[参考译文] DRV8343-Q1：电流反馈 SOA、SOB、SOC 异常信号

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Other Parts Discussed in Thread: DRV8343-Q1, DRV8323
请注意，本文内容源自机器翻译，可能存在语法或其它翻译错误，仅供参考。如需获取准确内容，请参阅链接中的英语原文或自行翻译。
https://e2e.ti.com/support/motor-drivers-group/motor-drivers/f/motor-drivers-forum/1234639/drv8343-q1-current-feedback-soa-sob-soc-abnormal-signals
器件型号：DRV8343-Q1
主题中讨论的其他器件： DRV8323
大家好、
当电机负载时、DRV8343S 生成的电流反馈信号 SOA、SOB、SOC 具有异常的尖峰。为什么会发生这种情况？
驱动器板电路如下所示：
测试波形如下：
您能帮助检查这个问题吗？谢谢。
此致、
切里
10 个月前
0 admin 10 个月前
TI__Guru**** 663810 points
请注意，本文内容源自机器翻译，可能存在语法或其它翻译错误，仅供参考。如需获取准确内容，请参阅链接中的英语原文或自行翻译。
您好、Cherry：
您是否能够与这些电压尖峰的更放大窗口共享示波器图像？由于我们有意观察 PWM 周期中这些尖峰可能发生的位置、因此使用相应的输入 PWM 波形也会很有用。
谢谢。
戴维斯
0 admin 10 个月前
TI__Guru**** 663810 points
请注意，本文内容源自机器翻译，可能存在语法或其它翻译错误，仅供参考。如需获取准确内容，请参阅链接中的英语原文或自行翻译。
嗨、Davis：
感谢您的支持。
谢谢。此致、
切里
0 admin 10 个月前
TI__Guru**** 663810 points
请注意，本文内容源自机器翻译，可能存在语法或其它翻译错误，仅供参考。如需获取准确内容，请参阅链接中的英语原文或自行翻译。
您好、Cherry：
感谢您发送这些波形。我需要在本周结束时查看这些建议并提供进一步的反馈。
此致！
戴维斯
0 admin 10 个月前
TI__Guru**** 663810 points
请注意，本文内容源自机器翻译，可能存在语法或其它翻译错误，仅供参考。如需获取准确内容，请参阅链接中的英语原文或自行翻译。
嗨、Davis：
感谢您的答复。
另外、这里还有一个问题、关于上面的 Ch4 (紫色、DC-link)、它具有非常激进的波形、纹波超过20A。这可以防止电流进一步增加、强制负载会对控制器造成损坏。是否可以与 DRV8343S 的电流反馈失真相关？
谢谢。此致、
切里
0 admin 10 个月前
TI__Guru**** 663810 points
请注意，本文内容源自机器翻译，可能存在语法或其它翻译错误，仅供参考。如需获取准确内容，请参阅链接中的英语原文或自行翻译。
您好、Cherry：
至于 SOA 的尖峰、可能会发生一些电感尖峰、因为尖峰的时序与 UH PWM 信号从完全低到高(含占空比)的开始/结束相关。但是、我建议尤其在低侧 FET 导通时对 SOx 采样、因为此时电流将流经电流感应分流电阻器。这可能会产生更预期的波形、但如果您仍然看到尖峰、我们可以考虑其他原因、例如我之前提到的电感。
对于直流链路电流、预计纹波是由于换向期间来自电机的电流进入电池造成的。只要电源电压不超过器件的绝对最大额定值、这是可以的。但是、如果您看到这些纹波导致器件电源电压超过限值、则此应用需要额定值较高的驱动器。如果您的问题得到了解答、请告诉我。
此致！
戴维斯
0 admin 10 个月前
TI__Guru**** 663810 points
请注意，本文内容源自机器翻译，可能存在语法或其它翻译错误，仅供参考。如需获取准确内容，请参阅链接中的英语原文或自行翻译。
嗨、Davis：
SOA 上的尖峰实际上对应于 UL PWM、该尖峰在 UL PWM 为高电平时是峰值、而 PWM 为高电平时则越长、尖峰时间就越长。如果该峰值是预期的实际波形、是否意味着上图中导致的驱动异常不是此峰值问题的影响、并且 SOA、SOB、SOC 的总体波形失真是由非烟波状态引起的？
如何在加载后改善 SOA、B 和 C 波形异常？当前对目标低通滤波器的整流方法是具有1KΩ Ω 的固定电阻和1nF~15nF 的可调电容。最终测试使当前的6.8nF (低通23.4KHz)成为最佳匹配、但仍然无法满足目标。
下图显示了电流最大负载下的波形、当直流电流接近100A 时、纹波非常剧烈、SOA、SOB 和 SOC 波形严重失真、相电流也异常：
谢谢。此致、
切里
0 admin 10 个月前
TI__Guru**** 663810 points
请注意，本文内容源自机器翻译，可能存在语法或其它翻译错误，仅供参考。如需获取准确内容，请参阅链接中的英语原文或自行翻译。
您好、Cherry：
请参阅 DRV8343-Q1数据表中8.3.4.1节的公式3。该公式显示了预期的输出 SOx。如果输出 SOx 与此公式不匹配、则系统可能存在问题、否则如果结果匹配、则在给定该系统参数的情况下、应预期这些输出。
在滤波方面、请参阅本应用手册、具体而言是电流检测滤波布局的最佳实践： https://www.ti.com/lit/an/slva959b/slva959b.pdf?ts=1683836782300。如果对 SOx 的滤波有更多疑问、我认为本文档包含更深入的电流检测放大和滤波解释： https://www.ti.com/lit/eb/slyy154a/slyy154a.pdf?ts=1686695679621&ref_url=https%253A%252F%252Fwww.google.com%252F。
波形本身的性质取决于换向算法。非正弦换向会产生扭矩纹波。如果这些纹波导致了问题、我认为与电机驱动器本身相比、这更是换向算法的问题。
如果这些信息有所帮助、敬请告知。
此致！
戴维斯
0 admin 10 个月前
TI__Guru**** 663810 points
请注意，本文内容源自机器翻译，可能存在语法或其它翻译错误，仅供参考。如需获取准确内容，请参阅链接中的英语原文或自行翻译。
尊敬的 David：
上述文件对布局设计很有用、但布局需要一些时间进行验证。此时可以对该计划进行哪些调整？
该程序当前仅根据示例代码使用"universal_motorcontrol_lab_f28002x"的示例代码将 DRV8323的 SPI 协议更改为 DRV8343。并将用户参数配置为"user_mtr1.h"。换向算法设置如下图所示：
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//! \file   /solutions/universal_motorcontrol_lab/common/include/user_mtr1.h
//! \brief  Contains the user related definitions
//!         This file is used for each device includes F28002x, F28003x, F280013x,
//!         F280015x, and the other newer C2000 MCUs.
//!


