#ifndef _MOTOR_H__
#define _MOTOR_H__
#include "os/os_type.h"

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;

extern const motor_param_t motor_params;
void motor_start(void);
void motor_stop(void);
void motor_drvier_low_side(bool on);
void motor_update_duty(s32 A, s32 B, s32 C, s32 next_a, s32 next_b, s32 next_c);
void motor_update_sample(u32 samp1, u32 samp2, u8 sector);
u32  motor_get_raw_speed(void); //给pid使用
u32  motor_get_speed(void);
#endif /* _MOTOR_H__ */