motor_ctl-1/4.BasicHardwSoftwLayer/2.BasicSoftwLayer/Include/user.h

/************************************************************************
 Project:             Welling Motor Control Paltform
 Filename:            user.h
 Partner Filename:    Null
 Description:         User parameters
 Complier:            IAR Embedded Workbench for ARM 7.80, IAR Systems.
 CPU TYPE :           STM32F30x
*************************************************************************
 Copyright (c) 2019 Welling Motor Technology(Shanghai) Co. Ltd.
 All rights reserved.
*************************************************************************
*************************************************************************
 Revising History (ECL of this file):
************************************************************************/
#ifndef USER_H
#define USER_H
/************************************************************************
 Compiler Directives
*************************************************************************/
#include "typedefine.h"
#include "syspar.h"
/************************************************************************
 Definitions & Macros
*************************************************************************/
/*======================================================================*
Update Time
2021-06-21  13:47:04
*=======================================================================*/

/*======================================================================*
    Software version
*=======================================================================*/
#define SOFTWARE_VERSION         0x1C10
#define SOFTWARE_VERSION_WELLING 0x0001

/*======================================================================*
    Software version
*=======================================================================*/


/*======================================================================*
    Assist Mode
*=======================================================================*/
#define CADENCE_ASSIST 1
#define TORQUE_ASSIST  2
#define ASSIST_MODE    TORQUE_ASSIST
/*======================================================================*
   Motor Number Selection
*=======================================================================*/
#define MOTOR_WELLING_MTB                           0x19
#define MOTOR_WELLING_MTB35_V3                      0x21
#define MOTOR_LUNGU_WELLING_HAL_BAFANG              0x30
#define MOTOR_LUNGU_WELLING_HAL_POLE8_250W          0x31
#define MOTOR_LUNGU_WELLING_HAL_POLE8_250W_LowRatio 0x32
#define MOTOR_LUNGU_WELLING_HAL_POLE8_250W_958Ratio 0x33
#define MOTOR_LUNGU_WELLING_HAL_POLE8_250W_517Ratio 0x34

#define MOTOR_LUNGU_WELLING_HAL_POLE8_350W          0x40
#define MOTOR_LUNGU_WELLING_HAL_POLE8_350W_958Ratio 0x41
#define MOTOR_LUNGU_WELLING_HAL_POLE8_500W          0x50
#define MOTOR_LUNGU_WELLING_HAL_POLE8_500W_958Ratio 0x51
#define MOTOR_LUNGU_WELLING_HAL_POLE8_750W          0x60
#define MOTOR_LUNGU_WELLING_HAL_POLE8_1000W         0x70

#define MOTOR_LUNGU_WELLING_HAL_POLE10_500W_500Ratio     0x80
#define MOTOR_LUNGU_WELLING_HAL_POLE10_750W_500Ratio     0x81
#define MOTOR_LUNGU_WELLING_HAL_POLE10_1000W_500Ratio    0x82

/* Select Motor */
#if( (IPM_POWER_SEL == IPM_POWER_1000W_12G) ||(IPM_POWER_SEL ==IPM_POWER_1000W_MINI_12G))
#define MOTOR_ID_SEL MOTOR_LUNGU_WELLING_HAL_POLE8_1000W
#elif( (IPM_POWER_SEL == IPM_POWER_750W_12G)||(IPM_POWER_SEL ==IPM_POWER_750W_MINI_12G))
#define MOTOR_ID_SEL MOTOR_LUNGU_WELLING_HAL_POLE8_750W
#elif (IPM_POWER_SEL == IPM_POWER_500W_12G)
#define MOTOR_ID_SEL  MOTOR_LUNGU_WELLING_HAL_POLE8_500W
#elif(IPM_POWER_SEL ==IPM_POWER_350W_MINI_12G)
#define MOTOR_ID_SEL  MOTOR_LUNGU_WELLING_HAL_POLE8_350W_958Ratio

#elif (IPM_POWER_SEL == IPM_POWER_500W_9G)
#define MOTOR_ID_SEL   MOTOR_LUNGU_WELLING_HAL_POLE8_500W//MOTOR_LUNGU_WELLING_HAL_POLE8_500W_958Ratio
#elif (IPM_POWER_SEL == IPM_POWER_350W_9G)
#define MOTOR_ID_SEL   MOTOR_LUNGU_WELLING_HAL_POLE8_350W_958Ratio
#elif ((IPM_POWER_SEL == IPM_POWER_250W_6G)||(IPM_POWER_SEL == IPM_POWER_350W_6G)||(IPM_POWER_SEL ==IPM_POWER_500W_6G))
#define MOTOR_ID_SEL   MOTOR_LUNGU_WELLING_HAL_POLE8_500W_958Ratio//
#else
#define MOTOR_ID_SEL MOTOR_LUNGU_WELLING_HAL_POLE8_250W
#endif

/*======================================================================*
    Motor Parameters
*=======================================================================*/
#if (MOTOR_ID_SEL == MOTOR_WELLING_MTB)
#define M_POLE_PAIRS        7              // unit:Null,Pole pairs
#define M_RS_OHM            170            // unit: 0.1mOhm, Phase resistance
#define M_MATERIAL          Al             // unit:Null
#define M_LD_NOLOAD_MH      11000          // unit: 0.01uH, D axis inductance
#define M_LQ_NOLOAD_MH      11500          // unit: 0.01uH, Q axis inductance
#define M_LD_TURN1_ID_AP    200            // unit: 0.01A,
#define M_LD_TURN1_LD_MH    M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LD_TURN2_ID_AP    700            // unit: 0.01A,
#define M_LD_TURN2_LD_MH    M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LD_MIN_MH         M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LQ_TURN1_IQ_AP    200            // unit: 0.01A,
#define M_LQ_TURN1_LQ_MH    M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_LQ_TURN2_IQ_AP    700            // unit: 0.01A,
#define M_LQ_TURN2_LQ_MH    M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_LQ_MIN_MH         M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_JD                500            // unit: 10-7Kg*m2, Rotational inertia
#define M_MAGNETIC_MATERIAL Ferrite        // unit:Null
#define M_FLUX_WB           5360           // unit: 0.001mWb, Flux linkage
#define M_ID_MAX_AP         0              //-25      // unit: 0.01A, Max d axis current
#define M_ID_MIN_AP         -300           // unit: 0.01A, Min d axis current
#define M_IS_PEAK_MAX_AP    5500           // unit: 0.01A, Max phase current(below base speed)
#define M_POWER_MAX_WT      600            // unit: W, Max power
#define M_R_SPD_RPM         5000           // unit: r/min, rate spd
#define M_R_PWR_WT          250            // unit: W, rate power
#define M_R_IRMS_A          2500           // unit: 0.01A, rate Irms
#if (IPM_VOLTAGE_SEL == IPM_VOLTAGE_48V)
#define M_R_UDC_v           480            // unit: 0.1V, rate Udc
#else
#define M_R_UDC_v           360            // unit: 0.1V, rate Udc
#endif
#define M_MAX_TOR_NM        30             // unit: 0.1Nm, Max tor
#endif

#if (MOTOR_ID_SEL == MOTOR_WELLING_MTB35_V3)
#define M_POLE_PAIRS        7              // unit:Null,Pole pairs
#define M_RS_OHM            170            // unit: 0.1mOhm, Phase resistance
#define M_MATERIAL          Al             // unit:Null
#define M_LD_NOLOAD_MH      10500          // unit: 0.01uH, D axis inductance
#define M_LQ_NOLOAD_MH      11700          // unit: 0.01uH, Q axis inductance
#define M_LD_TURN1_ID_AP    200            // unit: 0.01A,
#define M_LD_TURN1_LD_MH    M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LD_TURN2_ID_AP    700            // unit: 0.01A,
#define M_LD_TURN2_LD_MH    M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LD_MIN_MH         M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LQ_TURN1_IQ_AP    200            // unit: 0.01A,
#define M_LQ_TURN1_LQ_MH    M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_LQ_TURN2_IQ_AP    700            // unit: 0.01A,
#define M_LQ_TURN2_LQ_MH    M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_LQ_MIN_MH         M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_JD                1000           // unit: 10-7Kg*m2, Rotational inertia
#define M_MAGNETIC_MATERIAL Ferrite        // unit:Null
#define M_FLUX_WB           8565           // unit: 0.001mWb, Flux linkage
#define M_ID_MAX_AP         0              //-25      // unit: 0.01A, Max d axis current
#define M_ID_MIN_AP         -300           // unit: 0.01A, Min d axis current
#define M_IS_PEAK_MAX_AP    5000           // unit: 0.01A, Max phase current(below base speed)
#define M_POWER_MAX_WT      600            // unit: W, Max power
#define M_R_SPD_RPM         5000           // unit: r/min, rate spd
#define M_R_PWR_WT          250            // unit: W, rate power
#define M_R_IRMS_A          2500           // unit: 0.01A, rate Irms
#if (IPM_VOLTAGE_SEL == IPM_VOLTAGE_48V)
#define M_R_UDC_v           480            // unit: 0.1V, rate Udc
#else
#define M_R_UDC_v           360            // unit: 0.1V, rate Udc
#endif
#define M_MAX_TOR_NM        20             // unit: 0.1Nm, Max tor
#endif

#if (MOTOR_ID_SEL == MOTOR_LUNGU_WELLING_HAL_BAFANG)
#define M_POLE_PAIRS        10             // unit:Null,Pole pairs
#define M_RS_OHM            480            // 1360      // unit: 0.1mOhm, Phase resistance
#define M_MATERIAL          Al             // unit:Null
#define M_LD_NOLOAD_MH      8491           // 13300      // unit: 0.01uH, D axis inductance
#define M_LQ_NOLOAD_MH      9161           // 14350      // unit: 0.01uH, Q axis inductance
#define M_LD_TURN1_ID_AP    200            // unit: 0.01A,
#define M_LD_TURN1_LD_MH    M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LD_TURN2_ID_AP    700            // unit: 0.01A,
#define M_LD_TURN2_LD_MH    M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LD_MIN_MH         M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LQ_TURN1_IQ_AP    200            // unit: 0.01A,
#define M_LQ_TURN1_LQ_MH    M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_LQ_TURN2_IQ_AP    700            // unit: 0.01A,
#define M_LQ_TURN2_LQ_MH    M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_LQ_MIN_MH         M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_JD                5000           // 15000      // unit: 10-7Kg*m2, Rotational inertia
#define M_MAGNETIC_MATERIAL Ferrite        // unit:Null
#define M_FLUX_WB           11008          // 13777       // unit: 0.001mWb, Flux linkage
#define M_ID_MAX_AP         0              // unit: 0.01A, Max d axis current
#define M_ID_MIN_AP         -157           // unit: 0.01A, Min d axis current
#define M_IS_PEAK_MAX_AP    5000           // unit: 0.01A, Max phase current(below base speed)
#define M_POWER_MAX_WT      600            // unit: W, Max power
#define M_R_SPD_RPM         5000           // unit: r/min, rate spd
#define M_R_PWR_WT          250            // unit: W, rate power
#define M_R_IRMS_A          2500           // unit: 0.01A, rate Irms
#if (IPM_VOLTAGE_SEL == IPM_VOLTAGE_48V)
#define M_R_UDC_v           480            // unit: 0.1V, rate Udc
#else
#define M_R_UDC_v           360            // unit: 0.1V, rate Udc
#endif
#define M_MAX_TOR_NM        20             // unit: 0.1Nm, Max tor
#endif

