWARD_EN             OBS1_OUT1 = 1;OBS1_OUT2 = 1; OBS2_OUT1 = 0;OBS2_OUT2 = 1
#define OBS_RIGHT_EN                OBS1_OUT1 = 1;OBS1_OUT2 = 1; OBS2_OUT1 = 1;OBS2_OUT2 = 0
#define OBS_OFF                     OBS1_OUT1 = 1;OBS1_OUT2 = 1; OBS2_OUT1 = 1;OBS2_OUT2 = 1
#define OBS_ON                      OBS1_OUT1 = 0;OBS1_OUT2 = 0; OBS2_OUT1 = 0;OBS2_OUT2 = 0

#define LED0_On							LED0 = 0
#define LED0_Off						LED0 = 1
#define LED0_Toggle						LED0 = !LED0

#define Light1_RedOn					LED1_V1 = 0
#define Light1_RedOff					LED1_V1 = 1
#define Light1_RedToggle 				LED1_V1 = !LED1_V1

#define Light1_YellowOn					LED1_V2 = 0
#define Light1_YellowOff				LED1_V2 = 1
#define Light1_YellowToggle 			LED1_V2 = !LED1_V2

#define Light1_GreenOn					LED1_V3 =0
#define Light1_GreenOff					LED1_V3 =1
#define Light1_GreenToggle				LED1_V3 = !LED1_V3

#define Light2_RedOn					LED2_V1 = 0
#define Light2_RedOff					LED2_V1 = 1
#define Light2_RedToggle 				LED2_V1 = !LED2_V1

#define Light2_YellowOn					LED2_V2 = 0
#define Light2_YellowOff				LED2_V2 = 1
#define Light2_YellowToggle 			LED2_V2 = !LED2_V2

#define Light2_GreenOn					LED2_V3 =0
#define Light2_GreenOff					LED2_V3 =1
#define Light2_GreenToggle				LED2_V3 = !LED2_V3

#define RS485_ENABLE					RS485_TX_EN = 1
#define RS485_DISABLE					RS485_TX_EN = 0



/**
 * @brief  Set motor speed
 * @param  speed 0~100 percent of speed
 * @retval None
 * @note   �ٶȰٷֱȻ����PWM�ı���,���3000�������������ת�� speed *
 * HI_MOTOR_PWM_TIME = 80% PWM ���Ҽ���
 */
#define LIFT1_Speed(speed) (TIM4->CCR2 = (speed))


#endif /* __HARDWARE_H_ */