#ifndef USER_MTR1_H
#define USER_MTR1_H


//*****************************************************************************
//
// If building with a C++ compiler, make all of the definitions in this header
// have a C binding.
//
//*****************************************************************************
#ifdef __cplusplus
extern "C"
{
#endif

//*****************************************************************************
//
//! \defgroup USER USER_MTR1
//! @{
//
//*****************************************************************************

//
// the includes
// platforms
#include "hal.h"

// modules
#include "userParams.h"

#include "user_common.h"

// *****************************************************************************
// the defines

//------------------------------------------------------------------------------
#if defined(HVMTRPFC_REV1P1)

// Bypass the 820k resistor for low voltage motor on this kit
//#define LV_JUMPER_EN            // Bypass the 820k resistor


#ifndef LV_JUMPER_EN
//! \brief Defines the nominal DC bus voltage, V
//!
#define USER_M1_NOMINAL_DC_BUS_VOLTAGE_V         (220.0f)

//! \brief Defines the maximum voltage at the AD converter
//  Full scale voltage of AD converter, not the current voltage
#define USER_M1_ADC_FULL_SCALE_VOLTAGE_V         (409.90f)

//! \brief Defines the analog voltage filter pole location, Hz
//!
#define USER_M1_VOLTAGE_FILTER_POLE_Hz           (375.55f)

#else   // Populate jumpers on J1/J2/J3/J4 for short R20/R23/R26/R37 for low voltage motor
//! \brief Defines the nominal DC bus voltage, V
//!
#define USER_M1_NOMINAL_DC_BUS_VOLTAGE_V         (24.0f)

//! \brief Defines the maximum voltage at the AD converter
//  Full scale voltage of AD converter, not the current voltage
#define USER_M1_ADC_FULL_SCALE_VOLTAGE_V         (112.21f)

//! \brief Defines the analog voltage filter pole location, Hz
//!
#define USER_M1_VOLTAGE_FILTER_POLE_Hz           (381.15f)
#endif

// High Voltage motor control kit
#if defined(MOTOR1_DCLINKSS) || defined(MOTOR1_ISBLDC)
//! \brief Defines the maximum current at the AD converter
#define USER_M1_ADC_FULL_SCALE_CURRENT_A         (19.995f)

//! \brief Defines the sign of the current_sf based on
//!        the polarity of the current feedback circuit
//!
//!        the "sign" = -1.0f if the current feedback polarity is positive that
//!        means the same pin of the shunt resistor is connected to ground and
//!        is also connected to the noninverting pin of the operational amplifier
//!
//!        the "sign" = 1.0f if the current feedback polarity is negative that
//!        means the same pin of the shunt resistor is connected to ground and
//!        is also connected to the inverting pin of the operational amplifier
#define USER_M1_SIGN_CURRENT_SF         (-1.0f)

//! \brief ADC current offsets for dc-link
#define USER_M1_IDC_OFFSET_A                     (9.997f)

//! \brief ADC current offsets for dc-link
#define USER_M1_IDC_OFFSET_AD       (2048.0f)

#define USER_M1_IDC_OFFSET_AD_MAX    (USER_M1_IDC_OFFSET_AD + 100.0f)
#define USER_M1_IDC_OFFSET_AD_MIN    (USER_M1_IDC_OFFSET_AD - 100.0f)
#else  // !(MOTOR1_ISBLDC || MOTOR1_DCLINKSS)
//! \brief Defines the maximum current at the AD converter
#define USER_M1_ADC_FULL_SCALE_CURRENT_A         (19.995f)

