#include "foc/foc_config.h"
#include "foc/core/PI_Controller.h"
#define CURR_BANDWITH 1000
#define STAR_R   0.5F
#define STAR_L   0.0002F
static PI_Controller PI_Ctrl_ID = {
	.kp = S16Q5(CURR_BANDWITH * STAR_R),
	.ki = S16Q5(CURR_BANDWITH * STAR_L),
	.max = S16Q5(MAX_vDC),
	.min = S16Q5(-MAX_vDC),
	.DT  = S16Q14(1.0f/(float)IDQ_CTRL_TS),
	.Ui = 0,
};

static PI_Controller PI_Ctrl_IQ = {
	.kp = S16Q5(CURR_BANDWITH * STAR_R),
	.ki = S16Q5(CURR_BANDWITH * STAR_L),
	.max = S16Q5(MAX_vDC),
	.min = S16Q5(-MAX_vDC),
	.DT  = S16Q14(1.0f/(float)IDQ_CTRL_TS),
	.Ui = 0,
};

static PI_Controller PI_Ctrl_Spd = {
	.kp = S16Q5(0.001f),
	.ki = S16Q5(0.003f),
	.max = S16Q5(MAX_iDQ),
	.min = S16Q5(-MAX_iDQ),
	.DT  = S16Q14(1.0f/(float)SPD_CTRL_TS),
	.Ui = 0,
};

static PI_Controller PI_Ctrl_fw = {
	.kp = S16Q5(0.001f),
	.ki = S16Q5(0.003f),
	.max = S16Q5(20),
	.min = S16Q5(0),
	.DT  = S16Q14(1.0f/(float)SPD_CTRL_TS),
	.Ui = 0,
};