#ifndef _FOC_TYPE_H__
#define _FOC_TYPE_H__
#include <math.h>
#include "libs/os.h"
#include "math/fast_math.h"
#include "pi_controller.h"
#include "ramp_ctrl.h"
typedef struct _alphabeta {
	float alpha;
	float beta;
}alpha_beta_t;

typedef struct _dqaix {
	union {
		float Id;
		float Vd;
	};
	union {
		float Iq;
		float Vq;
	};
}dq_t;

typedef struct _motor_p {
	int   poles; //电机极对数
	float  ld;    //q轴电感
	float  lq;    //d轴电感
	float  rs;     //定子内阻
	float  flux_linkage; //永磁磁链
	float  inertia; 
	float  b_emf;
}motor_param_t;

typedef struct _motor_s {
	float theta;//ת�ӵ�Ƕ�, PI
	int angle;//ת�ӵ�Ƕ�, ��
	float rpm; //ת��
}motor_stat_t;

typedef struct _phase_time {
	u32 A;
	u32 B;
	u32 C;
	u32 low;
	u32 midle;
	u32 high;
}phase_time_t; //����pwn��duty cnt

typedef enum {
	IDLE = 0,
	ANY_STOP,
	START,
	CURRENT_CALIBRATE,
	CHARGER_BOOT_CAP,
	READY_TO_RUN,
	RAMPING_START,
	RUNNING
}foc_state_t;

typedef enum {
	FOC_MODE_OPEN_LOOP, //开环模式，霍尔，电流等校准都在开环模式下，启动开始默认开环，等速度上来后切换到闭环
	FOC_MODE_CURRENT_LOOP,      //ֻ电流环模式
	FOC_MODE_SPEED_LOOP,     //ֻ速度环模式
	FOC_MODE_CLOSE_LOOP,         //电流速度双闭环模式
}control_mode_t;

typedef enum {
	INVERT_NO,
	INVERT_A,
	INVERT_B,
	INVERT_C
}phase_invert_t;

typedef struct current_sample {
	u32   adc_offset_a;
	u32   adc_offset_b;
	u32   adc_offset_c;
	u32   adc_offset_ivbus;
	float Ia;
	float Ib;
	float Ic;
	float   Rds_a; //各相MOS的DS极内阻，在线测量. 单位欧
	float   Rds_b;
	float   Rds_c;
	phase_invert_t vbus_i_invert;
	u8    sector;
	volatile int   offset_sample_count;
	bool  is_calibrating_offset;
}current_samp_t;

/*
typedef struct _override {
	bool is_theta;
	float theta;
	bool is_vdq;
	dq_t vdq;
}override_param_t;
*/
typedef enum {
	foc_success = 0,
	foc_not_allowed = 1,
	foc_start_with_gas_error, //ready的时候检测到转把信号
	foc_stop_with_speed_error,
	foc_brake_error = 100,
}foc_fault_t;


typedef struct foc_s {
	bool is_motor_start;
	alpha_beta_t alpha_beta;
	current_samp_t current_samp; /*三相电流采集 */
	dq_t dq_command; 
	int  speed_command; 
	dq_t dq_last;
	u8   sector; //svpwm 扇区
	float vbus; //母线电压
	motor_param_t motor_param;
	motor_stat_t  motor_stat;
	phase_time_t phase_time;
	pi_controller_t    id_controller;
	pi_controller_t    iq_controller;
	pi_controller_t    speed_controller;
	foc_state_t state;
	control_mode_t mode;
	//override_param_t override;
	bool mosfec_gate;
	ramp_t voltage_ramp; //开环情况下直接设置svm的voltage
	ramp_t current_ramp; //���ٵ���б��
	ramp_t speed_ramp; //�ı��ٶȵ�ramp���������ű仯��Ҫ����speed_ramp
	foc_fault_t foc_fault;
	bool   is_brake_in;
}motor_foc_t;

typedef enum {
	NoError = 0,
	STMNotAllow = 1,
	
}FError;

#define degree_2_pi(d) ((float)d * M_PI / 180.0f)
#define pi_2_degree(d) ((float)d * 180.0f / M_PI)
#define A_mA(a) ((a*1000))
#define mA_A(ma) (((float)(ma))/1000.0f)

#define RPM_FOR_CLOSE_LOOP 30.0F
#define MAX_SPEED_RPM 3000

#if 1
#define SECTOR_1  0u
#define SECTOR_2  1u
#define SECTOR_3  2u
#define SECTOR_4  3u
#define SECTOR_5  4u
#define SECTOR_6  5u
#else
#define SECTOR_1  3u
#define SECTOR_2  4u
#define SECTOR_3  5u
#define SECTOR_4  0u
#define SECTOR_5  1u
#define SECTOR_6  2u
#endif
#endif /* _FOC_TYPE_H__ */