epm ladrc 参数用宏定义

Signed-off-by: huhui <huhui@sharkgulf.com>

Applications/foc/foc_config.h

@@ -73,6 +73,9 @@
 	#define CONFIG_LADRC_NOLOAD_Wcv 3.0F
 	#define CONFIG_LADRC_NOLOAD_B0  2500.0F
 
+	#define CONFIG_LADRC_EPM_Wcv 3.0F
+	#define CONFIG_LADRC_EPMBK_B0	 500.0F
+	#define CONFIG_LADRC_EPM_B0	     350.0F
 #endif
 #ifdef CONFIG_SMO_OBSERVER
 	#define CONFIG_SMO_MIN_SPEED    1000 //RPM

Applications/foc/motor/motor.c

@@ -521,9 +521,9 @@ bool mc_start_epm_move(EPM_Dir_t dir, bool is_command) {
 			mc_auto_hold(false);
 		}
 		if (dir == EPM_Dir_Back) {
-			PMSM_FOC_Change_VelLoop_Params(3.0f, 500.0f);
+			PMSM_FOC_Change_VelLoop_Params(CONFIG_LADRC_EPM_Wcv, CONFIG_LADRC_EPMBK_B0);
 		}else {
-			PMSM_FOC_Change_VelLoop_Params(3.0f, 350.0f);
+			PMSM_FOC_Change_VelLoop_Params(CONFIG_LADRC_EPM_Wcv, CONFIG_LADRC_EPM_B0);
 		}
 		PMSM_FOC_TorqueLimit(motor.f_epm_trq);
 		PMSM_FOC_Set_Speed(motor.f_epm_vel);