#if (MOTOR_ID_SEL == MOTOR_LUNGU_WELLING_HAL_POLE8_250W)
#define M_POLE_PAIRS        8              // unit:Null,Pole pairs
#define M_RS_OHM            335            // unit: 0.1mOhm, Phase resistance
#define M_MATERIAL          Al             // unit:Null
#define M_LD_NOLOAD_MH      9900           // unit: 0.01uH, D axis inductance
#define M_LQ_NOLOAD_MH      10300          // unit: 0.01uH, Q axis inductance
#define M_LD_TURN1_ID_AP    200            // unit: 0.01A,
#define M_LD_TURN1_LD_MH    M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LD_TURN2_ID_AP    700            // unit: 0.01A,
#define M_LD_TURN2_LD_MH    M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LD_MIN_MH         M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LQ_TURN1_IQ_AP    200            // unit: 0.01A,
#define M_LQ_TURN1_LQ_MH    M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_LQ_TURN2_IQ_AP    700            // unit: 0.01A,
#define M_LQ_TURN2_LQ_MH    M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_LQ_MIN_MH         M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_JD                1000           // unit: 10-7Kg*m2, Rotational inertia
#define M_MAGNETIC_MATERIAL Ferrite        // unit:Null
#define M_FLUX_WB           6250           // unit: 0.001mWb, Flux linkage  //5513455*vlinepeak/(p*n)
#define M_ID_MAX_AP         0              // unit: 0.01A, Max d axis current
#define M_ID_MIN_AP         -157           // unit: 0.01A, Min d axis current
#define M_IS_PEAK_MAX_AP    4200           // unit: 0.01A, Max phase current(below base speed)
#define M_POWER_MAX_WT      550            // unit: W, Max power
#define M_R_SPD_RPM         3076           // unit: r/min, rate spd
#define M_R_PWR_WT          250            // unit: W, rate power
#define M_R_IRMS_A          2500           // unit: 0.01A, rate Irms
#if (IPM_VOLTAGE_SEL == IPM_VOLTAGE_48V)
#define M_R_UDC_v           480            // unit: 0.1V, rate Udc
#else
#define M_R_UDC_v           360            // unit: 0.1V, rate Udc
#endif
#define M_MAX_TOR_NM        30             // unit: 0.1Nm, Max tor
#endif

#if (MOTOR_ID_SEL == MOTOR_LUNGU_WELLING_HAL_POLE8_250W_LowRatio)
#define M_POLE_PAIRS        8              // unit:Null,Pole pairs
#define M_RS_OHM            1260           // unit: 0.1mOhm, Phase resistance
#define M_MATERIAL          Al             // unit:Null
#define M_LD_NOLOAD_MH      51580          // unit: 0.01uH, D axis inductance
#define M_LQ_NOLOAD_MH      59220          // unit: 0.01uH, Q axis inductance
#define M_LD_TURN1_ID_AP    200            // unit: 0.01A,
#define M_LD_TURN1_LD_MH    M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LD_TURN2_ID_AP    700            // unit: 0.01A,
#define M_LD_TURN2_LD_MH    M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LD_MIN_MH         M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LQ_TURN1_IQ_AP    200            // unit: 0.01A,
#define M_LQ_TURN1_LQ_MH    M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_LQ_TURN2_IQ_AP    700            // unit: 0.01A,
#define M_LQ_TURN2_LQ_MH    M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_LQ_MIN_MH         M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_JD                1000           // unit: 10-7Kg*m2, Rotational inertia
#define M_MAGNETIC_MATERIAL Ferrite        // unit:Null
#define M_FLUX_WB           24000          // unit: 0.001mWb, Flux linkage  //5513455*vlinepeak/(p*n)
#define M_ID_MAX_AP         0              // unit: 0.01A, Max d axis current
#define M_ID_MIN_AP         -157         // unit: 0.01A, Min d axis current
#define M_IS_PEAK_MAX_AP    4200           // unit: 0.01A, Max phase current(below base speed)
#define M_POWER_MAX_WT      550            // unit: W, Max power
#define M_R_SPD_RPM         860            // unit: r/min, rate spd
#define M_R_PWR_WT          250            // unit: W, rate power
#define M_R_IRMS_A          2500           // unit: 0.01A, rate Irms
#if (IPM_VOLTAGE_SEL == IPM_VOLTAGE_48V)
#define M_R_UDC_v           480            // unit: 0.1V, rate Udc
#else
#define M_R_UDC_v           360            // unit: 0.1V, rate Udc
#endif
#define M_MAX_TOR_NM        95             // unit: 0.1Nm, Max tor
#endif



#if (MOTOR_ID_SEL == MOTOR_LUNGU_WELLING_HAL_POLE8_250W_517Ratio)
#define M_POLE_PAIRS        10              // unit:Null,Pole pairs
#define M_RS_OHM            815           // unit: 0.1mOhm, Phase resistance
#define M_MATERIAL          Al             // unit:Null
#define M_LD_NOLOAD_MH      18000          // unit: 0.01uH, D axis inductance
#define M_LQ_NOLOAD_MH      19000          // unit: 0.01uH, Q axis inductance
#define M_LD_TURN1_ID_AP    200            // unit: 0.01A,
#define M_LD_TURN1_LD_MH    M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LD_TURN2_ID_AP    700            // unit: 0.01A,
#define M_LD_TURN2_LD_MH    M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LD_MIN_MH         M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LQ_TURN1_IQ_AP    200            // unit: 0.01A,
#define M_LQ_TURN1_LQ_MH    M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_LQ_TURN2_IQ_AP    700            // unit: 0.01A,
#define M_LQ_TURN2_LQ_MH    M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_LQ_MIN_MH         M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_JD                1000           // unit: 10-7Kg*m2, Rotational inertia
#define M_MAGNETIC_MATERIAL Ferrite        // unit:Null
#define M_FLUX_WB           13000          // unit: 0.001mWb, Flux linkage  //5513455*vlinepeak/(p*n)
#define M_ID_MAX_AP         0              // unit: 0.01A, Max d axis current
#define M_ID_MIN_AP         -157         // unit: 0.01A, Min d axis current
#define M_IS_PEAK_MAX_AP    4200           // unit: 0.01A, Max phase current(below base speed)
#define M_POWER_MAX_WT      550            // unit: W, Max power
#define M_R_SPD_RPM         860            // unit: r/min, rate spd
#define M_R_PWR_WT          250            // unit: W, rate power
#define M_R_IRMS_A          1300           // unit: 0.01A, rate Irms
#if (IPM_VOLTAGE_SEL == IPM_VOLTAGE_48V)
#define M_R_UDC_v           480            // unit: 0.1V, rate Udc
#else
#define M_R_UDC_v           360            // unit: 0.1V, rate Udc
#endif
#define M_MAX_TOR_NM        67             // unit: 0.1Nm, Max tor
#endif


#if (MOTOR_ID_SEL == MOTOR_LUNGU_WELLING_HAL_POLE8_250W_958Ratio)
#define M_POLE_PAIRS        8              // unit:Null,Pole pairs
#define M_RS_OHM            448            // unit: 0.1mOhm, Phase resistance
#define M_MATERIAL          Al             // unit:Null
#define M_LD_NOLOAD_MH      14820           // unit: 0.01uH, D axis inductance
#define M_LQ_NOLOAD_MH      16320           // unit: 0.01uH, Q axis inductance
#define M_LD_TURN1_ID_AP    200            // unit: 0.01A,
#define M_LD_TURN1_LD_MH    M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LD_TURN2_ID_AP    700            // unit: 0.01A,
#define M_LD_TURN2_LD_MH    M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LD_MIN_MH         M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LQ_TURN1_IQ_AP    200            // unit: 0.01A,
#define M_LQ_TURN1_LQ_MH    M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_LQ_TURN2_IQ_AP    700            // unit: 0.01A,
#define M_LQ_TURN2_LQ_MH    M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_LQ_MIN_MH         M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_JD                1000           // unit: 10-7Kg*m2, Rotational inertia
#define M_MAGNETIC_MATERIAL Ferrite        // unit:Null
#define M_FLUX_WB           9050           // unit: 0.001mWb, Flux linkage  //5513455*vlinepeak/(p*n)
#define M_ID_MAX_AP         0              // unit: 0.01A, Max d axis current
#define M_ID_MIN_AP         -157           // unit: 0.01A, Min d axis current
#define M_IS_PEAK_MAX_AP    4200           // unit: 0.01A, Max phase current(below base speed)
#define M_POWER_MAX_WT      550            // unit: W, Max power
#define M_R_SPD_RPM         1920           // unit: r/min, rate spd
#define M_R_PWR_WT          250            // unit: W, rate power
#define M_R_IRMS_A          2500           // unit: 0.01A, rate Irms
#if (IPM_VOLTAGE_SEL == IPM_VOLTAGE_48V)
#define M_R_UDC_v           480            // unit: 0.1V, rate Udc
#else
#define M_R_UDC_v           360            // unit: 0.1V, rate Udc
#endif
#define M_MAX_TOR_NM        46             // unit: 0.1Nm, Max tor
#endif
#if (MOTOR_ID_SEL == MOTOR_LUNGU_WELLING_HAL_POLE8_350W)
#define M_POLE_PAIRS        8              // unit:Null,Pole pairs
#define M_RS_OHM            240            // unit: 0.1mOhm, Phase resistance
#define M_MATERIAL          Al             // unit:Null
#define M_LD_NOLOAD_MH      5850           // unit: 0.01uH, D axis inductance
#define M_LQ_NOLOAD_MH      6200           // unit: 0.01uH, Q axis inductance
#define M_LD_TURN1_ID_AP    200            // unit: 0.01A,
#define M_LD_TURN1_LD_MH    M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LD_TURN2_ID_AP    700            // unit: 0.01A,
#define M_LD_TURN2_LD_MH    M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LD_MIN_MH         M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LQ_TURN1_IQ_AP    200            // unit: 0.01A,
#define M_LQ_TURN1_LQ_MH    M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_LQ_TURN2_IQ_AP    700            // unit: 0.01A,
#define M_LQ_TURN2_LQ_MH    M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_LQ_MIN_MH         M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_JD                1000           // unit: 10-7Kg*m2, Rotational inertia
#define M_MAGNETIC_MATERIAL Ferrite        // unit:Null
#define M_FLUX_WB           4861           // unit: 0.001mWb, Flux linkage  //5513455*vlinepeak/(p*n)
#define M_ID_MAX_AP         0              // unit: 0.01A, Max d axis current
#define M_ID_MIN_AP         -157           // unit: 0.01A, Min d axis current
#define M_IS_PEAK_MAX_AP    5000           // unit: 0.01A, Max phase current(below base speed)
#define M_POWER_MAX_WT      650            // unit: W, Max power
#define M_R_SPD_RPM         3900           // unit: r/min, rate spd
#define M_R_PWR_WT          350            // unit: W, rate power
#define M_R_IRMS_A          2500           // unit: 0.01A, rate Irms
#if (IPM_VOLTAGE_SEL == IPM_VOLTAGE_48V)
#define M_R_UDC_v           480            // unit: 0.1V, rate Udc
#else
#define M_R_UDC_v           360            // unit: 0.1V, rate Udc
#endif
#define M_MAX_TOR_NM        40             // unit: 0.1Nm, Max tor
#endif

