#pragma once

#include <inttypes.h>
#include <stdbool.h>

#if CONFIG_IDF_TARGET_ESP32H2
#define DSHOT_ESC_RESOLUTION_HZ 32000000 // 32MHz resolution, DSHot protocol needs a relative high resolution
#else
#define DSHOT_ESC_RESOLUTION_HZ 40000000 // 40MHz resolution, DSHot protocol needs a relative high resolution
#endif

#define ESC_UART_NUM      UART_NUM_2

/**
 * Struct for returning telemetry data
 */
typedef struct {
  uint16_t temperature;
  uint16_t voltage;
  uint16_t current;
  uint16_t consumption;
  uint16_t rpm;
} esc_telemetry_t;

void init_rmt_esc_tx(void);

void send_dshot_packet(void);

bool parse_telemetry(esc_telemetry_t * telemetry);

void init_motor(void);

uint16_t get_throttle(void);

void update_throttle(uint16_t throttle);