//! \brief Defines the sign of the current_sf based on
//!        the polarity of the current feedback circuit
//!
//!        the "sign" = -1.0f if the current feedback polarity is positive that
//!        means the same pin of the shunt resistor is connected to ground and
//!        is also connected to the inverting pin of the operational amplifier
//!
//!        the "sign" = 1.0f if the current feedback polarity is negative that
//!        means the same pin of the shunt resistor is connected to ground and
//!        is also connected to the noninverting pin of the operational amplifier
#define USER_M1_SIGN_CURRENT_SF         (1.0f)
#endif   // !(MOTOR1_ISBLDC || MOTOR1_DCLINKSS)

//! \brief ADC current offsets for A, B, and C phases
#define USER_M1_IA_OFFSET_AD        (2049.367f)
#define USER_M1_IB_OFFSET_AD        (2042.771f)
#define USER_M1_IC_OFFSET_AD        (2054.451f)

//! \brief ADC current offset for CMPSS
#define USER_M1_IS_OFFSET_CMPSS     (uint16_t)((USER_M1_IA_OFFSET_AD + USER_M1_IB_OFFSET_AD + USER_M1_IC_OFFSET_AD) / 3.0f)

//! \brief ADC voltage offsets for A, B, and C phases
#define USER_M1_VA_OFFSET_SF        (0.503290117f)
#define USER_M1_VB_OFFSET_SF        (0.500881076f)
#define USER_M1_VC_OFFSET_SF        (0.497107089f)

//! \brief DC bus over voltage threshold
#define USER_M1_OVER_VOLTAGE_FAULT_V        (380.0f)

//! \brief DC bus over voltage threshold
#define USER_M1_OVER_VOLTAGE_NORM_V         (350.0f)

//! \brief DC bus under voltage threshold
#define USER_M1_UNDER_VOLTAGE_FAULT_V       (12.0f)

//! \brief DC bus under voltage threshold
#define USER_M1_UNDER_VOLTAGE_NORM_V        (15.0f)

//! \brief motor lost phase current threshold
#define USER_M1_LOST_PHASE_CURRENT_A        (0.2f)

//! \brief motor unbalance ratio percent threshold
#define USER_M1_UNBALANCE_RATIO             (0.2f)

//! \brief motor over load power threshold
#define USER_M1_OVER_LOAD_POWER_W           (250.0f)

//! \brief motor stall current threshold
#define USER_M1_STALL_CURRENT_A             (10.0f)

//! \brief motor fault check current threshold
#define USER_M1_FAULT_CHECK_CURRENT_A       (0.2f)

//! \brief motor failed maximum speed threshold
#define USER_M1_FAIL_SPEED_MAX_HZ           (500.0f)

//! \brief motor failed minimum speed threshold
#define USER_M1_FAIL_SPEED_MIN_HZ           (5.0f)

//! \brief Defines the number of failed torque
//!
#define USER_M1_TORQUE_FAILED_SET           (0.000001f)
// end of HVMTRPFC_REV1P1
//------------------------------------------------------------------------------
#elif defined(DRV8329AEVM_REVA)       // LaunchPad-F280025
//! \brief Defines the nominal DC bus voltage, V
//!
#define USER_M1_NOMINAL_DC_BUS_VOLTAGE_V         (48.0f)

//! \brief Defines the maximum voltage at the AD converter
#define USER_M1_ADC_FULL_SCALE_VOLTAGE_V         (76.04549098f)     // 110k/4.99k

//! \brief Defines the analog voltage filter pole location, Hz
#define USER_M1_VOLTAGE_FILTER_POLE_Hz           (326.6255675f)     // 110k/4.99k/100nF

//! \brief Defines the maximum current at the AD converter
//! Set the gain of the CSA, the value should be set accordingly.
//! CSAGAIN=5V/V(J2=GND), CSAGAIN=10V/V(J2=50K), CSAGAIN=20V/V(J2=200K), CSAGAIN=40V/V(J2=DNP)
//#define USER_M1_ADC_FULL_SCALE_CURRENT_A       (82.5f)            // Rs=0.001/gain=40/J2=DNP
//#define USER_M1_ADC_FULL_SCALE_CURRENT_A       (66.0f)            // Rs=0.0025/gain=20/J2=200K
#define USER_M1_ADC_FULL_SCALE_CURRENT_A         (33.0f)            // Rs=0.0025/gain=40/J2=DNP

// Single shunt
#if defined(MOTOR1_DCLINKSS) || defined(MOTOR1_ISBLDC)
//! \brief Defines the sign of the current_sf based on
//!        the polarity of the current feedback circuit
//!
//!        the "sign" = -1.0f if the current feedback polarity is positive that
//!        means the same pin of the shunt resistor is connected to ground and
//!        is also connected to the noninverting pin (+) of the operational amplifier
//!
//!        the "sign" = 1.0f if the current feedback polarity is negative that
//!        means the same pin of the shunt resistor is connected to ground and
//!        is also connected to the inverting pin (-) of the operational amplifier
#define USER_M1_SIGN_CURRENT_SF         (1.0f)

//! \brief ADC current offsets for dc-link
// the dc-link offset current for DRV8329AEVM_REVA
#define USER_M1_IDC_OFFSET_A            (USER_M1_ADC_FULL_SCALE_CURRENT_A / 2.0f)