#if (MOTOR_ID_SEL == MOTOR_LUNGU_WELLING_HAL_POLE8_350W_958Ratio)
#define M_POLE_PAIRS        8              // unit:Null,Pole pairs
#define M_RS_OHM            448            // unit: 0.1mOhm, Phase resistance
#define M_MATERIAL          Al             // unit:Null
#define M_LD_NOLOAD_MH      14820           // unit: 0.01uH, D axis inductance
#define M_LQ_NOLOAD_MH      16320           // unit: 0.01uH, Q axis inductance
#define M_LD_TURN1_ID_AP    200            // unit: 0.01A,
#define M_LD_TURN1_LD_MH    M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LD_TURN2_ID_AP    700            // unit: 0.01A,
#define M_LD_TURN2_LD_MH    M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LD_MIN_MH         M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LQ_TURN1_IQ_AP    200            // unit: 0.01A,
#define M_LQ_TURN1_LQ_MH    M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_LQ_TURN2_IQ_AP    700            // unit: 0.01A,
#define M_LQ_TURN2_LQ_MH    M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_LQ_MIN_MH         M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_JD                1000           // unit: 10-7Kg*m2, Rotational inertia
#define M_MAGNETIC_MATERIAL Ferrite        // unit:Null
#define M_FLUX_WB           9050           // unit: 0.001mWb, Flux linkage  //5513455*vlinepeak/(p*n)
#define M_ID_MAX_AP         0              // unit: 0.01A, Max d axis current
#define M_ID_MIN_AP         -157           // unit: 0.01A, Min d axis current
#define M_IS_PEAK_MAX_AP    5000           // unit: 0.01A, Max phase current(below base speed)
#define M_POWER_MAX_WT      650            // unit: W, Max power
#define M_R_SPD_RPM         3900           // unit: r/min, rate spd
#define M_R_PWR_WT          350            // unit: W, rate power
#define M_R_IRMS_A          2500           // unit: 0.01A, rate Irms
#if (IPM_VOLTAGE_SEL == IPM_VOLTAGE_48V)
#define M_R_UDC_v           480            // unit: 0.1V, rate Udc
#else
#define M_R_UDC_v           360            // unit: 0.1V, rate Udc
#endif
#define M_MAX_TOR_NM        46             // unit: 0.1Nm, Max tor
#endif

#if (MOTOR_ID_SEL == MOTOR_LUNGU_WELLING_HAL_POLE8_500W)
#define M_POLE_PAIRS        8              // unit:Null,Pole pairs
#define M_RS_OHM            160            // unit: 0.1mOhm, Phase resistance
#define M_MATERIAL          Al             // unit:Null
#define M_LD_NOLOAD_MH      4000           // unit: 0.01uH, D axis inductance
#define M_LQ_NOLOAD_MH      4250           // unit: 0.01uH, Q axis inductance
#define M_LD_TURN1_ID_AP    200            // unit: 0.01A,
#define M_LD_TURN1_LD_MH    M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LD_TURN2_ID_AP    700            // unit: 0.01A,
#define M_LD_TURN2_LD_MH    M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LD_MIN_MH         M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LQ_TURN1_IQ_AP    200            // unit: 0.01A,
#define M_LQ_TURN1_LQ_MH    M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_LQ_TURN2_IQ_AP    700            // unit: 0.01A,
#define M_LQ_TURN2_LQ_MH    M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_LQ_MIN_MH         M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_JD                1000           // unit: 10-7Kg*m2, Rotational inertia
#define M_MAGNETIC_MATERIAL Ferrite        // unit:Null
#define M_FLUX_WB           4462           // unit: 0.001mWb, Flux linkage
#define M_ID_MAX_AP         0              // unit: 0.01A, Max d axis current
#define M_ID_MIN_AP         -157           // unit: 0.01A, Min d axis current
#define M_IS_PEAK_MAX_AP    5000           // unit: 0.01A, Max phase current(below base speed)
#define M_POWER_MAX_WT      1000           // unit: W, Max power
#define M_R_SPD_RPM         4710           // unit: r/min, rate spd
#define M_R_PWR_WT          500            // unit: W, rate power
#define M_R_IRMS_A          2500           // unit: 0.01A, rate Irms
#if (IPM_VOLTAGE_SEL == IPM_VOLTAGE_48V)
#define M_R_UDC_v           480            // unit: 0.1V, rate Udc
#else
#define M_R_UDC_v           360            // unit: 0.1V, rate Udc
#endif
#define M_MAX_TOR_NM        40             // unit: 0.1Nm, Max tor
#endif
#if (MOTOR_ID_SEL == MOTOR_LUNGU_WELLING_HAL_POLE8_500W_958Ratio)
#define M_POLE_PAIRS        8              // unit:Null,Pole pairs
#define M_RS_OHM            448            // unit: 0.1mOhm, Phase resistance
#define M_MATERIAL          Al             // unit:Null
#define M_LD_NOLOAD_MH      14820           // unit: 0.01uH, D axis inductance
#define M_LQ_NOLOAD_MH      16320           // unit: 0.01uH, Q axis inductance
#define M_LD_TURN1_ID_AP    200            // unit: 0.01A,
#define M_LD_TURN1_LD_MH    M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LD_TURN2_ID_AP    700            // unit: 0.01A,
#define M_LD_TURN2_LD_MH    M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LD_MIN_MH         M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LQ_TURN1_IQ_AP    200            // unit: 0.01A,
#define M_LQ_TURN1_LQ_MH    M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_LQ_TURN2_IQ_AP    700            // unit: 0.01A,
#define M_LQ_TURN2_LQ_MH    M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_LQ_MIN_MH         M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_JD                1000           // unit: 10-7Kg*m2, Rotational inertia
#define M_MAGNETIC_MATERIAL Ferrite        // unit:Null
#define M_FLUX_WB           9050           // unit: 0.001mWb, Flux linkage  //5513455*vlinepeak/(p*n)
#define M_ID_MAX_AP         0              // unit: 0.01A, Max d axis current
#define M_ID_MIN_AP         -157           // unit: 0.01A, Min d axis current
#define M_IS_PEAK_MAX_AP    5000           // unit: 0.01A, Max phase current(below base speed)
#define M_POWER_MAX_WT      1000            // unit: W, Max power
#define M_R_SPD_RPM         3900           // unit: r/min, rate spd
#define M_R_PWR_WT          500            // unit: W, rate power
#define M_R_IRMS_A          2500           // unit: 0.01A, rate Irms
#if (IPM_VOLTAGE_SEL == IPM_VOLTAGE_48V)
#define M_R_UDC_v           480            // unit: 0.1V, rate Udc
#else
#define M_R_UDC_v           360            // unit: 0.1V, rate Udc
#endif
#define M_MAX_TOR_NM        46             // unit: 0.1Nm, Max tor
#endif

#if (MOTOR_ID_SEL == MOTOR_LUNGU_WELLING_HAL_POLE8_750W)
#define M_POLE_PAIRS        8              // unit:Null,Pole pairs
#define M_RS_OHM            160            // unit: 0.1mOhm, Phase resistance
#define M_MATERIAL          Al             // unit:Null
#define M_LD_NOLOAD_MH      4000           // unit: 0.01uH, D axis inductance
#define M_LQ_NOLOAD_MH      4250           // unit: 0.01uH, Q axis inductance
#define M_LD_TURN1_ID_AP    200            // unit: 0.01A,
#define M_LD_TURN1_LD_MH    M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LD_TURN2_ID_AP    700            // unit: 0.01A,
#define M_LD_TURN2_LD_MH    M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LD_MIN_MH         M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LQ_TURN1_IQ_AP    200            // unit: 0.01A,
#define M_LQ_TURN1_LQ_MH    M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_LQ_TURN2_IQ_AP    700            // unit: 0.01A,
#define M_LQ_TURN2_LQ_MH    M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_LQ_MIN_MH         M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_JD                1000           // unit: 10-7Kg*m2, Rotational inertia
#define M_MAGNETIC_MATERIAL Ferrite        // unit:Null
#define M_FLUX_WB           4462           // unit: 0.001mWb, Flux linkage
#define M_ID_MAX_AP         0              // unit: 0.01A, Max d axis current
#define M_ID_MIN_AP         -157           // unit: 0.01A, Min d axis current
#define M_IS_PEAK_MAX_AP    7500           // unit: 0.01A, Max phase current(below base speed)
#define M_POWER_MAX_WT      1200           // unit: W, Max power
#define M_R_SPD_RPM         4710           // unit: r/min, rate spd
#define M_R_PWR_WT          750            // unit: W, rate power
#define M_R_IRMS_A          2500           // unit: 0.01A, rate Irms
#if (IPM_VOLTAGE_SEL == IPM_VOLTAGE_48V)
#define M_R_UDC_v           480            // unit: 0.1V, rate Udc
#else
#define M_R_UDC_v           360            // unit: 0.1V, rate Udc
#endif
#define M_MAX_TOR_NM        50             // unit: 0.1Nm, Max tor
#endif


