#ifndef _MOTOR_PARAM_H__
#define _MOTOR_PARAM_H__
#include "bsp/bsp.h"
#include "os/os_types.h"

/* 电机外特性map, 每个转速点对应的最大扭矩 */
typedef struct {
	s16 rpm;
	s16 torque;
}motor_map_t;

s16 get_max_torque_for_rpm(s16 rpm);

#if CONFIG_MOT_TYPE==MOTOR_BLUESHARK_NEW1
#define MOTOR_R   0.010f
#define MOTOR_Ld (0.000120f*0.5f)
#define MOTOR_Lq (0.000200f*0.5f)
#define MOTOR_POLES  4
#define MOTOR_ENC_OFFSET 0.0F
#define CONFIG_MAX_MOTOR_TORQUE 40.0F

#define TRQ_PI_KP 0.14F
#define TRQ_PI_KI 0.15F

#define CONFIG_CURRENT_BANDWITH  1000.0f /* 电流环带宽 */
#define CONFIG_MAX_FW_D_CURR     100.0F //d轴最大的退磁电流

#define MOTOR_NR 0x11
#elif CONFIG_MOT_TYPE==MOTOR_BLUESHARK_A1
#define MOTOR_R   0.022f
#define MOTOR_Ld (0.000140F*0.5f)
#define MOTOR_Lq (0.000340f*0.5f)
#define MOTOR_POLES  4
#define MOTOR_ENC_OFFSET 0.0F
#define CONFIG_MAX_MOTOR_TORQUE 200.0F

#define TRQ_PI_KP 0.05F
#define TRQ_PI_KI 0.01F
#define TRO_PI_KD 0.0F
#define MOTOR_NR 0x16

#define CONFIG_CURRENT_BANDWITH  2000.0f /* 电流环带宽 */
#define CONFIG_MAX_FW_D_CURR     150.0F //d轴最大的退磁电流

#elif CONFIG_MOT_TYPE==MOTOR_BLUESHARK_NEW2
#define MOTOR_R   0.013f
#define MOTOR_Ld (0.000140f*0.5f)
#define MOTOR_Lq (0.000320f*0.5f)
#define MOTOR_POLES  4
#define MOTOR_ENC_OFFSET 250.0F
#define CONFIG_MAX_MOTOR_TORQUE 40.0F

#define TRQ_PI_KP 0.14F
#define TRQ_PI_KI 0.15F

#define MOTOR_NR 0x12

#define CONFIG_CURRENT_BANDWITH  1000.0f /* 电流环带宽 */
#define CONFIG_MAX_FW_D_CURR     100.0F //d轴最大的退磁电流

#elif CONFIG_MOT_TYPE==MOTOR_BLUESHARK_ZD_100
#define MOTOR_R   0.008f
#define MOTOR_Ld (0.000125f*0.5f)
#define MOTOR_Lq (0.000091f*0.5f)
#define MOTOR_POLES  5
#define MOTOR_ENC_OFFSET 145.0F
#define CONFIG_MAX_MOTOR_TORQUE 200.0F

#define TRQ_PI_KP 0.6F //0.13f
#define TRQ_PI_KI 0.5F

#define MOTOR_NR 0x13

#define CONFIG_CURRENT_BANDWITH  1000.0f /* 电流环带宽 */
#define CONFIG_MAX_FW_D_CURR     100.0F //d轴最大的退磁电流

#elif CONFIG_MOT_TYPE==MOTOR_BLUESHARK_OLD
#define MOTOR_R 0.012f
#define MOTOR_Ld (0.000143f*0.5f)
#define MOTOR_Lq (0.000205f*0.5f)
#define MOTOR_POLES  5
#define MOTOR_ENC_OFFSET 180.0F
#define CONFIG_MAX_MOTOR_TORQUE 40.0F

#define TRQ_PI_KP 0.14F
#define TRQ_PI_KI 0.15F

#define MOTOR_NR 0x14

#define CONFIG_CURRENT_BANDWITH  1000.0f /* 电流环带宽 */
#define CONFIG_MAX_FW_D_CURR     100.0F //d轴最大的退磁电流

#elif CONFIG_MOT_TYPE==MOTOR_3505
//编码器电机 3505
#define MOTOR_R 0.08f
#define MOTOR_Ld 0.000032f
#define MOTOR_Lq 0.000032f
#define MOTOR_POLES  10
#define CONFIG_MAX_MOTOR_CURR 20.0F

#define TRQ_PI_KP 0.14F
#define TRQ_PI_KI 0.15F

#define MOTOR_NR 0x15

#define CONFIG_CURRENT_BANDWITH  1000.0f /* 电流环带宽 */

#endif

#endif /* _MOTOR_PARAM_H__ */