//! \brief ADC current offsets for dc-link
#define USER_M1_IDC_OFFSET_AD           (516.717f)       //~=4096.0/8.0

//! \brief ADC current offset for CMPSS
#define USER_M1_IDC_OFFSET_CMPSS        (uint16_t)(USER_M1_IDC_OFFSET_AD)

#define USER_M1_IDC_OFFSET_AD_MAX       (USER_M1_IDC_OFFSET_AD + 100.0f)
#define USER_M1_IDC_OFFSET_AD_MIN       (USER_M1_IDC_OFFSET_AD - 100.0f)
#else //!MOTOR1_DCLINKSS  | !MOTOR1_ISBLDC
#error This inverter board only supports single shunt!
#endif  // !MOTOR1_DCLINKSS  | !MOTOR1_ISBLDC

//! \brief ADC voltage offsets for A, B, and C phases
#define USER_M1_VA_OFFSET_SF    (0.507042527f)
#define USER_M1_VB_OFFSET_SF    (0.505379438f)
#define USER_M1_VC_OFFSET_SF    (0.50771445f)

//! \brief DC bus over voltage threshold
#define USER_M1_OVER_VOLTAGE_FAULT_V        (54.5f)

//! \brief DC bus over voltage threshold
#define USER_M1_OVER_VOLTAGE_NORM_V         (52.5f)

//! \brief DC bus under voltage threshold
#define USER_M1_UNDER_VOLTAGE_FAULT_V       (8.0f)

//! \brief DC bus under voltage threshold
#define USER_M1_UNDER_VOLTAGE_NORM_V        (10.0f)

//! \brief motor lost phase current threshold
#define USER_M1_LOST_PHASE_CURRENT_A        (0.01f)

//! \brief motor unbalance ratio percent threshold
#define USER_M1_UNBALANCE_RATIO             (0.2f)

//! \brief motor over load power threshold
#define USER_M1_OVER_LOAD_POWER_W           (90.0f)

//! \brief motor stall current threshold
#define USER_M1_STALL_CURRENT_A             (10.0f)

//! \brief motor fault check current threshold
#define USER_M1_FAULT_CHECK_CURRENT_A       (0.2f)

//! \brief motor failed maximum speed threshold
#define USER_M1_FAIL_SPEED_MAX_HZ           (1800.0f)

//! \brief motor failed minimum speed threshold
#define USER_M1_FAIL_SPEED_MIN_HZ           (5.0f)

//! \brief Defines the number of failed torque
//!
#define USER_M1_TORQUE_FAILED_SET           (0.000001f)

// end of DRV8329AEVM_REVA
//------------------------------------------------------------------------------
#elif defined(BSXL8323RS_REVA)
//! \brief Defines the nominal DC bus voltage, V
//!
#define USER_M1_NOMINAL_DC_BUS_VOLTAGE_V         (12.0f)

//! \brief Defines the maximum voltage at the AD converter
//#define USER_M1_ADC_FULL_SCALE_VOLTAGE_V         (60.87f)   // 4.7/(4.7+82)
#define USER_M1_ADC_FULL_SCALE_VOLTAGE_V         (42.62f)   // 4.7/(4.7+56)
//#define USER_M1_ADC_FULL_SCALE_VOLTAGE_V         (64.87f)   // 4.99/(4.99+93.1), DRV8343S-EVM

//! \brief Defines the analog voltage filter pole location, Hz
#define USER_M1_VOLTAGE_FILTER_POLE_Hz           (781.0f)     // caps=47nF

//! \brief Defines the maximum current at the AD converter
//Rshunt=7momh
//#define USER_M1_ADC_FULL_SCALE_CURRENT_A       (94.28571429f)     // CSA_GAIN=5VpV
//#define USER_M1_ADC_FULL_SCALE_CURRENT_A       (47.14285714f)     // CSA_GAIN=10VpV
//#define USER_M1_ADC_FULL_SCALE_CURRENT_A       (23.57142857f)     // CSA_GAIN=20VpV

//Rshunt=2momh
//#define USER_M1_ADC_FULL_SCALE_CURRENT_A       (330.0f)     // CSA_GAIN=5VpV
//#define USER_M1_ADC_FULL_SCALE_CURRENT_A       (165.0f)     // CSA_GAIN=10VpV
//#define USER_M1_ADC_FULL_SCALE_CURRENT_A       (82.5f)     // CSA_GAIN=20VpV

//Rshunt=1momh
#define USER_M1_ADC_FULL_SCALE_CURRENT_A       (660.0f)     // CSA_GAIN=5VpV
//#define USER_M1_ADC_FULL_SCALE_CURRENT_A       (330.0f)     // CSA_GAIN=10VpV
//#define USER_M1_ADC_FULL_SCALE_CURRENT_A       (165.0f)     // CSA_GAIN=20VpV

#if defined(MOTOR1_DCLINKSS) || defined(MOTOR1_ISBLDC)
//! \brief Defines the sign of the current_sf based on
//!        the polarity of the current feedback circuit
//!
//!        the "sign" = -1.0f if the current feedback polarity is positive that
//!        means the same pin of the shunt resistor is connected to ground and
//!        is also connected to the noninverting pin of the operational amplifier
//!
//!        the "sign" = 1.0f if the current feedback polarity is negative that
//!        means the same pin of the shunt resistor is connected to ground and
//!        is also connected to the inverting pin of the operational amplifier
#define USER_M1_SIGN_CURRENT_SF         (-1.0f)