#if (MOTOR_ID_SEL == MOTOR_LUNGU_WELLING_HAL_POLE10_1000W_500Ratio)
#define M_POLE_PAIRS        10              // unit:Null,Pole pairs
#define M_RS_OHM            285            // unit: 0.1mOhm, Phase resistance
#define M_MATERIAL          Al             // unit:Null
#define M_LD_NOLOAD_MH      6500           // unit: 0.01uH, D axis inductance
#define M_LQ_NOLOAD_MH      7000           // unit: 0.01uH, Q axis inductance
#define M_LD_TURN1_ID_AP    200            // unit: 0.01A,
#define M_LD_TURN1_LD_MH    M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LD_TURN2_ID_AP    700            // unit: 0.01A,
#define M_LD_TURN2_LD_MH    M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LD_MIN_MH         M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LQ_TURN1_IQ_AP    200            // unit: 0.01A,
#define M_LQ_TURN1_LQ_MH    M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_LQ_TURN2_IQ_AP    700            // unit: 0.01A,
#define M_LQ_TURN2_LQ_MH    M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_LQ_MIN_MH         M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_JD                1000           // unit: 10-7Kg*m2, Rotational inertia
#define M_MAGNETIC_MATERIAL Ferrite        // unit:Null
#define M_FLUX_WB           13200           // unit: 0.001mWb, Flux linkage
#define M_ID_MAX_AP         0              // unit: 0.01A, Max d axis current
#define M_ID_MIN_AP         -157           // unit: 0.01A, Min d axis current
#define M_IS_PEAK_MAX_AP    8000           // unit: 0.01A, Max phase current(below base speed)
#define M_POWER_MAX_WT      1200           // unit: W, Max power
#define M_R_SPD_RPM         1500           // unit: r/min, rate spd
#define M_R_PWR_WT          750            // unit: W, rate power
#define M_R_IRMS_A          2500           // unit: 0.01A, rate Irms
#if (IPM_VOLTAGE_SEL == IPM_VOLTAGE_48V)
#define M_R_UDC_v           480            // unit: 0.1V, rate Udc
#else
#define M_R_UDC_v           360            // unit: 0.1V, rate Udc
#endif
#define M_MAX_TOR_NM        160             // unit: 0.1Nm, Max tor
#endif

#if (MOTOR_ID_SEL == MOTOR_LUNGU_WELLING_HAL_POLE10_750W_500Ratio)
#define M_POLE_PAIRS        10              // unit:Null,Pole pairs
#define M_RS_OHM            285            // unit: 0.1mOhm, Phase resistance
#define M_MATERIAL          Al             // unit:Null
#define M_LD_NOLOAD_MH      6500           // unit: 0.01uH, D axis inductance
#define M_LQ_NOLOAD_MH      7000           // unit: 0.01uH, Q axis inductance
#define M_LD_TURN1_ID_AP    200            // unit: 0.01A,
#define M_LD_TURN1_LD_MH    M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LD_TURN2_ID_AP    700            // unit: 0.01A,
#define M_LD_TURN2_LD_MH    M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LD_MIN_MH         M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LQ_TURN1_IQ_AP    200            // unit: 0.01A,
#define M_LQ_TURN1_LQ_MH    M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_LQ_TURN2_IQ_AP    700            // unit: 0.01A,
#define M_LQ_TURN2_LQ_MH    M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_LQ_MIN_MH         M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_JD                1000           // unit: 10-7Kg*m2, Rotational inertia
#define M_MAGNETIC_MATERIAL Ferrite        // unit:Null
#define M_FLUX_WB           13200           // unit: 0.001mWb, Flux linkage
#define M_ID_MAX_AP         0              // unit: 0.01A, Max d axis current
#define M_ID_MIN_AP         -157           // unit: 0.01A, Min d axis current
#define M_IS_PEAK_MAX_AP    7500           // unit: 0.01A, Max phase current(below base speed)
#define M_POWER_MAX_WT      1200           // unit: W, Max power
#define M_R_SPD_RPM         1500           // unit: r/min, rate spd
#define M_R_PWR_WT          750            // unit: W, rate power
#define M_R_IRMS_A          2500           // unit: 0.01A, rate Irms
#if (IPM_VOLTAGE_SEL == IPM_VOLTAGE_48V)
#define M_R_UDC_v           480            // unit: 0.1V, rate Udc
#else
#define M_R_UDC_v           360            // unit: 0.1V, rate Udc
#endif
#define M_MAX_TOR_NM        160             // unit: 0.1Nm, Max tor
#endif

#if (MOTOR_ID_SEL == MOTOR_LUNGU_WELLING_HAL_POLE10_500W_500Ratio)
#define M_POLE_PAIRS        10              // unit:Null,Pole pairs
#define M_RS_OHM            285            // unit: 0.1mOhm, Phase resistance
#define M_MATERIAL          Al             // unit:Null
#define M_LD_NOLOAD_MH      6500           // unit: 0.01uH, D axis inductance
#define M_LQ_NOLOAD_MH      7000           // unit: 0.01uH, Q axis inductance
#define M_LD_TURN1_ID_AP    200            // unit: 0.01A,
#define M_LD_TURN1_LD_MH    M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LD_TURN2_ID_AP    700            // unit: 0.01A,
#define M_LD_TURN2_LD_MH    M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LD_MIN_MH         M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LQ_TURN1_IQ_AP    200            // unit: 0.01A,
#define M_LQ_TURN1_LQ_MH    M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_LQ_TURN2_IQ_AP    700            // unit: 0.01A,
#define M_LQ_TURN2_LQ_MH    M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_LQ_MIN_MH         M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_JD                1000           // unit: 10-7Kg*m2, Rotational inertia
#define M_MAGNETIC_MATERIAL Ferrite        // unit:Null
#define M_FLUX_WB           13200           // unit: 0.001mWb, Flux linkage
#define M_ID_MAX_AP         0              // unit: 0.01A, Max d axis current
#define M_ID_MIN_AP         -157           // unit: 0.01A, Min d axis current
#define M_IS_PEAK_MAX_AP    5000           // unit: 0.01A, Max phase current(below base speed)
#define M_POWER_MAX_WT      1200           // unit: W, Max power
#define M_R_SPD_RPM         1500           // unit: r/min, rate spd
#define M_R_PWR_WT          500            // unit: W, rate power
#define M_R_IRMS_A          2500           // unit: 0.01A, rate Irms
#if (IPM_VOLTAGE_SEL == IPM_VOLTAGE_48V)
#define M_R_UDC_v           480            // unit: 0.1V, rate Udc
#else
#define M_R_UDC_v           360            // unit: 0.1V, rate Udc
#endif
#define M_MAX_TOR_NM        160             // unit: 0.1Nm, Max tor
#endif

#if (MOTOR_ID_SEL == MOTOR_LUNGU_WELLING_HAL_POLE8_1000W)
#define M_POLE_PAIRS        8              // unit:Null,Pole pairs
#define M_RS_OHM            167            // unit: 0.1mOhm, Phase resistance
#define M_MATERIAL          Al             // unit:Null
#define M_LD_NOLOAD_MH      4400           // unit: 0.01uH, D axis inductance
#define M_LQ_NOLOAD_MH      4750           // unit: 0.01uH, Q axis inductance
#define M_LD_TURN1_ID_AP    200            // unit: 0.01A,
#define M_LD_TURN1_LD_MH    M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LD_TURN2_ID_AP    700            // unit: 0.01A,
#define M_LD_TURN2_LD_MH    M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LD_MIN_MH         M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
#define M_LQ_TURN1_IQ_AP    200            // unit: 0.01A,
#define M_LQ_TURN1_LQ_MH    M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_LQ_TURN2_IQ_AP    700            // unit: 0.01A,
#define M_LQ_TURN2_LQ_MH    M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_LQ_MIN_MH         M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
#define M_JD                1000           // unit: 10-7Kg*m2, Rotational inertia
#define M_MAGNETIC_MATERIAL Ferrite        // unit:Null
#define M_FLUX_WB           6517           // unit: 0.001mWb, Flux linkage
#define M_ID_MAX_AP         0              // unit: 0.01A, Max d axis current
#define M_ID_MIN_AP         -157           // unit: 0.01A, Min d axis current
#define M_IS_PEAK_MAX_AP    7500           // unit: 0.01A, Max phase current(below base speed)
#define M_POWER_MAX_WT      1200           // unit: W, Max power
#define M_R_SPD_RPM         3978           // unit: r/min, rate spd
#define M_R_PWR_WT          1000           // unit: W, rate power
#define M_R_IRMS_A          2500           // unit: 0.01A, rate Irms
#if (IPM_VOLTAGE_SEL == IPM_VOLTAGE_48V)
#define M_R_UDC_v           480            // unit: 0.1V, rate Udc
#else
#define M_R_UDC_v           360            // unit: 0.1V, rate Udc
#endif
#define M_MAX_TOR_NM        50             // unit: 0.1Nm, Max tor
#endif

//#if (MOTOR_ID_SEL == MOTOR_LUNGU_WELLING_HAL_POLE8_1000W)     //嘉宏1000W电机参数
//#define M_POLE_PAIRS        8              // unit:Null,Pole pairs
//#define M_RS_OHM            195            // unit: 0.1mOhm, Phase resistance
//#define M_MATERIAL          Al             // unit:Null
//#define M_LD_NOLOAD_MH      6250           // unit: 0.01uH, D axis inductance
//#define M_LQ_NOLOAD_MH      6750           // unit: 0.01uH, Q axis inductance
//#define M_LD_TURN1_ID_AP    200            // unit: 0.01A,
//#define M_LD_TURN1_LD_MH    M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
//#define M_LD_TURN2_ID_AP    700            // unit: 0.01A,
//#define M_LD_TURN2_LD_MH    M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
//#define M_LD_MIN_MH         M_LD_NOLOAD_MH // unit: 0.01uH,D axis inductance
//#define M_LQ_TURN1_IQ_AP    200            // unit: 0.01A,
//#define M_LQ_TURN1_LQ_MH    M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
//#define M_LQ_TURN2_IQ_AP    700            // unit: 0.01A,
//#define M_LQ_TURN2_LQ_MH    M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
//#define M_LQ_MIN_MH         M_LQ_NOLOAD_MH // unit: 0.01uH,Q axis inductance
//#define M_JD                1000           // unit: 10-7Kg*m2, Rotational inertia
//#define M_MAGNETIC_MATERIAL Ferrite        // unit:Null
//#define M_FLUX_WB           7332           // unit: 0.001mWb, Flux linkage
//#define M_ID_MAX_AP         0              // unit: 0.01A, Max d axis current
//#define M_ID_MIN_AP         -1500           // unit: 0.01A, Min d axis current
//#define M_IS_PEAK_MAX_AP    7500           // unit: 0.01A, Max phase current(below base speed)
//#define M_POWER_MAX_WT      1200           // unit: W, Max power
//#define M_R_SPD_RPM         3978           // unit: r/min, rate spd
//#define M_R_PWR_WT          1000           // unit: W, rate power
//#define M_R_IRMS_A          2500           // unit: 0.01A, rate Irms
//#define M_R_UDC_v           480            // unit: 0.1V, rate Udc
//#define M_MAX_TOR_NM        50             // unit: 0.1Nm, Max tor
//#endif

