#ifndef STEPPER_DRIVER_H
#define STEPPER_DRIVER_H

#include <cstdint>
#include "esp_err.h"

/**
 * @brief Abstract base class for stepper motor driver chips.
 * 
 * This interface abstracts the low-level control of the stepper motor driver,
 * such as enabling/disabling, setting direction, sleep mode, and microstepping configuration.
 * It does NOT handle step generation (that is handled by the StepperMotor class using GPTimer).
 */
class StepperDriver
{
public:
    virtual ~StepperDriver() = default;

    /**
     * @brief Initialize the driver hardware (GPIOs, IO Expander, etc.)
     * @return ESP_OK on success
     */
    virtual esp_err_t Init() = 0;

    /**
     * @brief Enable or disable the motor driver output.
     * @param enable true to enable, false to disable
     * @return ESP_OK on success
     */
    virtual esp_err_t Enable(bool enable) = 0;

    /**
     * @brief Set the motor direction.
     * @param dir true for one direction (e.g. UP/CW), false for the other (e.g. DOWN/CCW)
     * @return ESP_OK on success
     */
    virtual esp_err_t SetDirection(bool dir) = 0;

    /**
     * @brief Set the motor driver to sleep mode to save power.
     * @param sleep true to sleep, false to wake up
     * @return ESP_OK on success
     */
    virtual esp_err_t Sleep(bool sleep) = 0;

    /**
     * @brief Set microstepping mode.
     * @param microsteps Microstepping value (e.g., 1, 2, 4, 8, 16, 32, etc.)
     * @return ESP_OK on success
     */
    virtual esp_err_t SetMicrosteps(int microsteps) = 0;
};

#endif // STEPPER_DRIVER_H