#ifndef _FOC_CORE_H__
#define _FOC_CORE_H__
#include "math/fix_math.h"

typedef struct {
	u8 		n_poles;
	s16q5_t s_maxIdq;
	s16q5_t s_maxiDC;
	s16     s_maxRPM;
	s16q5_t s_iABC[3];
	s16     s_motRPM;   //from hall or encoder
	s16q5_t s_motAngle; //from hall or encoder
	s16     s_targetRPM;
	s16q5_t s_targetIdq;
	s16q5_t s_targetVdq;
	u8      n_ctlMode;
	bool    b_motEnable;
	s16q5_t s_manualAngle; //mainly used when calibrate hall
}FOC_InP;

typedef struct {
	u16 n_Duty[3];
	u8  n_Sector;
	u8  n_RunMode;
	u8  s_RealVdq;
	u8  s_RealIdq;
}FOC_OutP;

typedef struct {
	PI_Controller id_ctl;
	PI_Controller iq_ctl;
	PI_Controller spd_ctl;
	PI_Controller fw_crl;
	FOC_InP       in;
	FOC_OutP      out;
}PMSM_FOC_Ctrl;

void PMSM_FOC_CoreInit(void);
void PMSM_FOC_Schedule(void);
void PMSM_FOC_Start(u8 nCtrlMode);
void PMSM_FOC_Stop(void);
void PMSM_FOC_iBusLimit(s16q5_t ibusLimit);
void PMSM_FOC_SpeedLimit(s32q4_t speedLimit);
float PMSM_FOC_GetSpeedLimit(void);
void PMSM_FOC_VbusVoltage(s16q5_t vbusVol);
void PMSM_FOC_SetCtrlMode(uint8_T mode);
void PMSM_FOC_SetOpenVdq(s16q5_t vd, s16q5_t vq);
bool PMSM_FOC_EnableCruise(boolean_T enable);
bool PMSM_FOC_Set_Speed(float rpm);
bool PMSM_FOC_Set_Current(float current);
bool PMSM_FOC_Set_CruiseSpeed(float rpm);
void PMSM_FOC_HallCalibrate(boolean_T b_caliHall, s16q5_t open_vd);
float PMSM_FOC_GetSpeed(void);
void PMSM_FOC_SetErrCode(u8 code);
u8 PMSM_FOC_GetErrCode(void);
bool PMSM_FOC_Lock_Motor(bool lock);
void PMSM_FOC_Brake(bool brake);
float PMSM_FOC_Get_iDC(void);
void PMSM_FOC_LockMotor(bool lock);
void PMSM_FOC_SetSpdPid(float kp, float ki, float kb);
void PMSM_FOC_SetIDPid(float kp, float ki, float kb);
void PMSM_FOC_SetIQPid(float kp, float ki, float kb);
void PMSM_FOC_SetTrqPid(float kp, float ki, float kb);
void PMSM_FOC_SetFW_I(float ki, float kb);
s16 PMSM_FOC_Add_Hall_Offset(s16 offset);
void PMSM_FOC_Set_Angle(s16 angle);
bool PMSM_FOC_Is_Start(void);
void PMSM_FOC_Set_Vdq(s16 vd, s16 vq);

#endif /* _FOC_CORE_H__ */