/*======================================================================*
   Alarm threshold value & time of duration define
*=======================================================================*/
/* Over current */
#if ((IPM_POWER_SEL == IPM_POWER_1000W_12G)||(IPM_POWER_SEL ==IPM_POWER_1000W_MINI_12G))
#define ALM_OVR_CNT_VAL 9000 // unit: 0.01A, Threshold value
#define ALM_OVR_CNT_TM  500  // unit: us, Time of duration(TBC)
#elif( (IPM_POWER_SEL == IPM_POWER_750W_12G)  ||(IPM_POWER_SEL ==IPM_POWER_750W_MINI_12G))
#define ALM_OVR_CNT_VAL 9000 // unit: 0.01A, Threshold value
#define ALM_OVR_CNT_TM  500  // unit: us, Time of duration(TBC)

#elif (IPM_POWER_SEL == IPM_POWER_350W_MINI_12G)
#define ALM_OVR_CNT_VAL 6000 // unit: 0.01A, Threshold value
#define ALM_OVR_CNT_TM  500  // unit: us, Time of duration(TBC)

#elif (IPM_POWER_SEL == IPM_POWER_500W_12G)
#define ALM_OVR_CNT_VAL 9000 // unit: 0.01A, Threshold value
#define ALM_OVR_CNT_TM  500  // unit: us, Time of duration(TBC)
#elif (IPM_POWER_SEL == IPM_POWER_500W_9G)
#define ALM_OVR_CNT_VAL 6000 // unit: 0.01A, Threshold value
#define ALM_OVR_CNT_TM  500  // unit: us, Time of duration(TBC)
#elif (IPM_POWER_SEL == IPM_POWER_350W_9G)
#define ALM_OVR_CNT_VAL 6000 // unit: 0.01A, Threshold value
#define ALM_OVR_CNT_TM  500  // unit: us, Time of duration(TBC)
#elif ((IPM_POWER_SEL == IPM_POWER_250W_6G)||(IPM_POWER_SEL == IPM_POWER_350W_6G)||(IPM_POWER_SEL ==IPM_POWER_500W_6G))
#define ALM_OVR_CNT_VAL   7000 // unit: 0.01A, Threshold value
#define ALM_OVR_CNT_TM  500  // unit: us, Time of duration(TBC)
#else
#define ALM_OVR_CNT_VAL 5000 // unit: 0.01A, Threshold value
#define ALM_OVR_CNT_TM  500  // unit: us, Time of duration(TBC)
#endif

/* Phase loss */
#define ALM_PHS_LOSS_VAL 100 // unit: 0.01A, Threshold value
#define ALM_PHS_LOSS_TM  5  // unit: s, Time of duration(TBC)

/* Rotor lock */
#define ALM_ROTOR_LOCK_SPD_K 50 // unit: %, Q10, Ratio of resistance power and motor input power
#define ALM_ROTOR_LOCK_TM    3  // unit: s, Time of duration(TBC)
#if ((MOTOR_ID_SEL == MOTOR_LUNGU_WELLING_HAL_POLE8_250W_LowRatio) ||(MOTOR_ID_SEL == MOTOR_LUNGU_WELLING_HAL_POLE8_250W_517Ratio))
#define ALM_ROTOR_LOCK_SPD 40 // unit: rpm, Threshold value
#elif ((MOTOR_ID_SEL == MOTOR_LUNGU_WELLING_HAL_POLE8_350W)||(MOTOR_ID_SEL == MOTOR_LUNGU_WELLING_HAL_POLE8_350W_958Ratio)||(MOTOR_ID_SEL ==MOTOR_LUNGU_WELLING_HAL_POLE8_250W_958Ratio) ||(MOTOR_ID_SEL ==MOTOR_LUNGU_WELLING_HAL_POLE8_500W_958Ratio))
#define ALM_ROTOR_LOCK_SPD 40 // unit: rpm, Threshold value
#else
#define ALM_ROTOR_LOCK_SPD 100 // unit: rpm, Threshold value
#endif

#if (IPM_VOLTAGE_SEL == IPM_VOLTAGE_48V)
/* Over voltage */
#define ALM_OVR_VLT_LVL1_VAL 590 // unit: 0.1V, Threshold value level3
#define ALM_OVR_VLT_LVL1_TM  5   // unit: ms, Time of duration level3(TBS)
/* Under voltage */
#define ALM_UNDR_VLT_LVL1_VAL 400 // unit: 0.1V, Threshold value level2
#define ALM_UNDR_VLT_LVL1_TM  1000   // unit: ms, Time of duration level2(TBS)
/* Recover time & value of over voltage */
#define ALM_OVR_VLT_REC_VAL 580 // unit: 0.1V
#define ALM_OVR_VLT_REC_TM  100 // unit: ms, Time of duration(TBC)
#define ALM_OVR_VLT_REC_TM1 150 // unit: ms, Time of duration(TBC)
/* Recover time & value of under voltage */
#define ALM_UNDR_VLT_REC_VAL 410 // unit: 0.1V
#define ALM_UNDR_VLT_REC_TM  200 // unit: ms, Time of duration(TBC)
#define ALM_UNDR_VLT_REC_TM1 400 // unit: ms, Time of duration(TBC)
#elif (IPM_VOLTAGE_SEL == IPM_VOLTAGE_36V)
/* Over voltage */
#define ALM_OVR_VLT_LVL1_VAL  460 // unit: 0.1V, Threshold value level3
#define ALM_OVR_VLT_LVL1_TM   5   // unit: ms, Time of duration level3(TBS)
/* Under voltage */
#define ALM_UNDR_VLT_LVL1_VAL 300 // unit: 0.1V, Threshold value level2
#define ALM_UNDR_VLT_LVL1_TM   1000   // unit: ms, Time of duration level2(TBS)
/* Recover time & value of over voltage */
#define ALM_OVR_VLT_REC_VAL   450 // unit: 0.1V
#define ALM_OVR_VLT_REC_TM    100 // unit: ms, Time of duration(TBC)
#define ALM_OVR_VLT_REC_TM1   150 // unit: ms, Time of duration(TBC)
/* Recover time & value of under voltage */
#define ALM_UNDR_VLT_REC_VAL  320 // unit: 0.1V
#define ALM_UNDR_VLT_REC_TM   200 // unit: ms, Time of duration(TBC)
#define ALM_UNDR_VLT_REC_TM1  400 // unit: ms, Time of duration(TBC)
#else
/* Over voltage */
#define ALM_OVR_VLT_LVL1_VAL  460 // unit: 0.1V, Threshold value level3
#define ALM_OVR_VLT_LVL1_TM   5   // unit: ms, Time of duration level3(TBS)
/* Under voltage */
#define ALM_UNDR_VLT_LVL1_VAL 300 // unit: 0.1V, Threshold value level2
#define ALM_UNDR_VLT_LVL1_TM  1000   // unit: ms, Time of duration level2(TBS)
/* Recover time & value of over voltage */
#define ALM_OVR_VLT_REC_VAL   450 // unit: 0.1V
#define ALM_OVR_VLT_REC_TM    100 // unit: ms, Time of duration(TBC)
#define ALM_OVR_VLT_REC_TM1   150 // unit: ms, Time of duration(TBC)
/* Recover time & value of under voltage */
#define ALM_UNDR_VLT_REC_VAL  320 // unit: 0.1V
#define ALM_UNDR_VLT_REC_TM   200 // unit: ms, Time of duration(TBC)
#define ALM_UNDR_VLT_REC_TM1  400 // unit: ms, Time of duration(TBC)
#endif

/* Over speed */
#define ALM_OVR_SPD_VAL 6000 // unit: rpm, Threshold value
#define ALM_OVR_SPD_TM  100  // unit: ms, Time of duration(TBS)

/* ADC self detecting */
#define ALM_ADC_DETE_LOW_VAL 155 // unit: 0.01V, ADC offset Voltage min
#define ALM_ADC_DETE_HIG_VAL 175 // unit: 0.01V, ADC offset Voltage max

/* IPM over heat */
#define ALM_IPM_OVR_HEAT_VAL        105 // unit: Ce, Threshold value
#define ALM_IPM_OVR_TM              2   // unit: s, Time of duration(TBS)
#define PWRLIM_START_THRESHOLD_TEMP 85  // Q0,Ce

/* MOTOR over heat */
#define ALM_MOTOR_OVR_HEAT_VAL            110 // unit: Ce, Threshold value
#define ALM_MOTOR_OVR_TM                  2   // unit: s, Time of duration(TBS)
#define PWRLIM_START_THRESHOLD_MOTOR_TEMP 95 // Q0,Ce

/* Stop time of three phase short force  */
#define ALM_THR_PHS_SHRT_FRC_TM 200 // unit: ms, Time of duration(TBC)

/* Stop time of pwm off */
#define ALM_PWM_OFF_TM         200 // unit: ms, Time of duration(TBC)
#define ALM_PWMOFF_SHRT1_SW_TM 100 // unit: ms, Time of duration(TBC)

/* Stop time of three phase short */
#define ALM_THR_PHS_SHRT_NORM_TM 100 // unit: ms, Time of duration(TBC)
#define ALM_SHRT_PWMOFF_SW_TM    100 // unit: ms, Time of duration(TBC)

/* Stop Minimum Current */
#define ALM_STOP_IPM_OVER_CUR_TM 100 // unit: ms, Time of duration(TBC)

/* Recover time of global */
#define ALM_REC_ALL_TM 200 // unit: ms, Time of duration(TBC)

/* Recover time of IPM OC */
#define ALM_IPM_OC_REC_TM  1000//100 // unit: ms, Time of duration(TBC)

/* Recover time & value of IPM over heat */
#define ALM_IPM_OVR_HEAT_REC_VAL 85  // unit: Ce, Threshold value
#define ALM_IPM_OVR_REC_TM       60  // unit: s, Time of duration(TBC)
#define ALM_IPM_OVR_REC_TM1      120 // unit: s, Time of duration(TBC)

/* Recover time & value of MOTOR over heat */
#define ALM_MOTOR_OVR_HEAT_REC_VAL 95 // unit: Ce, Threshold value
#define ALM_MOTOR_OVR_REC_TM       60  // unit: s, Time of duration(TBC)
#define ALM_MOTOR_OVR_REC_TM1      120 // unit: s, Time of duration(TBC)

