#ifndef _NV_Storage_H__
#define _NV_Storage_H__
#include "os/os_types.h"
#include "foc/core/PMSM_FOC_Core.h"
#include "foc/commands.h"
#pragma  pack (push,1)

typedef struct {
	float s_PhaseCurrLim;
	float s_maxDCVol;
	float s_minDCVol;
	float s_maxRPM;
	float s_maxEpmRPM;
	float s_maxEpmTorqueLim;
	float s_maxTorque;
	float s_PhaseCurreBrkLim;
	float s_iDCeBrkLim;
	float s_LimitiDC;
	float n_currentBand; //电流环带宽
	float n_startThroVol;
	float n_endThroVol;
	u8    n_brkShutPower;
	u8    n_autoHold;
	u32   n_acc_time;
	u32   n_dec_time;
	u32   n_ebrk_time;
	u8    n_FwEnable;
	pid_conf_t pid_conf[PID_Max_id];
	float f_minThroVol;
	float f_maxThroVol;
	u8    res[2048 - 161];
	u16   crc16;
}foc_params_t;

typedef struct {
	u8 mot_nr;
	u8 poles;
	float r;
	float ld;
	float lq;
	float flux_linkage;
	float back_emf;
	s32   hall_table[8];
	float offset;
	float est_pll_band; //normal工作模式下的pll带宽
	float pos_lock_pll_band; //电机锁定模式下的pll带宽
	u16   crc16;
}motor_params_t;

typedef struct {
	u16 u_maxRPM;
	u16 u_maxTorque;
	u16 u_maxIdc;
	u16 u_accTime;//加速曲线
}mc_gear_t;

#define CONFIG_MAX_GEAR_NUM 5
typedef struct {
	mc_gear_t gears_48[CONFIG_MAX_GEAR_NUM];
	mc_gear_t gears_96[CONFIG_MAX_GEAR_NUM];
	u16   crc16;
}mc_gear_config_t;

#define MAX_TRQ_POINTS 20
#define MAX_SPD_POINTS 40
#define TBL_SPD_INTVAL 250

typedef struct trq2dq {
	s16 torque;
	s16 d;
	s16 q;
}trq2dq_t;

typedef struct {
	struct trq2dq tdq[MAX_SPD_POINTS][MAX_TRQ_POINTS];
	u16  magic;
	u16  crc16;
}trq2dq_table_t;

#pragma pack(pop)

typedef struct {
	u8 sn[32];
	u16 len;
	u16 crc;
}mc_sn_t;


#define motorParam_idx_0 3
#define motorParam_idx_1 (motorParam_idx_0 + 1)
#define focParam_idx_0 (motorParam_idx_1 + 1)
#define focParam_idx_1 (focParam_idx_0 + 1)

#define trq_Tbl_size (4)
#define trq_Tbl_idx0 (focParam_idx_1 + 1)
#define trq_Tbl_idx1 (trq_Tbl_idx0 + trq_Tbl_size)

#define gear_config_idx_0 (trq_Tbl_idx1 + trq_Tbl_size)
#define gear_config_idx_1 (gear_config_idx_0 + 1)

#define sn_idx_back       (gear_config_idx_1 + 1)

void nv_storage_init(void);
motor_params_t *nv_get_motor_params(void);
foc_params_t *nv_get_foc_params(void);
mc_gear_config_t *nv_get_gear_configs(void);
void nv_save_angle_offset(float offset);
void nv_save_motor_params(void);
void nv_read_motor_params(void);
void nv_save_foc_params(void);
void nv_read_foc_params(void);
void nv_save_hall_table(s32 *hall_table);
void nv_set_pid(u8 id, pid_conf_t *pid);
void nv_get_pid(u8 id, pid_conf_t *pid);
void nv_set_hwbrake_mode(u8 mode);
void nv_set_throttle_vol(float min, float max);
bool nv_set_gear_config(u8 mode4896, u8 gear, u16 rpm, u16 torque, u16 idc, u16 acc);
bool nv_get_gear_config(u8 mode4896, u8 gear, u16 *rpm, u16 *torque, u16 *idc, u16 *acc);
trq2dq_table_t *nv_get_trq2dq_table(void);
void nv_write_trq_table_begin(int index);
int nv_write_trq_table_continue(uint8_t *data, int len);
int nv_write_trq_table_check(u8 *data, int len, int index);
int nv_write_sn(u8 *data, int len);
int nv_read_sn(u8 *data, int len);
#endif /* _NV_Storage_H__ */