//! \brief ADC current offsets for dc-link
// the dc-link offset current for BSXL8323RS_REVA
#define USER_M1_IDC_OFFSET_A            (USER_M1_ADC_FULL_SCALE_CURRENT_A / 2.0f)

//! \brief ADC current offsets for A, B, and C phases
#define USER_M1_IDC_OFFSET_AD           (2048.0f)

#define USER_M1_IDC_OFFSET_AD_MAX       (USER_M1_IDC_OFFSET_AD + 100.0f)
#define USER_M1_IDC_OFFSET_AD_MIN       (USER_M1_IDC_OFFSET_AD - 100.0f)

#else //!MOTOR1_DCLINKSS
//! \brief Defines the sign of the current_sf based on
//!        the polarity of the current feedback circuit
//!
//!        the "sign" = -1.0f if the current feedback polarity is positive that
//!        means the same pin of the shunt resistor is connected to ground and
//!        is also connected to the inverting pin of the operational amplifier
//!
//!        the "sign" = 1.0f if the current feedback polarity is negative that
//!        means the same pin of the shunt resistor is connected to ground and
//!        is also connected to the noninverting pin of the operational amplifier
#define USER_M1_SIGN_CURRENT_SF         (1.0f)

//! \brief ADC current offsets for A, B, and C phases
// the ADC current offsets for A/B/C phases, one-time hardware dependent
//#define USER_M1_IA_OFFSET_AD    (2030.99646f)
//#define USER_M1_IB_OFFSET_AD    (2016.76001f)
//#define USER_M1_IC_OFFSET_AD    (2007.99329f)
#define USER_M1_IA_OFFSET_AD    (2048.0f)
#define USER_M1_IB_OFFSET_AD    (2048.0f)
#define USER_M1_IC_OFFSET_AD    (2048.0f)

//! \brief ADC current offset for CMPSS
#define USER_M1_IS_OFFSET_CMPSS     (uint16_t)((USER_M1_IA_OFFSET_AD + USER_M1_IB_OFFSET_AD + USER_M1_IC_OFFSET_AD) / 3.0f)

//! \brief ADC voltage offsets for A, B, and C phases
// the ADC voltage offsets for A/B/C phases, one-time hardware dependent
#define USER_M1_VA_OFFSET_SF    (0.498977453f)
#define USER_M1_VB_OFFSET_SF    (0.497419506f)
#define USER_M1_VC_OFFSET_SF    (0.500700474f)
#endif  // !MOTOR1_DCLINKSS

//! \brief DC bus over voltage threshold
#define USER_M1_OVER_VOLTAGE_FAULT_V        (54.5f)

//! \brief DC bus over voltage threshold
#define USER_M1_OVER_VOLTAGE_NORM_V         (52.5f)

//! \brief DC bus under voltage threshold
#define USER_M1_UNDER_VOLTAGE_FAULT_V       (8.0f)

//! \brief DC bus under voltage threshold
#define USER_M1_UNDER_VOLTAGE_NORM_V        (10.0f)

//! \brief motor lost phase current threshold
#define USER_M1_LOST_PHASE_CURRENT_A        (0.2f)

//! \brief motor unbalance ratio percent threshold
#define USER_M1_UNBALANCE_RATIO             (0.2f)

//! \brief motor over load power threshold
#define USER_M1_OVER_LOAD_POWER_W           (1500.0f)

//! \brief motor stall current threshold
#define USER_M1_STALL_CURRENT_A             (10.0f)

//! \brief motor fault check current threshold
#define USER_M1_FAULT_CHECK_CURRENT_A       (0.2f)

//! \brief motor failed maximum speed threshold
#define USER_M1_FAIL_SPEED_MAX_HZ           (1500.0f)

//! \brief motor failed minimum speed threshold
#define USER_M1_FAIL_SPEED_MIN_HZ           (5.0f)

//! \brief Defines the number of failed torque
//! unit: N.m
#define USER_M1_TORQUE_FAILED_SET           (0.000001f)

// end of BSXL8323RS_REVA
//------------------------------------------------------------------------------
#elif defined(BSXL8323RH_REVB)       // LaunchPad-F280025
//! \brief Defines the nominal DC bus voltage, V
//!
#define USER_M1_NOMINAL_DC_BUS_VOLTAGE_V         (48.0f)

//! \brief Defines the maximum voltage at the AD converter
#define USER_M1_ADC_FULL_SCALE_VOLTAGE_V         (57.52845691f)

//! \brief Defines the analog voltage filter pole location, Hz
#define USER_M1_VOLTAGE_FILTER_POLE_Hz           (680.4839141f)     // 47nF

//! \brief Defines the maximum current at the AD converter
//! Place a 47k(ohm) resistor (R22) pull-down on MODE pin
#define USER_M1_ADC_FULL_SCALE_CURRENT_A         (47.14285714f)     // gain=10

