#ifndef _FOC_CORE_H__
#define _FOC_CORE_H__
#include "foc_type.h"

#define Default_DC_iLimit 40
#define Default_Spd_Limit 2000

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);

#endif /* _FOC_CORE_H__ */