#ifndef _NV_Storage_H__
#define _NV_Storage_H__
#include "os/os_types.h"
#include "foc/core/PMSM_FOC_Core.h"
#include "foc/commands.h"
#pragma  pack (push,1)

typedef struct {
	float s_PhaseCurrLim;
	float s_maxDCVol;
	float s_minDCVol;
	float s_maxRPM;
	float s_maxEpmRPM;
	float s_maxEpmTorqueLim;
	float s_maxTorque;
	float s_TorqueBrkLim;
	float s_iDCeBrkLim;
	float s_LimitiDC;
	float n_currentBand; //电流环带宽
	float n_startThroVol;
	float n_endThroVol;
	u8    n_brkShutPower;
	u8    n_autoHold;
	u32   n_dec_time;
	u32   n_ebrk_time;
	u8    n_FwEnable;
	pid_conf_t pid_conf[PID_Max_id];
	float f_minThroVol;
	float f_maxThroVol;

	float f_adrc_vel_lim_Wo;
	float f_adrc_vel_lim_Wcv;
	float f_adrc_vel_lim_B0;

	float f_adrc_vel_Wo;
	float f_adrc_vel_Wcv;
	float f_adrc_vel_B0;

	float s_maxEpmRPMBck;
	float s_maxEpmTorqueLimBck;

	u8    res[256 - 157 - 24 - 8];
	u16   crc16;
}foc_params_t;

typedef struct {
	u8 mot_nr;
	u8 poles;
	float r;
	float ld;
	float lq;
	float flux_linkage;
	float offset;
	float est_pll_band; //normal工作模式下的pll带宽
	float pos_lock_pll_band; //电机锁定模式下的pll带宽
	float epm_pll_band;
	s16   velocity_weight;//车重， kg
	s16   velocity_C; //车轮周长， cm
	s16   gear_ratio; //传动比
	u8    res[128 - 36 - 6];
	u16   crc16;
}motor_params_t;

typedef struct {
	s16 enter_pointer;
	s16 exit_pointer;
	s16 limit_value;
}nv_limter_t;

#define TEMP_LIMITER_NUM 3
typedef struct {
	u16  magic;
	nv_limter_t motor[TEMP_LIMITER_NUM];
	nv_limter_t mos[TEMP_LIMITER_NUM];
	nv_limter_t vbus;
	u8    res[128 - 46];
	u16 crc16;
}mc_limit_t;

#define GEAR_SPEED_TRQ_NUM 10
typedef struct {
	u16 n_max_speed; //最大速度, rpm
	u16 n_max_trq;   //最大扭矩
	u16 n_max_idc;   //最大母线电流
	u16 n_zero_accl; //零速启动扭矩给定时间，防止翘头
	u16 n_accl_time; //加速的扭矩斜坡时间
	u8  n_torque[GEAR_SPEED_TRQ_NUM]; //1000, 2000, 3000... RPM 最大给定扭矩的百分比（最大扭矩的百分比）
}mc_gear_t;

#define CONFIG_MAX_GEAR_NUM 4
typedef struct {
	mc_gear_t gears_48[CONFIG_MAX_GEAR_NUM];
	mc_gear_t gears_96[CONFIG_MAX_GEAR_NUM];
	u16  	  magic;
	u16       crc16;
}mc_gear_config_t;

#pragma pack(pop)

typedef struct {
	u8 sn[32];
	u16 len;
	u16 crc;
}mc_sn_t;

typedef struct {
	u8 index;
	u16 crc;
	u16 len;
	u32 err_mask;
	u8 data[0]; //just a tag, no memeory alloc
}mc_err_red_t;

void nv_storage_init(void);
motor_params_t *nv_get_motor_params(void);
foc_params_t *nv_get_foc_params(void);
mc_gear_config_t *nv_get_gear_configs(void);
mc_limit_t *nv_get_limter(void);
void nv_save_angle_offset(float offset);
void nv_save_motor_params(void);
void nv_read_motor_params(void);
void nv_save_foc_params(void);
void nv_read_foc_params(void);
void nv_save_hall_table(s32 *hall_table);
void nv_set_pid(u8 id, pid_conf_t *pid);
void nv_get_pid(u8 id, pid_conf_t *pid);
void nv_set_hwbrake_mode(u8 mode);
void nv_set_throttle_vol(float min, float max);
int nv_write_sn(u8 *data, int len);
int nv_read_sn(u8 *data, int len);
bool nv_set_limit_config(u8 *config, int len);
void nv_save_limit_config(void);
void* nv_get_limit_config(int *len);
bool nv_set_gear_config(u8 mode96, u8 *config, int len);
void nv_save_gear_configs(void);
void* nv_get_gear_config(u8 mode96, int *len);
void nv_write_crit_errblock(u8 *data, int len);
void nv_read_crit_errblock(u8 *data, int len);
void nv_write_runtime_block(u8 *data, int len);
void nv_read_runtime_block(u8 *data, int len);

#endif /* _NV_Storage_H__ */