/****************************************************************************
 * apps/examples/foc/foc_cfg.h
 *
 * Licensed to the Apache Software Foundation (ASF) under one or more
 * contributor license agreements.  See the NOTICE file distributed with
 * this work for additional information regarding copyright ownership.  The
 * ASF licenses this file to you under the Apache License, Version 2.0 (the
 * "License"); you may not use this file except in compliance with the
 * License.  You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
 * License for the specific language governing permissions and limitations
 * under the License.
 *
 ****************************************************************************/

#ifndef __EXAMPLES_FOC_FOC_CFG_H
#define __EXAMPLES_FOC_FOC_CFG_H

/****************************************************************************
 * Included Files
 ****************************************************************************/

#include <nuttx/config.h>

/****************************************************************************
 * Pre-processor Definitions
 ****************************************************************************/

/* For now only torque mode supported for sensored */

#ifdef CONFIG_EXAMPLES_FOC_SENSORED
#  ifndef CONFIG_EXAMPLES_FOC_HAVE_TORQ
#    error
#  endif
#endif

/* For now only sensorless velocity control supported */

#ifdef CONFIG_EXAMPLES_FOC_SENSORLESS
#  ifndef CONFIG_EXAMPLES_FOC_HAVE_VEL
#    error
#  endif
#endif

/* Open-loop configuration */

#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
#  ifndef CONFIG_EXAMPLES_FOC_HAVE_VEL
#    error
#  endif
#  ifndef CONFIG_INDUSTRY_FOC_ANGLE_OPENLOOP
#    error
#  endif
#endif

/* Velocity ramp must be configured */

#if (CONFIG_EXAMPLES_FOC_RAMP_THR == 0)
#  error
#endif
#if (CONFIG_EXAMPLES_FOC_RAMP_ACC == 0)
#  error
#endif
#if (CONFIG_EXAMPLES_FOC_RAMP_DEC == 0)
#  error
#endif

/* ADC Iphase ratio must be provided */

#if (CONFIG_EXAMPLES_FOC_IPHASE_ADC == 0)
#  error
#endif

/* Printer prescaler */

#if defined(CONFIG_INDUSTRY_FOC_HANDLER_PRINT) && \
  (CONFIG_EXAMPLES_FOC_STATE_PRINT_FREQ > 0)
#  define FOC_STATE_PRINT_PRE (CONFIG_EXAMPLES_FOC_NOTIFIER_FREQ / \
                               CONFIG_EXAMPLES_FOC_STATE_PRINT_FREQ)
#else
#  undef FOC_STATE_PRINT_PRE
#endif

/* Velocity ramp configuration */

#define RAMP_CFG_THR (CONFIG_EXAMPLES_FOC_RAMP_THR / 1000.0f)
#define RAMP_CFG_ACC (CONFIG_EXAMPLES_FOC_RAMP_ACC / 1000.0f)
#define RAMP_CFG_DEC (CONFIG_EXAMPLES_FOC_RAMP_DEC / 1000.0f)

#ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM

/* PMSM model parameters */

#  define FOC_MODEL_POLES 7
#  define FOC_MODEL_LOAD  (1.0f)
#  define FOC_MODEL_RES   (0.11f)
#  define FOC_MODEL_IND   (0.0002f)
#  define FOC_MODEL_INER  (0.1f)
#  define FOC_MODEL_FLUX  (0.001f)
#  define FOC_MODEL_INDD  (0.0002f)
#  define FOC_MODEL_INDQ  (0.0002f)
#endif

/* Motor alignment configuration */

#ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
#  if CONFIG_EXAMPLES_FOC_ALIGN_VOLT == 0
#    error
#  endif
#  if CONFIG_EXAMPLES_FOC_ALIGN_SEC == 0
#    error
#  endif
#endif

#endif /* __EXAMPLES_FOC_FOC_CFG_H */