/* Ebike sensor fault detect*/
#define ALM_MOTORSPD_MIN_RPM 150 // unit: rpm
#define ALM_TROQ_MIN_Nm      50 // unit: 0.1Nm
#define ALM_BIKESPD_FLT_TS   15  // unit: s
#define ALM_CADENCE_FLT_TS   10  // unit: s
#define ALM_TORQ_MAX_VOL     30 // unit: 0.1V
#define ALM_TORQ_MIN_VOL     1  // unit: 0.1V
#define ALM_TORQ_FLT_TS      1  // unit: s
#define ALM_THROTTLE_MAX_VOL 30 // unit: 0.1V
#define ALM_THROTTLE_MIN_VOL 3  // unit: 0.1V
#define ALM_THROTTLE_FLT_TS  1  // unit: s
#define ALM_NTC_MAX_VOL      32 // unit: 0.1V
#define ALM_NTC_MIN_VOL      1  // unit: 0.1V
#define ALM_MOTORNTC_FLT_TS  1  // unit: s
#define ALM_PCBNTC_FLT_TS    1  // unit: s

/* Ebike sensor fault recover*/
#define ALM_BIKE_REC_ALL_TM 1000 // unit: ms
#define ALM_BIKESPD_REC_TM  200  // unit: ms
#define ALM_CADENCE_REC_TM  200  // unit: ms
#define ALM_TORQ_REC_TM     200  // unit: ms
#define ALM_THROTTLE_REC_TM 200  // unit: ms
#define ALM_MOTORNTC_REC_TM 200  // unit: ms
#define ALM_PCBNTC_REC_TM   200  // unit: ms

#define Sel_TORQ_VOL    ((ULONG) 2*4096/33)  // unit: 0.1V
/*======================================================================*
   Motor start
*=======================================================================*/
/* Start mode */
#define START_ALIGN 0           // Motor start with three stage
#define START_MODE  START_ALIGN // Motor start mode

/* InitPosDet mode */
#define INITPOS_ALIGN 0             // Motor start with three stage
#define INITPOS_MODE  INITPOS_ALIGN // Motor initposdet mode

/* Park time & current */
#define ALIGN_CUR_AP     1000 // 1500  // Huawei      // unit: 0.01A, Park current value
#define ALIGN_RAMP_TM_MS 500  // unit: ms, Time of current ramp
#define ALIGN_HOLD_TM_MS 2000 // unit: ms, Time of current hold
#define ALIGN_ANG_INIT   0    // unit: deg, Park angle init

/* Drag speed & current */
#define DRAG_CUR_AP         1000 // 1500          // 1500 //100 Huawei      // unit: 0.01A, Drag current value
#define DRAG_VOL_AP         10   // 0.1v
#define DRAG_SPD_HZ         20   // unit: Hz, Final speed of drag
#define DRAG_SPD_RAMP_TM_MS 4000 // unit: ms, Time of speed from 0Hz to target Hz

/* Open to close */
#define OPEN2CLZ_CUR_RAMP_TM_MS 5000 // 5000//1000 Huawei      // unit: ms, Time of current from drag value to 0

/* Close loop */
/* stop loop */
#define STOP_SPD_REF_RPM 100 // unit: rpm, Speed reference value when status go to stop

/*======================================================================*
   Flux observer
*=======================================================================*/
#define OBS_SPD_PLL_M            10  // Flux observer m coefficient
#define OBS_SPD_PLL_BANDWIDTH_HZ 150 // Huawei      // Flux observer PLL bandwidth
#define OBS_FLUX_PI_DAMPRATIO    10  // 5   bafang 5, yuanxian 10// unit:0.1, Flux observer PI regulator dampratio
#define OBS_FLUX_PI_CROSSFREQ_HZ 10  // 5   // unit:Hz, Flux observer PI regulator crossfrequency

/*======================================================================*
   Current loop PI regulation
*=======================================================================*/
#define ACR_PI_BANDWIDTH_FLX    200   // unit: Hz, Current loop bandwidth when flux observer run
#define ACR_CUR_FLX_FBK_LPF_FRQ 8000  // unit: Hz, Frequency of current feedback LPF when flux observer run
#define ACR_CUR_OUT_LIM         37837 // Q15, 2/sqrt(3)*Vdc for current output limit  //18919
#define ACR_RA_COEF             3     // Coefficient of Active Resistance
#define ACR_UDCP_OUT_LIM        18918 // Q15, 2/3*Vdc for Udcp output limit   //18918  //21845   //10923

/*======================================================================*
   Speed loop PI regulation
*=======================================================================*/
#define ASR_PI_BANDWIDTH    8  // 16  //3 // unit: Hz, Speed loop bandwidth
#define ASR_PI_M            16 // 8  //6  //
#define ASR_SPD_FBK_LPF_FRQ 50 //
#define ASR_SPD_INER_RATE   1  //

/*=====================================================================*
   PWM generation
*=======================================================================*/
#define PWM_MAX_DUTY_CYLE_IPM   900// 900// 900                        // 938      // unit: 0.1%,Max duty cyle for compare value
#define PWM_7SVM_TO_5SVM_DUTY_IPM 1000                        // unit: 0.1%, Switch ratio from 7 to 5 svpwm
#define PWM_MIN_SAMPLE_DUTY1_IPM  5 * 10000 / PWM_PERIOD_US  // unit: 0.1%, 5us TWO MIN ZERO VECTOR = two sample current steady time
#define PWM_MIN_SAMPLE_DUTY2_IPM  10 * 10000 / PWM_PERIOD_US // unit: 0.1%, 10us TWO (one sample current steady time + one sample time)
#define PWM_MIN_SAMPLE_DUTY3_IPM \
    12 * 10000 / PWM_PERIOD_US // unit: 0.1%, 12 us TWO (one Singel Resistance sample current steady time + one sample time)
#define PWM_SAMPLE_TOSTEADY_IPM    8 * 10000 / PWM_PERIOD_US // unit: 0.1%, 4us TWO sample current to steady time
#define PWM_SAMPLE_SINGELRESIS_IPM 1 * 10000 / PWM_PERIOD_US // unit: 0.1%, 1us TWO singel Resistance sample time
#define PWM_1ST_SAMPLE_CTS_IPM     50                        // 25       // unit: Null, first current sample counts
#define PWM_2ND_SAMPLE_CTS_IPM     280                       // 220      // unit: Null, second current sample counts

#define PWM_OVR_MDL_MIN_PHS 0                   // SVPWM over modulation: min phase error
#define PWM_OVR_MDL_MIN_AMP 1                   // SVPWM over modulation: min amplitude error
#define PWM_OVR_MDL_OPTIMUM 2                   // SVPWM over modulation: amplitude and phase optimum
#define PWM_OVR_MDL_SEL     PWM_OVR_MDL_MIN_PHS //

/*======================================================================*
   Flux Weakening
*=======================================================================*/
#define FW_VDC_MIN_CALC_TM       20  // unit: ms,50Hz=>20ms, period of Vdc fluctuate
#define FW_VDC_LPF_FRQ           50  // unit: Hz, Frequency of Vdc LPF
#define FW_PWM_MAX_DUTY_CYLE_IPM 900 // unit: 0.1%,PWM max duty cyle for flux weakening
#define FW_ID_PI_OUT_MIN         800 // unit: 0.01A, Min Id of PI outunit: 0.01A, Current Limit
#define FW_ID_MIN_LIM_RATIO      80  // Q0:1%, Ratio of Min d axis current (Charactoristic current)
#define FW_ID_KP_PU              16384  // Q16, Kp for d axis current
#define FW_ID_KI_PU              20   // Q16, Ki for d axis current
#define FW_CHAR_CUR_CROSS_FREQ   2   // Q0,unit: SQRT(1/2piR)
#define FW_CHAR_CUR_DAMP_RATIO   2   // Q0,unit: SQRT(pi/2R)

/*======================================================================*
   Constant Voltage Braking Parameter define
*=======================================================================*/
#if (IPM_VOLTAGE_SEL == IPM_VOLTAGE_48V)
#define CVB_CONSTANT_VOL_BRAKE_V 580  // unit:0.1V,Voltage limit of Constant Voltage Brake
#define CVB_CONSTANT_SPD_LOW_RPM 5000 // unit:rpm
#elif (IPM_VOLTAGE_SEL == IPM_VOLTAGE_36V)
#define CVB_CONSTANT_VOL_BRAKE_V 450  // unit:0.1V,Voltage limit of Constant Voltage Brake
#define CVB_CONSTANT_SPD_LOW_RPM 5000 // unit:rpm
#else
#define CVB_CONSTANT_VOL_BRAKE_V 450  // unit:0.1V,Voltage limit of Constant Voltage Brake
#define CVB_CONSTANT_SPD_LOW_RPM 5000 // unit:rpm
#endif

/*======================================================================*
   Power limit
*=======================================================================*/
#if( (MOTOR_ID_SEL == MOTOR_LUNGU_WELLING_HAL_POLE8_1000W) ||(MOTOR_ID_SEL == MOTOR_LUNGU_WELLING_HAL_POLE10_1000W_500Ratio))
#define ALM_ROTOR_LOCK_IQ_ABS 6300 // 6300 // unit: 0.01A, Threshold value
#elif( (MOTOR_ID_SEL == MOTOR_LUNGU_WELLING_HAL_POLE8_750W) ||(MOTOR_ID_SEL == MOTOR_LUNGU_WELLING_HAL_POLE10_750W_500Ratio))
#define ALM_ROTOR_LOCK_IQ_ABS 6300 // 6300 // unit: 0.01A, Threshold value
#elif((MOTOR_ID_SEL == MOTOR_LUNGU_WELLING_HAL_POLE8_500W)||(MOTOR_ID_SEL == MOTOR_LUNGU_WELLING_HAL_POLE10_500W_500Ratio))
#define ALM_ROTOR_LOCK_IQ_ABS 4500 // 6300 // unit: 0.01A, Threshold value
#elif (MOTOR_ID_SEL == MOTOR_LUNGU_WELLING_HAL_POLE8_500W_958Ratio)
#define ALM_ROTOR_LOCK_IQ_ABS 4500 // 6300 // unit: 0.01A, Threshold value

#elif (MOTOR_ID_SEL == MOTOR_LUNGU_WELLING_HAL_POLE8_350W)
#define ALM_ROTOR_LOCK_IQ_ABS 4500 // 4500 // unit: 0.01A, Threshold value

#elif (MOTOR_ID_SEL == MOTOR_LUNGU_WELLING_HAL_POLE8_350W_958Ratio)
#define ALM_ROTOR_LOCK_IQ_ABS 4500 // 4500 // unit: 0.01A, Threshold value

