#pragma once
#include "Arduino.h"
#include <AS5045.h>
#include <DRV8313.h>
#include <SimpleFOC.h>
#include <STM32_CAN.h>
#include "flash.h"

extern STM32_CAN Can;
extern SPIClass spi;
extern MagneticSensorAS5045 encoder;
extern BLDCMotor motor;
extern DRV8313Driver driver;
extern LowsideCurrentSense current_sense;
extern Commander command;

struct MotorControlInputs {
  float target_angle = 0.0;
  float target_velocity = 0.0;
  bool motor_enabled = false;
  bool foc_state = false;
};

extern MotorControlInputs motor_control_inputs;

void doMotor(char *cmd);
void setup_foc(MagneticSensorAS5045 *encoder, BLDCMotor *motor,
               DRV8313Driver *driver, LowsideCurrentSense *current_sense,
    FLASH_RECORD* pid_data);

void foc_step(BLDCMotor *motor);