#ifndef FTW_MOTOR_CONFIG_H
#define FTW_MOTOR_CONFIG_H

#include <stdint.h>

// Axis IDs match the TMC5160 chip-select assignments in SPI_HAL.cpp.
// They are also used as array indices where applicable, so keep them 0-based.
#define AXIS_YAW    0x00
#define AXIS_PITCH  0x01
#define AXIS_COUNT  2

// EEPROM layout for heading calibration.
// Defined here so save (case 'h') and load (case 'y') in CommandParser always
// agree on offsets — nothing should hardcode byte addresses independently.
#define EEPROM_ADDR_HDG_FLOAT   0                                   // float: calibrated heading value
#define EEPROM_ADDR_HDG_DIST    (EEPROM_ADDR_HDG_FLOAT + sizeof(float)) // int32_t: encoder distance from left limit

// Axis lifecycle states.
// The state machine progresses: BOOT → RESET → ENC_INIT → INITIALIZED → AUTO/MANUAL
// ERROR is a terminal state; re-init via the 'r' command resets back to RESET.
typedef enum {
    GIMBAL_STATUS_ERROR       = -2,  // homing failed or hardware fault
    GIMBAL_STATUS_BOOT        = -1,  // initial power-on state, hardware not yet configured
    GIMBAL_STATUS_RESET       =  0,  // registers written, motor enabled, ready to home
    GIMBAL_STATUS_ENC_INIT    =  1,  // homing sequence in progress
    GIMBAL_STATUS_INITIALIZED =  2,  // homing complete, endstop limits known
    GIMBAL_STATUS_AUTO        =  3,  // stepping through positions automatically
    GIMBAL_STATUS_MANUAL      =  4   // responding to direct move commands
} gimbal_status;

#endif