#include "foc/foc_config.h"
#include "foc/core/PI_Controller.h"
#include "foc/motor/motor_param.h"

static PI_Controller PI_Ctrl_ID = {
	.kp = (CURRENT_BANDWITH * MOTOR_Ld),
	.ki = (CURRENT_BANDWITH * MOTOR_R),
	.max = (MAX_vDC),
	.min = (-MAX_vDC),
	.DT  = (1.0f/(float)IDQ_CTRL_TS),
	.Ui = 0,
};

static PI_Controller PI_Ctrl_IQ = {
	.kp = (CURRENT_BANDWITH * MOTOR_Lq),
	.ki = (CURRENT_BANDWITH * MOTOR_R),
	.max = (MAX_vDC),
	.min = (-MAX_vDC),
	.DT  = (1.0f/(float)IDQ_CTRL_TS),
	.Ui = 0,
};

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

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

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