#if defined(MOTOR1_DCLINKSS) || defined(MOTOR1_ISBLDC)
//! \brief Defines the sign of the current_sf based on
//!        the polarity of the current feedback circuit
//!
//!        the "sign" = -1.0f if the current feedback polarity is positive that
//!        means the same pin of the shunt resistor is connected to ground and
//!        is also connected to the noninverting pin of the operational amplifier
//!
//!        the "sign" = 1.0f if the current feedback polarity is negative that
//!        means the same pin of the shunt resistor is connected to ground and
//!        is also connected to the inverting pin of the operational amplifier
#define USER_M1_SIGN_CURRENT_SF         (-1.0f)

//! \brief ADC current offsets for dc-link
// the dc-link offset current for BSXL8323RH_REVB
#define USER_M1_IDC_OFFSET_A            (USER_M1_ADC_FULL_SCALE_CURRENT_A / 2.0f)

//! \brief ADC current offsets for dc-link
#define USER_M1_IDC_OFFSET_AD           (2048.0f)

#define USER_M1_IDC_OFFSET_AD_MAX       (USER_M1_IDC_OFFSET_AD + 100.0f)
#define USER_M1_IDC_OFFSET_AD_MIN       (USER_M1_IDC_OFFSET_AD - 100.0f)
#else //!MOTOR1_DCLINKSS
//! \brief Defines the sign of the current_sf based on
//!        the polarity of the current feedback circuit
//!
//!        the "sign" = -1.0f if the current feedback polarity is positive that
//!        means the same pin of the shunt resistor is connected to ground and
//!        is also connected to the inverting pin of the operational amplifier
//!
//!        the "sign" = 1.0f if the current feedback polarity is negative that
//!        means the same pin of the shunt resistor is connected to ground and
//!        is also connected to the noninverting pin of the operational amplifier
#define USER_M1_SIGN_CURRENT_SF         (1.0f)

//! \brief ADC current offsets for A, B, and C phases
#define USER_M1_IA_OFFSET_AD    (2045.40015f)
#define USER_M1_IB_OFFSET_AD    (2012.86694f)
#define USER_M1_IC_OFFSET_AD    (2031.59741f)

//! \brief ADC current offset for CMPSS
#define USER_M1_IS_OFFSET_CMPSS     (uint16_t)((USER_M1_IA_OFFSET_AD + USER_M1_IB_OFFSET_AD + USER_M1_IC_OFFSET_AD) / 3.0f)

//! \brief ADC voltage offsets for A, B, and C phases
#define USER_M1_VA_OFFSET_SF    (0.507042527f)
#define USER_M1_VB_OFFSET_SF    (0.505379438f)
#define USER_M1_VC_OFFSET_SF    (0.50771445f)
#endif  // !MOTOR1_DCLINKSS

//! \brief DC bus over voltage threshold
#define USER_M1_OVER_VOLTAGE_FAULT_V        (54.5f)

//! \brief DC bus over voltage threshold
#define USER_M1_OVER_VOLTAGE_NORM_V         (52.5f)

//! \brief DC bus under voltage threshold
#define USER_M1_UNDER_VOLTAGE_FAULT_V       (8.0f)

//! \brief DC bus under voltage threshold
#define USER_M1_UNDER_VOLTAGE_NORM_V        (10.0f)

//! \brief motor lost phase current threshold
#define USER_M1_LOST_PHASE_CURRENT_A        (0.01f)

//! \brief motor unbalance ratio percent threshold
#define USER_M1_UNBALANCE_RATIO             (0.2f)

//! \brief motor over load power threshold
#define USER_M1_OVER_LOAD_POWER_W           (90.0f)

//! \brief motor stall current threshold
#define USER_M1_STALL_CURRENT_A             (10.0f)

//! \brief motor fault check current threshold
#define USER_M1_FAULT_CHECK_CURRENT_A       (0.2f)

//! \brief motor failed maximum speed threshold
#define USER_M1_FAIL_SPEED_MAX_HZ           (1800.0f)

//! \brief motor failed minimum speed threshold
#define USER_M1_FAIL_SPEED_MIN_HZ           (5.0f)

//! \brief Defines the number of failed torque
//!
#define USER_M1_TORQUE_FAILED_SET           (0.000001f)


// end of BSXL8323RH_REVB
//------------------------------------------------------------------------------
#elif defined(BSXL8353RS_REVA)
//! \brief Defines the nominal DC bus voltage, V
//!
#define USER_M1_NOMINAL_DC_BUS_VOLTAGE_V    (48.0f)

//! \brief Defines the maximum voltage at the AD converter
#define USER_M1_ADC_FULL_SCALE_VOLTAGE_V    (132.7979508f)

//! \brief Defines the analog voltage filter pole location, Hz
#define USER_M1_VOLTAGE_FILTER_POLE_Hz      (338.1100618f)      // 9.76k/47nF

//! \brief Defines the maximum current at the AD converter
//#define USER_M1_ADC_FULL_SCALE_CURRENT_A         (94.28571429f)     // gain=5
#define USER_M1_ADC_FULL_SCALE_CURRENT_A         (47.14285714f)     // gain=10