#elif (MOTOR_ID_SEL == MOTOR_LUNGU_WELLING_HAL_POLE8_250W)
#define ALM_ROTOR_LOCK_IQ_ABS 3200 // 4500 // unit: 0.01A, Threshold value
#elif (MOTOR_ID_SEL == MOTOR_LUNGU_WELLING_HAL_POLE8_250W_LowRatio)
#define ALM_ROTOR_LOCK_IQ_ABS 3200 // 4500 // unit: 0.01A, Threshold value
#elif (MOTOR_ID_SEL == MOTOR_LUNGU_WELLING_HAL_POLE8_250W_517Ratio)
#define ALM_ROTOR_LOCK_IQ_ABS 3200 // 4500 // unit: 0.01A, Threshold value
#elif (MOTOR_ID_SEL == MOTOR_LUNGU_WELLING_HAL_POLE8_250W_958Ratio)
#define ALM_ROTOR_LOCK_IQ_ABS 3200 // 4500 // unit: 0.01A, Threshold value
#else
#define ALM_ROTOR_LOCK_IQ_ABS 3200 // 4500 // unit: 0.01A, Threshold value
#endif

/*======================================================================*
   Idc and Power limit
*=======================================================================*/
#if ((IPM_POWER_SEL == IPM_POWER_250W_6G) && (IPM_VOLTAGE_SEL == IPM_VOLTAGE_36V))
 #define IDCLIMIQSTART (((ULONG)1500 << 14) / IBASE);
#define IDCLIMIQEND   (((ULONG)1600 << 14) / IBASE);
#define PWRLIM_VAL    (15*360+200) // unit: 0.1w, Power limit value
#define PWRLIM_ERR    500  // unit: 0.1w, Start power limit when "VAL - ERR"

// #define IDCLIMIQSTART (((ULONG)2500 << 14) / IBASE);
//#define IDCLIMIQEND   (((ULONG)2600 << 14) / IBASE);
//#define PWRLIM_VAL    (25*360+200) // unit: 0.1w, Power limit value
//#define PWRLIM_ERR    500  // unit: 0.1w, Start power limit when "VAL - ERR"

#elif ((IPM_POWER_SEL == IPM_POWER_250W_6G) && (IPM_VOLTAGE_SEL == IPM_VOLTAGE_48V))
#define IDCLIMIQSTART (((ULONG)1200 << 14) / IBASE);
#define IDCLIMIQEND   (((ULONG)1300 << 14) / IBASE);
#define PWRLIM_VAL    (12*480+200) // unit: 0.1w, Power limit value
#define PWRLIM_ERR    500  // unit: 0.1w, Start power limit when "VAL - ERR"

#elif ((IPM_POWER_SEL == IPM_POWER_350W_6G) && (IPM_VOLTAGE_SEL == IPM_VOLTAGE_36V))
 #define IDCLIMIQSTART (((ULONG)1500 << 14) / IBASE);
#define IDCLIMIQEND   (((ULONG)1600 << 14) / IBASE);
#define PWRLIM_VAL    (18*360+200) // unit: 0.1w, Power limit value
#define PWRLIM_ERR    500  // unit: 0.1w, Start power limit when "VAL - ERR"

// #define IDCLIMIQSTART (((ULONG)2500 << 14) / IBASE);
//#define IDCLIMIQEND   (((ULONG)2600 << 14) / IBASE);
//#define PWRLIM_VAL    (25*360+200) // unit: 0.1w, Power limit value
//#define PWRLIM_ERR    500  // unit: 0.1w, Start power limit when "VAL - ERR"

#elif ((IPM_POWER_SEL == IPM_POWER_350W_6G) && (IPM_VOLTAGE_SEL == IPM_VOLTAGE_48V))
#define IDCLIMIQSTART (((ULONG)1200 << 14) / IBASE);
#define IDCLIMIQEND   (((ULONG)1300 << 14) / IBASE);
#define PWRLIM_VAL    (14*480+200) // unit: 0.1w, Power limit value
#define PWRLIM_ERR    500  // unit: 0.1w, Start power limit when "VAL - ERR"

#elif ((IPM_POWER_SEL == IPM_POWER_500W_6G) && (IPM_VOLTAGE_SEL == IPM_VOLTAGE_36V))
#define IDCLIMIQSTART (((ULONG)2500 << 14) / IBASE);
#define IDCLIMIQEND   (((ULONG)2600 << 14) / IBASE);
#define PWRLIM_VAL    (25*360+500) // unit: 0.1w, Power limit value
#define PWRLIM_ERR    500  // unit: 0.1w, Start power limit when "VAL - ERR"
#elif ((IPM_POWER_SEL == IPM_POWER_500W_6G) && (IPM_VOLTAGE_SEL == IPM_VOLTAGE_48V))
#define IDCLIMIQSTART (((ULONG)2000 << 14) / IBASE);
#define IDCLIMIQEND   (((ULONG)2100 << 14) / IBASE);
#define PWRLIM_VAL    (20*480+500) // unit: 0.1w, Power limit value
#define PWRLIM_ERR    500  // unit: 0.1w, Start power limit when "VAL - ERR"

#elif ((IPM_POWER_SEL == IPM_POWER_350W_9G) && (IPM_VOLTAGE_SEL == IPM_VOLTAGE_36V))
#define IDCLIMIQSTART (((ULONG)1800 << 14) / IBASE);
#define IDCLIMIQEND   (((ULONG)1900 << 14) / IBASE);
#define PWRLIM_VAL    (18*360+200) // unit: 0.1w, Power limit value
#define PWRLIM_ERR    500  // unit: 0.1w, Start power limit when "VAL - ERR"
#elif ((IPM_POWER_SEL == IPM_POWER_350W_9G) && (IPM_VOLTAGE_SEL == IPM_VOLTAGE_48V))
#define IDCLIMIQSTART (((ULONG)1400 << 14) / IBASE);
#define IDCLIMIQEND   (((ULONG)1500 << 14) / IBASE);
#define PWRLIM_VAL    (14*480+200) // unit: 0.1w, Power limit value
#define PWRLIM_ERR    500  // unit: 0.1w, Start power limit when "VAL - ERR"
#elif ((IPM_POWER_SEL == IPM_POWER_500W_9G) && (IPM_VOLTAGE_SEL == IPM_VOLTAGE_36V))
#define IDCLIMIQSTART (((ULONG)2500 << 14) / IBASE);
#define IDCLIMIQEND   (((ULONG)2600 << 14) / IBASE);
#define PWRLIM_VAL    (25*360+500) // unit: 0.1w, Power limit value
#define PWRLIM_ERR    500  // unit: 0.1w, Start power limit when "VAL - ERR"
#elif ((IPM_POWER_SEL == IPM_POWER_500W_9G) && (IPM_VOLTAGE_SEL == IPM_VOLTAGE_48V))
#define IDCLIMIQSTART (((ULONG)2000 << 14) / IBASE);
#define IDCLIMIQEND   (((ULONG)2100 << 14) / IBASE);
#define PWRLIM_VAL    (20*480+500) // unit: 0.1w, Power limit value
#define PWRLIM_ERR    500  // unit: 0.1w, Start power limit when "VAL - ERR"

#elif ((IPM_POWER_SEL == IPM_POWER_500W_12G) && (IPM_VOLTAGE_SEL == IPM_VOLTAGE_36V))
#define IDCLIMIQSTART (((ULONG)2500 << 14) / IBASE);
#define IDCLIMIQEND   (((ULONG)2600 << 14) / IBASE);
#define PWRLIM_VAL    (25*360+500) // unit: 0.1w, Power limit value
#define PWRLIM_ERR    500  // unit: 0.1w, Start power limit when "VAL - ERR"
#elif ((IPM_POWER_SEL == IPM_POWER_500W_12G) && (IPM_VOLTAGE_SEL == IPM_VOLTAGE_48V))
#define IDCLIMIQSTART (((ULONG)2000 << 14) / IBASE);
#define IDCLIMIQEND   (((ULONG)2100 << 14) / IBASE);
#define PWRLIM_VAL    (20*480+500) // unit: 0.1w, Power limit value
#define PWRLIM_ERR    500  // unit: 0.1w, Start power limit when "VAL - ERR"

#elif((IPM_POWER_SEL ==IPM_POWER_350W_MINI_12G)&& (IPM_VOLTAGE_SEL == IPM_VOLTAGE_36V))
#define IDCLIMIQSTART (((ULONG)1800 << 14) / IBASE);
#define IDCLIMIQEND   (((ULONG)1900 << 14) / IBASE);
#define PWRLIM_VAL    (18*360+500) // unit: 0.1w, Power limit value
#define PWRLIM_ERR    500  // unit: 0.1w, Start power limit when "VAL - ERR"
#elif ((IPM_POWER_SEL == IPM_POWER_350W_MINI_12G) && (IPM_VOLTAGE_SEL == IPM_VOLTAGE_48V))
#define IDCLIMIQSTART (((ULONG)1400 << 14) / IBASE);
#define IDCLIMIQEND   (((ULONG)1500 << 14) / IBASE);
#define PWRLIM_VAL    (14*480+500) // unit: 0.1w, Power limit value
#define PWRLIM_ERR    500  // unit: 0.1w, Start power limit when "VAL - ERR"

#elif (((IPM_POWER_SEL == IPM_POWER_750W_12G)||(IPM_POWER_SEL ==IPM_POWER_750W_MINI_12G)) && (IPM_VOLTAGE_SEL == IPM_VOLTAGE_36V))
#define IDCLIMIQSTART (((ULONG)3000 << 14) / IBASE);
#define IDCLIMIQEND   (((ULONG)3100 << 14) / IBASE);
#define PWRLIM_VAL    (30*360+500) // unit: 0.1w, Power limit value
#define PWRLIM_ERR    500  // unit: 0.1w, Start power limit when "VAL - ERR"
#elif (((IPM_POWER_SEL == IPM_POWER_750W_12G)||(IPM_POWER_SEL ==IPM_POWER_750W_MINI_12G)) && (IPM_VOLTAGE_SEL == IPM_VOLTAGE_48V))
#define IDCLIMIQSTART (((ULONG)2500 << 14) / IBASE);
#define IDCLIMIQEND   (((ULONG)2600 << 14) / IBASE);
#define PWRLIM_VAL    (25*480+500) // unit: 0.1w, Power limit value
#define PWRLIM_ERR    500   // unit: 0.1w, Start power limit when "VAL - ERR"
#elif ((IPM_POWER_SEL == IPM_POWER_1000W_12G) && (IPM_VOLTAGE_SEL == IPM_VOLTAGE_36V))
#define IDCLIMIQSTART (((ULONG)3000 << 14) / IBASE);
#define IDCLIMIQEND   (((ULONG)3100 << 14) / IBASE);
#define PWRLIM_VAL    (30*360+500) // unit: 0.1w, Power limit value
#define PWRLIM_ERR    500   // unit: 0.1w, Start power limit when "VAL - ERR"
#elif ((IPM_POWER_SEL == IPM_POWER_1000W_12G) && (IPM_VOLTAGE_SEL == IPM_VOLTAGE_48V))
#define IDCLIMIQSTART (((ULONG)3000 << 14) / IBASE);
#define IDCLIMIQEND   (((ULONG)3100 << 14) / IBASE);
#define PWRLIM_VAL    (30*480) // unit: 0.1w, Power limit value
#define PWRLIM_ERR    500   // unit: 0.1w, Start power limit when "VAL - ERR"

