// 函数声明
#ifndef _DENGFOC_H
#define _DENGFOC_H
#include "pid.h"
#include <stdint.h>
class FOC_Controlroller {
  public:
	FOC_Controlroller();

	float control_mode = 0;
	float limit_voltage = 0.0f;
	float limit_velocity = 0.0f;
	float target_angle = 0.0f;
	float target_velocity = 0.0f;
	float rt_angle = 0.0f;
	float rt_velocity = 0.0f;
	u8 over_current = 0;
	u8 temp_error = 0;
	u8 voltage_error = 0;
	u8 is_shut_down = 0;

	float velocity_open_loop();
	float angle_control(float target_angle);
	float velocity_control(float target_velocity);
	float angle_control_NPID(float target_angle);

	void update_power(void);
	void DFOC_alignSensor(int _PP);
	void shut_down(void);
	void resume(void);

  protected:
	std::u64 last_time_us = 0;
	std::u64 now_us = 0;
	float shaft_angle = 0;
	float Ualpha, Ubeta = 0, Ua = 0, Ub = 0, Uc = 0;
	float zero_electric_angle = 0;
	float voltage_power_supply = 24.0f;			// 电源电压
	float v_half = voltage_power_supply * 0.5f; // 电源电压的一半

	PIDController vel_loop =PIDController{1.75f, 1.0f, 0.0002f, 1000000, voltage_power_supply};
	PIDController angle_loop =
		PIDController{140.0f, 80.0f, 0.005f, 10000000, voltage_power_supply};

	void setPhaseVoltage(float Uq, float Ud);
};

float _normalizeAngle(float angle);
void DFOC_Vbus(float power_supply);
inline float _electricalAngle();
float DFOC_M0_Angle(void);

#endif