/**
  ******************************************************************************
  * @file           : mainex.h
  * @brief          : Header for main.c file.
  *                   This file contains the common defines of the application.
  ******************************************************************************
  ** This notice applies to any and all portions of this file
  * that are not between comment pairs USER CODE BEGIN and
  * USER CODE END. Other portions of this file, whether 
  * inserted by the user or by software development tools
  * are owned by their respective copyright owners.
  *
  * COPYRIGHT(c) 2021 STMicroelectronics
  *
  * Redistribution and use in source and binary forms, with or without modification,
  * are permitted provided that the following conditions are met:
  *   1. Redistributions of source code must retain the above copyright notice,
  *      this list of conditions and the following disclaimer.
  *   2. Redistributions in binary form must reproduce the above copyright notice,
  *      this list of conditions and the following disclaimer in the documentation
  *      and/or other materials provided with the distribution.
  *   3. Neither the name of STMicroelectronics nor the names of its contributors
  *      may be used to endorse or promote products derived from this software
  *      without specific prior written permission.
  *
  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *
  ******************************************************************************
  */

/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __MAIN_EX_H__
#define __MAIN_EX_H__
#ifdef __cplusplus
extern "C" {
#endif

/* Includes ------------------------------------------------------------------*/

/* USER CODE BEGIN Includes */
#include "stm32h7xx_hal.h"
#include "stdint.h"
/* USER CODE END Includes */

/* Private define ------------------------------------------------------------*/

/* ########################## Assert Selection ############################## */
/**
  * @brief Uncomment the line below to expanse the "assert_param" macro in the 
  *        HAL drivers code
  */
/* #define USE_FULL_ASSERT    1U */

/* USER CODE BEGIN Private defines */
extern TIM_HandleTypeDef htim1;
extern TIM_HandleTypeDef htim2;
extern TIM_HandleTypeDef htim3;

extern UART_HandleTypeDef huart4;
extern UART_HandleTypeDef huart7;
extern UART_HandleTypeDef huart1;
extern UART_HandleTypeDef huart3;
extern UART_HandleTypeDef huart6;
extern DMA_HandleTypeDef hdma_uart4_rx;
extern DMA_HandleTypeDef hdma_uart4_tx;
extern DMA_HandleTypeDef hdma_uart7_rx;
extern DMA_HandleTypeDef hdma_uart7_tx;
extern DMA_HandleTypeDef hdma_usart1_rx;
extern DMA_HandleTypeDef hdma_usart1_tx;
extern DMA_HandleTypeDef hdma_usart3_rx;
extern DMA_HandleTypeDef hdma_usart3_tx;
extern DMA_HandleTypeDef hdma_usart6_rx;
extern DMA_HandleTypeDef hdma_usart6_tx;

/* USER CODE BEGIN Private defines */
typedef int32_t  s32;
typedef int16_t s16;
typedef int8_t  s8;

typedef const int32_t sc32;  
typedef const int16_t sc16;  
typedef const int8_t sc8;  

typedef __IO int32_t  vs32;
typedef __IO int16_t  vs16;
typedef __IO int8_t   vs8;

typedef __I int32_t vsc32;  
typedef __I int16_t vsc16; 
typedef __I int8_t vsc8;   

typedef uint32_t  u32;
typedef uint16_t u16;
typedef uint8_t  u8;

typedef const uint32_t uc32;  
typedef const uint16_t uc16;  
typedef const uint8_t uc8; 

typedef __IO uint32_t  vu32;
typedef __IO uint16_t vu16;
typedef __IO uint8_t  vu8;

typedef __I uint32_t vuc32;  
typedef __I uint16_t vuc16; 
typedef __I uint8_t vuc8;  


// PWM Êä³öͨµÀºê¶¨Ò壨¸ù¾ÝÄúµÄÓ²¼þÁ¬½ÓÐ޸ģ©
#define MOTOR_TIM          htim3
#define STEERING_TIM       htim3

#define MOTOR_CHANNEL      TIM_CHANNEL_1   // ¼ÙÉè½Ó TIM3_CH1
#define STEERING_CHANNEL   TIM_CHANNEL_2   // ¼ÙÉè½Ó TIM4_CH2

/* USER CODE END Private defines */

#ifdef __cplusplus
}
#endif

#endif /* __MAIN_EX_H__ */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/