#elif ((IPM_POWER_SEL == IPM_POWER_1000W_MINI_12G) && (IPM_VOLTAGE_SEL == IPM_VOLTAGE_36V))
#define IDCLIMIQSTART (((ULONG)3000 << 14) / IBASE);
#define IDCLIMIQEND   (((ULONG)3100 << 14) / IBASE);
#define PWRLIM_VAL    (30*360+500) // unit: 0.1w, Power limit value
#define PWRLIM_ERR    500   // unit: 0.1w, Start power limit when "VAL - ERR"
#elif ((IPM_POWER_SEL == IPM_POWER_1000W_MINI_12G) && (IPM_VOLTAGE_SEL == IPM_VOLTAGE_48V))
#define IDCLIMIQSTART (((ULONG)3000 << 14) / IBASE);
#define IDCLIMIQEND   (((ULONG)3100 << 14) / IBASE);
#define PWRLIM_VAL    (30*480) // unit: 0.1w, Power limit value
#define PWRLIM_ERR    500   // unit: 0.1w, Start power limit when "VAL - ERR"

#else
#define IDCLIMIQSTART (((ULONG)1500 << 14) / IBASE);
#define IDCLIMIQEND   (((ULONG)1600 << 14) / IBASE);
#define PWRLIM_VAL    (15*360+500) // unit: 0.1w, Power limit value
#define PWRLIM_ERR    500  // unit: 0.1w, Start power limit when "VAL - ERR"
#endif

#define PWRLIM_LPF_FRQ     400 // unit: Hz, Frequency of LPF in input power of motor
#define PWR_IQ_LIMIT_KP_PU 120 // Q15
#define PWR_IQ_LIMIT_KI_PU 100 // Q15

/*======================================================================*
   Deadband compensation
*=======================================================================*/
#define DBC_K_COEF 120 // unit:0.1V/A    Deadband compensation slope coefficient

/*======================================================================*
   Communication type define
*=======================================================================*/
#define UART_MONITOR 0         //
#define UART_HOST    1         //
#define UART_TYPE    UART_HOST //

/*==============================================================================
                       Speed & Acc Constant parameters define
==============================================================================*/
#define USER_MOTOR_45RPM2PU         SPD_RPM2PU(45) // 45rpm,Q15
#define USER_MOTOR_100RPM2PU        SPD_RPM2PU(100)
#define USER_MOTOR_200RPM2PU        SPD_RPM2PU(200)
#define USER_MOTOR_300RPM2PU        SPD_RPM2PU(300)
#define USER_MOTOR_400RPM2PU        SPD_RPM2PU(400)
#define USER_MOTOR_600RPM2PU        SPD_RPM2PU(600)  // 600rpm,Q15
#define USER_MOTOR_800RPM2PU        SPD_RPM2PU(800)  // 800rpm,Q15
#define USER_MOTOR_1000RPM2PU       SPD_RPM2PU(1000) // 1000rpm,Q15
#define USER_MOTOR_1500RPM2PU       SPD_RPM2PU(1500) // 6000rpm,Q15
#define USER_MOTOR_4000RPM2PU       SPD_RPM2PU(4000) // 6000rpm,Q15
#define USER_MOTOR_5500RPM2PU       SPD_RPM2PU(5500)
#define USER_MOTOR_100RPMPS2PU_Q29  SPD_ACC_RPM2PU(100)  // 100rpm/s,(0x40000000/FTBS_Hz/cof_uwVbRpm*100)
#define USER_MOTOR_240RPMPS2PU_Q29  SPD_ACC_RPM2PU(200)  // 240rpm/s
#define USER_MOTOR_1000RPMPS2PU_Q29 SPD_ACC_RPM2PU(1000) // 1000rpm/s
#define USER_MOTOR_2000RPMPS2PU_Q29 SPD_ACC_RPM2PU(2000) // 2000rpm/s
#define USER_MOTOR_3000RPMPS2PU_Q29 SPD_ACC_RPM2PU(3000) // 3000rpm/s

/*=======================================================================
                      TBS&TBC Time Cnts Define
=======================================================================*/
#define TBCCNT_500us    (((ULONG)500 * FTBC_HZ) / 1000000)
#define TBCCNT_1ms      (((ULONG)1 * FTBC_HZ) / 1000)
#define TBCCNT_5ms      (((ULONG)5 * FTBC_HZ) / 1000)
#define TBCCNT_10ms     (((ULONG)10 * FTBC_HZ) / 1000)
#define TBCCNT_50ms     (((ULONG)50 * FTBC_HZ) / 1000)
#define TBCCNT_32ms     (((ULONG)32 * FTBC_HZ) / 1000)
#define TBCCNT_60ms     (((ULONG)60 * FTBC_HZ) / 1000)
#define TBCCNT_100ms    (((ULONG)100 * FTBC_HZ) / 1000)
#define TBCCNT_150ms    (((ULONG)150 * FTBC_HZ) / 1000)
#define TBCCNT_200ms    (((ULONG)200 * FTBC_HZ) / 1000)
#define TBCCNT_250ms    (((ULONG)250 * FTBC_HZ) / 1000)
#define TBCCNT_300ms    (((ULONG)300 * FTBC_HZ) / 1000)
#define TBCCNT_400ms    (((ULONG)400 * FTBC_HZ) / 1000)
#define TBCCNT_500ms    (((ULONG)500 * FTBC_HZ) / 1000)
#define TBCCNT_100ms    (((ULONG)100 * FTBC_HZ) / 1000)
#define EVE1MSCNT_1ms   (((ULONG)1 * EVENT_1MS_HZ) / 1000)
#define EVE1MSCNT_5ms   (((ULONG)5 * EVENT_1MS_HZ) / 1000)
#define EVE1MSCNT_10ms  (((ULONG)10 * EVENT_1MS_HZ) / 1000)
#define EVE1MSCNT_20ms  (((ULONG)20 * EVENT_1MS_HZ) / 1000)
#define EVE1MSCNT_50ms  (((ULONG)50 * EVENT_1MS_HZ) / 1000)
#define EVE1MSCNT_100ms (((ULONG)100 * EVENT_1MS_HZ) / 1000)
#define EVE1MSCNT_200ms (((ULONG)200 * EVENT_1MS_HZ) / 1000)
#define EVE10MSCNT_3s   ((ULONG)3 * EVENT_1MS_HZ / 10)
#define EVE10MSCNT_5s   ((ULONG)5 * EVENT_1MS_HZ / 10)
#define EVE10MSCNT_10s  ((ULONG)10 * EVENT_1MS_HZ / 10)

/************************************************************************
 Comment Table
*************************************************************************/
// /*======================================================================*
//    High Frequency Signal Injection
// *=======================================================================*/
// #define HFI_FREQ1_HZ                           1200      // unit: Hz, Inject signal frequency 1
// #define HFI_AMP1_VT                            600      // unit: 0.1v, Inject signal voltage 1
// #define HFI_FREQ2_HZ                           1400      // unit: Hz, Inject signal frequency 2
// #define HFI_AMP2_VT                            700      // unit: 0.1v, Inject signal voltage 2
// #define HFI_TM_INIPOS_MS                       60      // unit: ms, Initial position detection time
// #define HFI_WAITTM_INIPOS_MS                   6      // unit: ms, Wait time after initial position detection
// #define HFI_AMP_POR_VT                         700      // unit: 0.1v, Polarity detection voltage amplitude
// #define HFI_TM_POR_PULS_MS                     1      // unit: ms, Polarity detection voltage pulse time
// #define HFI_WAITTM_POR_PULS_MS                 12      // Wunit: ms, ait time after voltage pulse
// #define HFI_DELTA_CUR_MAG_POR_OK_AP            20      // unit: 0.01A, delta current for polarity detection ok
// #define HFI_CUR_LPF_HZ                         500      // unit: Hz, Cut-off frequency of current lpf
// #define HFI_CUR_HPF_HZ                         50      // unit: Hz, Cut-off frequency of current hpf
// #define HFI_PLL_DAMPING_RATIO                  35      // unit: Null, Pll damping ratio
// #define HFI_PLL_CROSS_FREQ_HZ                  20      // unit: Hz, Pll cross frequency
// #define HFI_SPD_LPF_HZ                         8      // unit: Hz, Cut-off frequency of spd lpf
// #define HFI_MAG_SATR_AP                        240      // unit: 0.01A, Magnetic saturation current

/************************************************************************
 TypeDefs & Structure defines
*************************************************************************/

/************************************************************************
 Exported Variables:
*************************************************************************/

/************************************************************************
 RAM ALLOCATION:
*************************************************************************/

/************************************************************************
 Exported Function Call Prototypes (N/A)
*************************************************************************/

/************************************************************************
 Local Function Call Prototypes (N/A)
*************************************************************************/

/************************************************************************
 Head files (N/A)
*************************************************************************/
#include <stdlib.h>
#include "CodePara.h"
#include "classB.h"
#include "hwsetup.h"
#include "mathtool.h"
#include "main.h"
#include "spdctrFSM.h"
#include "glbcof.h"
#include "crdnt.h"
#include "tbc.h"
#include "tbs.h"
#include "tbt.h"
#include "alarm.h"
#include "adc.h"
#include "spi_master.h"
#include "i2c_master.h"
#include "spdctrmode.h"
#include "acr.h"
#include "asr.h"
#include "asr_new.h"
#include "torqobs.h"
#include "LoadObsTheta.h"
#include "obs.h"
#include "dbc.h"
#include "uart_monitor.h"
#include "flxwkn.h"
#include "spdflxwkn.h"
#include "pwm.h"
#include "brake.h"
#include "hfinj.h"
#include "pwrlim.h"
#include "bootloader.h"
#include "brake.h"
#include "macroequ.h"
#include "alignstartup.h"
#include "switchhall.h"
#include "LoadObsTheta.h"
/************************************************************************
 Flag Define (N/A)
*************************************************************************/
#endif
/*************************************************************************
 Copyright (c) 2019 Welling Motor Technology(Shanghai) Co. Ltd.
 All rights reserved.
*************************************************************************
 End of this File (EOF)!
 Do not put anything after this part!
*************************************************************************/