/*
 * @Date: 2025-07-22 10:35:36
 * @Author: mypx
 * @LastEditors: mypx mypx_coder@163.com
 * @LastEditTime: 2025-07-22 13:43:33
 * @FilePath: h31_comm_related_var.h
 * @Description: 
 * Copyright (c) 2025 by mypx, All Rights Reserved.
 */
#ifndef __H31_COMM_RELATED_VAR_H__
#define __H31_COMM_RELATED_VAR_H__
#include "sv_common.h"

// H31.00 Communication given VDI virtual level
#define REG_H31_00_VDI_LEVEL         0x3100
#define H31_00_VDI_VIRTUAL_LEVEL_MIN 0x0000
#define H31_00_VDI_VIRTUAL_LEVEL_MAX 0xFFFF
#define H31_00_VDI_VIRTUAL_LEVEL_DEF 0x0000

typedef union
{
    uint16_t all;
    struct
    {
        uint16_t vdi1     : 1;  // Bit 0: VDI1 virtual level
        uint16_t vdi2     : 1;  // Bit 1: VDI2 virtual level
        uint16_t vdi3     : 1;  // Bit 2: VDI3 virtual level
        uint16_t vdi4     : 1;  // Bit 3: VDI4 virtual level
        uint16_t vdi5     : 1;  // Bit 4: VDI5 virtual level
        uint16_t vdi6     : 1;  // Bit 5: VDI6 virtual level
        uint16_t reserved : 10; // Bits 6-15: Reserved
    } bits;
} H31_VDI_LevelTypeDef;

// H31.04 Communication given DO output status
#define REG_H31_04_DO_STATUS            0x3104
#define H31_04_DO_OUTPUT_STATUS_MIN     0x0000
#define H31_04_DO_OUTPUT_STATUS_MAX     0xFFFF

typedef uint16_t H31_DO_StatusTypeDef;

// H31.09 Communication given speed command (32-bit)
#define REG_H31_09_SPEED_CMD     0x3109
#define H31_09_SPEED_CMD_MIN     -9000000
#define H31_09_SPEED_CMD_MAX     9000000
#define H31_09_SPEED_CMD_DEFAULT 0
#define H31_09_SPEED_CMD_SCALE   1000 // Precision: 0.001rpm

typedef int32_t H31_SpeedCmdTypeDef;  // Unit: 0.001rpm

// H31.11 Communication given torque command (32-bit)
#define REG_H31_11_TORQUE_CMD   0x310B
#define H31_11_TORQUE_CMD_MIN   -100000
#define H31_11_TORQUE_CMD_MAX   100000
#define H31_11_TORQUE_CMD_DEF   0
#define H31_11_TORQUE_CMD_SCALE 1000  // Precision: 0.001%

typedef int32_t H31_TorqueCmdTypeDef; // Unit: 0.001%


int sv630p_h31_00_write_vdi_virtual_level(sv630p_handle_t *dev, uint16_t value);
int sv630p_h31_00_read_vdi_virtual_level(sv630p_handle_t *dev, uint16_t *value);
int sv630p_h31_04_write_do_output_status(sv630p_handle_t *dev, uint16_t value);
int sv630p_h31_04_read_do_output_status(sv630p_handle_t *dev, uint16_t *value);
int sv630p_h31_09_write_speed_command(sv630p_handle_t *dev, double rpm);
int sv630p_h31_09_read_speed_command(sv630p_handle_t *dev, double *rpm);
int sv630p_h31_11_write_torque_command(sv630p_handle_t *dev, int32_t value);
int sv630p_h31_11_read_torque_command(sv630p_handle_t *dev, int32_t *value);
#endif // __H31_COMM_RELATED_VAR_H__