/* Author                                                   Date        Comment
 * Diego Melli                                              28/08/2015
 * Andrea Delbuggio                                         28/08/2015
 * Fabiana Andrade                                          28/08/2015
 *****************************************************************************/

/** I N C L U D E S **********************************************************/
#include "system/typedefs.h"
#include "user/adminModule.h"
#include "user/loaderModule.h"

/** D E F I N I T I O N S ****************************************************/
#ifndef STEPMOTOR_H
#define	STEPMOTOR_H

#define STEPPER_MINOR_VERSION   0x01    //Motor Version 0.1
#define STEPPER_MAJOR_VERSION   0x00
//sentido
#define STOP     (byte) 0x00
#define ADELANTE (byte) 0x01
#define ATRAS    (byte) 0x02
//tipo paso
#define SIMPLE   (byte) 0x00
#define NORMAL   (byte) 0x01
#define MEDIO    (byte) 0x02
//bits
#define CERO    (byte) 0
#define UNO   (byte) 1

#define tiempoFlanco (int) 30

//phaseArray[phasetype][phaseposition][outputnumber];
//phasetype:- 0 = simple ; 1 = normal
byte pasoArray[2][4]={
	{0x01, 0x02, 0x04, 0x08},
    {0x03, 0x06, 0x0C, 0x09}
};
byte pasoMedioArray[8]={
	0x01,0x03,0x02,0x06, 0x04,0x0C, 0x08, 0x09
};
/** S T R U C T U R E S ******************************************************/
typedef union STEPPER_DATA_PACKET
{
    byte _byte[USBGEN_EP_SIZE];  //For byte access
    word _word[USBGEN_EP_SIZE/2];//For word access(USBGEN_EP_SIZE msut be even)
    struct
    {
        enum
        { 
            READ_VERSION    = 0x00,
			SET_STEPPER    	= 0x01,
			RESET			= 0xFF //backward compatibility
        }CMD;
        byte len;
    };
    struct
    {
        unsigned :8;
        byte id;
    };
    struct
    {
        unsigned :8;
        byte stepper_num;
        byte stepper_status;
    };
    struct
    {
        unsigned :8;
        word word_data;
    };
} STEPPER_DATA_PACKET;

/** P U B L I C  P R O T O T Y P E S *****************************************/

#endif	/* STEPMOTOR_H */