#if defined(MOTOR1_DCLINKSS) || defined(MOTOR1_ISBLDC)
//! \brief Defines the sign of the current_sf based on
//!        the polarity of the current feedback circuit
//!
//!        the "sign" = -1.0f if the current feedback polarity is positive that
//!        means the same pin of the shunt resistor is connected to ground and
//!        is also connected to the noninverting pin of the operational amplifier
//!
//!        the "sign" = 1.0f if the current feedback polarity is negative that
//!        means the same pin of the shunt resistor is connected to ground and
//!        is also connected to the inverting pin of the operational amplifier
#define USER_M1_SIGN_CURRENT_SF         (-1.0f)
#error "Single shunt is not supported on this kit"
#else //!MOTOR1_DCLINKSS
//! \brief Defines the sign of the current_sf based on
//!        the polarity of the current feedback circuit
//!
//!        the "sign" = -1.0f if the current feedback polarity is positive that
//!        means the same pin of the shunt resistor is connected to ground and
//!        is also connected to the inverting pin of the operational amplifier
//!
//!        the "sign" = 1.0f if the current feedback polarity is negative that
//!        means the same pin of the shunt resistor is connected to ground and
//!        is also connected to the noninverting pin of the operational amplifier
#define USER_M1_SIGN_CURRENT_SF         (1.0f)

//! \brief ADC current offsets for A, B, and C phases
#define USER_M1_IA_OFFSET_AD    (2048.0f)
#define USER_M1_IB_OFFSET_AD    (2048.0f)
#define USER_M1_IC_OFFSET_AD    (2048.0f)

//! \brief ADC current offset for CMPSS
#define USER_M1_IS_OFFSET_CMPSS     (uint16_t)((USER_M1_IA_OFFSET_AD + USER_M1_IB_OFFSET_AD + USER_M1_IC_OFFSET_AD) / 3.0f)

//! \brief ADC voltage offsets for A, B, and C phases
#define USER_M1_VA_OFFSET_SF    (0.500514159f)
#define USER_M1_VB_OFFSET_SF    (0.506255884f)
#define USER_M1_VC_OFFSET_SF    (0.503381569f)
#endif  // !MOTOR1_DCLINKSS

//! \brief DC bus over voltage threshold
#define USER_M1_OVER_VOLTAGE_FAULT_V        (40.0f)

//! \brief DC bus over voltage threshold
#define USER_M1_OVER_VOLTAGE_NORM_V         (36.0f)

//! \brief DC bus under voltage threshold
#define USER_M1_UNDER_VOLTAGE_FAULT_V       (10.0f)

//! \brief DC bus under voltage threshold
#define USER_M1_UNDER_VOLTAGE_NORM_V        (12.0f)

//! \brief motor lost phase current threshold
#define USER_M1_LOST_PHASE_CURRENT_A        (0.2f)

//! \brief motor unbalance ratio percent threshold
#define USER_M1_UNBALANCE_RATIO             (0.2f)

//! \brief motor over load power threshold
#define USER_M1_OVER_LOAD_POWER_W           (50.0f)

//! \brief motor stall current threshold
#define USER_M1_STALL_CURRENT_A             (10.0f)

//! \brief motor fault check current threshold
#define USER_M1_FAULT_CHECK_CURRENT_A       (0.2f)

//! \brief motor failed maximum speed threshold
#define USER_M1_FAIL_SPEED_MAX_HZ           (500.0f)

//! \brief motor failed minimum speed threshold
#define USER_M1_FAIL_SPEED_MIN_HZ           (5.0f)

//! \brief Defines the number of failed torque
//!
#define USER_M1_TORQUE_FAILED_SET           (0.000001f)
// end of BSXL8353RS_REVA

//------------------------------------------------------------------------------
#elif defined(BSXL3PHGAN_REVA)
//! \brief Defines the nominal DC bus voltage, V
//!
#define USER_M1_NOMINAL_DC_BUS_VOLTAGE_V         (48.0f)

//! \brief Defines the maximum voltage at the AD converter
#define USER_M1_ADC_FULL_SCALE_VOLTAGE_V         (81.49905213f)

//! \brief Defines the analog voltage filter pole location, Hz
#define USER_M1_VOLTAGE_FILTER_POLE_Hz           (1103.026917f)     // 33nF

//! \brief Defines the maximum current at the AD converter
#define USER_M1_ADC_FULL_SCALE_CURRENT_A         (33.0f)     // gain=20

//! \brief Defines the sign of the current_sf based on
//!        the polarity of the current feedback circuit
//!
//!        the "sign" = -1.0f if the current feedback polarity is positive that
//!        means the same pin of the inline shunt resistor is connected to the
//!        output of the three-phase power inverter and is also connected to
//!        the inverting pin of the operational amplifier
//!
//!        the "sign" = 1.0f if the current feedback polarity is positive that
//!        means the same pin of the inline shunt resistor is connected to the
//!        output of the three-phase power inverter and is also connected to
//!        the non-inverting pin of the operational amplifier
#define USER_M1_SIGN_CURRENT_SF         (-1.0f)

//! \brief ADC current offsets for A, B, and C phases
#define USER_M1_IA_OFFSET_AD    (2048.0f)
#define USER_M1_IB_OFFSET_AD    (2048.0f)
#define USER_M1_IC_OFFSET_AD    (2048.0f)

//! \brief ADC current offset for CMPSS
#define USER_M1_IS_OFFSET_CMPSS     (uint16_t)((USER_M1_IA_OFFSET_AD + USER_M1_IB_OFFSET_AD + USER_M1_IC_OFFSET_AD) / 3.0f)

