#ifndef _FOCCONFIG_H
#define _FOCCONFIG_H
#define  M_2PI                          6.2831853072f               //2pi值，不要改动
#define  PWM_PERIOD              				(4199.0f)                   //pwm最大重载值
#define  FOC_PWM_PERIOD          				(0.0001f)                   //foc执行一次时间
//电机参数设置
#define  MOTOR_PHASE_RESISTANCE  				(0.42f)                     //电机电感值
#define  MOTOR_PHASE_INDUCTANCE  				(0.00011f)                  //D轴电感
#define  MOTOR_PLOES             				(2.0f)                      //极对数
#define  MOTOR_KE                				(4.2f)                      //反电势常数

#define OB_MODE_SMC                     0
#define OB_MODE_LGB                     1
#define OB_MODE                         (OB_MODE_LGB)                  

//滑膜观测器参数设置
#define OB_SMC_GAIN                     0.3f                        //滑膜增益值
#define OB_SMC_LPF_K                    0.08f                       //滑膜滤波低通系数
#define OB_SMC_PLL_KP                   (35)                        //滑膜锁相环KP
#define OB_SMC_PLL_KI                   (400)                       //滑膜锁相环KI

//龙伯格观测器参数设置
#define OB_LBG_GAIN                     1.0f                        //龙伯格增益值
#define OB_LBG_PLL_KP                   (50)                         //龙伯格锁相环KP
#define OB_LBG_PLL_KI                   (400)                       //龙伯格锁相环KI

//预定位角度
#define ALGIN_THETA                    (90.0f/ 360.0f * 6.28f)      //对其角度，这个不要改动
#define ALIGIN_CURRENT                 (3.0f)                       //定位电流
#define ALIGIN_TIME                    (500.0f)                     //定位时间ms
#define ALIGIN_KP                      (MOTOR_PHASE_INDUCTANCE * 50)//定位KP      
#define ALIGIN_KI											 (MOTOR_PHASE_RESISTANCE * 50)//定位KI
//if启动参数
#define IF_STARTUP_IQ_MIN              (1.0f)                       //拖动最小电流
#define IF_STARTUP_IQ                  (5.1f)                       //拖动电流
#define IF_STARTUP_IQ_KP               (0.00001f)                   //比例控制系数
#define IF_STARTUP_OMEGA               (1000.0f / 60.0f / 2.0f * 6.28f)//拖动的电机电角速度
#define IF_STARTUP_OMEGA_ACC           (5.0f * 6.28f)               //角加速度
#define IF_STARTUP_THETA_DIFF          (0.15f * 6.28f)              //角度最小差值
#define IF_STARTUP_MAX_TIME            (3.0f)                       //最大启动时间
#define IF_STARTUP_KP									 (MOTOR_PHASE_INDUCTANCE * 50)//启动时电流环KP 
#define IF_STARTUP_KI								 	 (MOTOR_PHASE_RESISTANCE * 50)//启动时电流环KI 
//电压开环
#define  MOTOR_CONTORL_VOLTAGE_OPEN_LOOP 0 
//电流闭环
#define  MOTOR_CONTORL_CURRENT_LOOP      1 
//速度环+电流环
#define  MOTOR_CONTORL_SPEED_LOOP        2 
//电机控制模式
#define  MOTOR_CONTORL_MODE              MOTOR_CONTORL_CURRENT_LOOP


//电流环参数
#define CURRENT_LOOP_WIDTH               (6.28f * 500.0f)
#define CURRENT_KP                       (CURRENT_LOOP_WIDTH * MOTOR_PHASE_INDUCTANCE)
#define CURRENT_KI											 (CURRENT_LOOP_WIDTH * MOTOR_PHASE_RESISTANCE)

#define CURRENT_IQ_KP                    (CURRENT_KP)        //Q轴KP
#define CURRENT_IQ_KI                    (CURRENT_KI)        //Q轴KI
#define CURRENT_IQ_OUT_MAX               (0.5f * 24.0f)      //Q轴最大输出限制
#define CURRENT_IQ_OUT_MIN               (-0.5f * 24.0f)     //Q轴最小输出限制
#define CURRENT_IQ_INTEG_SAT              (12.0f / CURRENT_IQ_KI) 					 //Q轴电流环积分限制，一般为最大输出电压
//电流环参数
#define CURRENT_ID_KP                    (CURRENT_KP)        //D轴KP
#define CURRENT_ID_KI                    (CURRENT_KI)        //D轴KI
#define CURRENT_ID_OUT_MAX               (0.5f * 24.0f)      //D轴最大输出限制
#define CURRENT_ID_OUT_MIN               (-0.5f * 24.0f)     //D轴最小输出限制
#define CURRENT_ID_INTEG_SAT             (12.0f / CURRENT_IQ_KI) 		            //D轴电流环积分限制，一般为最大输出电压

#define SPEED_LOOP_KP                     0.000001           //速度环KP
#define SPEED_LOOP_KI                     0.000000000000001  //速度环KI
#define SPEED_INTEG_SAT                   10.0               //速度环积分限制一般限制为q轴最大电流 
#define SPEED_LOOP_OUT_SAT                6.0                //速度环输出限制一般限制为q轴最大电流
#define SPEED_RAMP_INC                    120.0f             //爬坡每秒增加的速度rpm
#define SPEED_RAMP_DEC                    120.0f             //爬坡每秒减少的速度rpm
#define SPEED_MAX_TARGET                  3000.0f            //最大速度rpm
#define SPEED_MIN_TARGET                  500.0f             //最小速度 rpm
#endif