#ifndef __SOFT_MOTOR_OUTPUT_H
#define __SOFT_MOTOR_OUTPUT_H

#include <stdbool.h>
#include <stdint.h>

enum
{
    MOTOR1 = 1,
    MOTOR2 = 2,
    MOTOR3 = 3,
    MOTOR4 = 4,
    MOTOR5 = 5,
    MOTOR6 = 6,
    MOTOR7 = 7,
    MOTOR8 = 8,
    MOTOR9 = 9,
    MOTOR10 = 10,
};

// I型四轴
enum
{
    FOUR_I4 = 41,
    // X型四轴
    FOUR_X4 = 42,

    // I型六轴
    SIX_I6 = 61,
    // X型六轴
    SIX_X6 = 62,
    //跟DJI一致的倒Y6,I型三轴六桨
    THREE_YI6D = 63,
    //跟DJI一致的Y6，Y型三轴六桨
    THREE_Y6D = 64,
    // H6 型
    SIX_H6 = 65,

    // I型八轴
    EIGHT_I8 = 81,
    // X型八轴
    EIGHT_X8 = 82,
    //跟MWC一致的4x8，四轴八桨
    FOUR_X8M = 83,
    //跟DJI一致的4x8，四轴八桨
    FOUR_X8D = 84,
    // 跟MWC 相反的 4x8, 四轴八桨
    FOUR_X8MR = 85,
    // 跟 DJI 相反的 4x8, 四轴八桨
    FOUR_X8DR = 86,
};

/*-------------functions ---------------------------------------*/

void set_motor_pwm(uint8_t s_ch, uint16_t s_pwm);
uint16_t get_motor_pwm(uint8_t s_ch);
void MotorCheck_SetCheckNum(uint8_t checkChNum);
void motor_output_initial(void);
void esc_calibrate_enable(void);
void unlocked_motor_output(void);
void locked_motor_output(void);

uint8_t MotorOutput_GetYawRestrictionStatus(void);
uint8_t Motor_GetFailsafeNum(void);

extern float pid_roll, pid_pitch, pid_thr, pid_yaw;

#endif