#include <stdint.h>
#include "stdbool.h"
#include "cmsis_os.h"
//extern void delay_us(uint32_t us);
#include "stdlib.h"
#include "math.h"
#include "stdio.h"
#include "string.h "
//#include "MBM.H"

//#define DebugLog
#ifdef DebugLog
#define Debuglog(format, ...) \
    printf("[%s:%d->%s] " format"\r\n", __FILE__, __LINE__, __func__, ##__VA_ARGS__)
#else
#define Debuglog(format, ...)  
#endif
#define VOFA
#ifdef VOFA
#define pfp(format, ...)   \
		printf(format, ##__VA_ARGS__)
#else
#define pfp(info) 
#endif

#define Typestr(format, ...)  \
	sprintf(StateString,format"/0", ##__VA_ARGS__ );

extern char StateString[40];

extern osSemaphoreId ArmRunFinish;
extern osSemaphoreId SampleRunFinish;

extern void MAX6675_Init(void);
extern void	BIOS_GPIO_Init( void );
extern void	BIOS_TIM8_Init( void );
extern void	BIOS_TIM5_Init( void );
extern void USARTHMIInit( void );

extern void	TIM3_CH1_CTRL(uint16_t ARRValue, uint16_t CCRValue );
extern void	TIM3_CH1_CMD( _Bool	CMD );
extern void	TIM3_CH1_DIR( _Bool	CMD );
extern void	TIM3_IECMD( _Bool CMD );

extern void	TIM2_CH2_CTRL(uint16_t ARRValue, uint16_t CCRValue );
extern void	TIM2_CH2_CMD( _Bool	CMD );
extern void	TIM2_CH2_DIR( _Bool	CMD );
extern void	TIM2_IECMD( _Bool CMD );

extern void	TIM5_CH3_CTRL(uint16_t ARRValue, uint16_t CCRValue );
extern void	TIM5_CH3_CMD( _Bool	CMD );
extern void	TIM5_CH3_DIR( _Bool	CMD );
extern void	TIM5_IECMD( _Bool CMD );


enum enumPumpSelect
{
	M1 = 0,
	M2,
	M3,
	M4,
	M5,
	M6,
	M7,
	pumpMax	

};
extern enum	enumPumpSelect	PumpSelect[pumpMax];
extern void	MODBUS_Init( uint8_t MBAddress );


extern float	SpeedSet[pumpMax];		//	最高速度p/s
extern int32_t	CoordinateSet[pumpMax];														//	目标位置
extern _Bool			TaskisRunning[pumpMax];										//	防止重入标志
extern _Bool IdelEn[pumpMax];							//	电机空闲使能

extern	volatile	uint32_t	PluseCount[7u];					//	
extern int32_t		CoordinatePosition[pumpMax];										//	实时更新实时位置

extern void SolidValve_H2SO4( uint8_t channel, _Bool state );
extern void AirValve_Pump(_Bool state);
extern void StandardValve_Pump( _Bool state);

extern void	MotorZero_Init( enum enumPumpSelect Select);
extern void	MotorCTRLInitiate( void );
extern _Bool FindZero[pumpMax];

extern float Temperature[6];
#include "stdio.h"
#include "string.h"
#include "math.h"
extern void DataPrint(uint8_t *buf, uint8_t len);
extern osSemaphoreId semDataBack;
extern uint8_t DataInbuf[60u];

struct Pset {
    uint16_t CRC_Head; // CRC校验头

    uint16_t PowerSet[6];
    uint16_t HeatTimeSet[6];
    uint16_t LimitTemp[6];
     int16_t PowerComp[6];
    uint16_t AirTimeOutSet;
    uint16_t WashTimeOutSet;
		uint16_t WeightSet[6];   
    float WeightComp[6];
		float WeightSlopeSet[6];
		float H2SO4SlopeSet[6];
    uint16_t CRC_Tail; // CRC校验尾
};


extern struct Pset Set;
extern void FM24Init(void);
extern void FM24_Write(uint16_t addr, uint8_t *data, uint8_t len);
extern void FM24_Read(uint16_t addr, uint8_t *data, uint8_t len);
#define RW_Set              0x0200u
#define CRCHead             0xAA55u
#define CRCEnd 0x5AA5u