////
//// Created by ZK on 2023/3/14.
////
//
//#ifndef BOOOOMFOC_STSPIN32G4_EVB_CONTROLLER_H
//#define BOOOOMFOC_STSPIN32G4_EVB_CONTROLLER_H
//
//#include "arm_math.h"
//
//typedef struct sFOC {
//    bool is_armed;
//
//    float v_bus, v_bus_filt, i_a, i_b, i_c;
//
//    float i_q, i_q_filt, i_d, i_d_filt, i_bus, i_bus_filt, power_filt;
//    float dtc_a, dtc_b, dtc_c;
//
//    float current_ctrl_p_gain, current_ctrl_i_gain;
//    float current_ctrl_integral_d, current_ctrl_integral_q;
//} tFOC;
//
//extern tFOC FOC;
//
//
//extern void SpeedControl(float32_t target, float32_t angleVal, float32_t valMax);
//
//extern bool FOC_current(float Id_set, float Iq_set, float Theta, float bw);
//
//
//#endif //BOOOOMFOC_STSPIN32G4_EVB_CONTROLLER_H