//! \brief ADC voltage offsets for A, B, and C phases
#define USER_M1_VA_OFFSET_SF    (0.500514159f)
#define USER_M1_VB_OFFSET_SF    (0.506255884f)
#define USER_M1_VC_OFFSET_SF    (0.503381569f)

//! \brief DC bus over voltage threshold
#define USER_M1_OVER_VOLTAGE_FAULT_V        (40.0f)

//! \brief DC bus over voltage threshold
#define USER_M1_OVER_VOLTAGE_NORM_V         (36.0f)

//! \brief DC bus under voltage threshold
#define USER_M1_UNDER_VOLTAGE_FAULT_V       (10.0f)

//! \brief DC bus under voltage threshold
#define USER_M1_UNDER_VOLTAGE_NORM_V        (12.0f)

//! \brief motor lost phase current threshold
#define USER_M1_LOST_PHASE_CURRENT_A        (0.2f)

//! \brief motor unbalance ratio percent threshold
#define USER_M1_UNBALANCE_RATIO             (0.2f)

//! \brief motor over load power threshold
#define USER_M1_OVER_LOAD_POWER_W           (50.0f)

//! \brief motor stall current threshold
#define USER_M1_STALL_CURRENT_A             (10.0f)

//! \brief motor fault check current threshold
#define USER_M1_FAULT_CHECK_CURRENT_A       (0.2f)

//! \brief motor failed maximum speed threshold
#define USER_M1_FAIL_SPEED_MAX_HZ           (500.0f)

//! \brief motor failed minimum speed threshold
#define USER_M1_FAIL_SPEED_MIN_HZ           (5.0f)

//! \brief Defines the number of failed torque
//!
#define USER_M1_TORQUE_FAILED_SET           (0.000001f)
// end of BSXL3PHGAN_REVA

//------------------------------------------------------------------------------
#elif defined(BSXL8316RT_REVA)
//! \brief Defines the nominal DC bus voltage, V
//!
#define USER_M1_NOMINAL_DC_BUS_VOLTAGE_V         (48.0f)

//! \brief Defines the maximum voltage at the AD converter
#define USER_M1_ADC_FULL_SCALE_VOLTAGE_V         (44.28f)

//! \brief Defines the analog voltage filter pole location, Hz
#define USER_M1_VOLTAGE_FILTER_POLE_Hz           (284.722f)     // 100nF

//! \brief Defines the maximum current at the AD converter
//!        DRV8316 = VREF = 3V, GAIN = 0.15V/A || 3.3V / 0.15V/A = 22.0A
//!                             GAIN = 0.30V/A || 3.3V / 0.30V/A = 11.0A
//!                             GAIN = 0.60V/A || 3.3V / 0.60V/A = 5.50A
//!                             GAIN = 1.20V/A || 3.3V / 1.20V/A = 2.75A
//! Change this ADC scale current value that must match the CSA gain in hal.c
#define USER_M1_ADC_FULL_SCALE_CURRENT_A       (22.0f)    // GAIN = 0.15V/A
//#define USER_M1_ADC_FULL_SCALE_CURRENT_A         (11.0f)    // GAIN = 0.30V/A


//! \brief Defines the sign of the current_sf based on
//!        the polarity of the current feedback circuit
//!
//!        the "sign" = -1.0f if the current feedback polarity is positive that
//!        means the same pin of the shunt resistor is connected to ground and
//!        is also connected to the inverting pin of the operational amplifier
//!
//!        the "sign" = 1.0f if the current feedback polarity is negative that
//!        means the same pin of the shunt resistor is connected to ground and
//!        is also connected to the noninverting pin of the operational amplifier
#define USER_M1_SIGN_CURRENT_SF         (1.0f)

//! \brief ADC current offsets for A, B, and C phases
#define USER_M1_IA_OFFSET_AD    (1869.6f)
#define USER_M1_IB_OFFSET_AD    (1877.3f)
#define USER_M1_IC_OFFSET_AD    (1876.9f)

//! \brief ADC current offset for CMPSS
#define USER_M1_IS_OFFSET_CMPSS     (uint16_t)((USER_M1_IA_OFFSET_AD + USER_M1_IB_OFFSET_AD + USER_M1_IC_OFFSET_AD) / 3.0f)

//! \brief ADC voltage offsets for A, B, and C phases
#define USER_M1_VA_OFFSET_SF    (0.477463514f)
#define USER_M1_VB_OFFSET_SF    (0.479326069f)
#define USER_M1_VC_OFFSET_SF    (0.477675498f)

//! \brief DC bus over voltage threshold
#define USER_M1_OVER_VOLTAGE_FAULT_V        (40.0f)

//! \brief DC bus over voltage threshold
#define USER_M1_OVER_VOLTAGE_NORM_V         (36.0f)

//! \brief DC bus under voltage threshold
#define USER_M1_UNDER_VOLTAGE_FAULT_V       (10.0f)

//! \brief DC bus under voltage threshold
#define USER_M1_UNDER_VOLTAGE_NORM_V        (12.0f)

//! \brief motor lost phase current threshold
#define USER_M1_LOST_PHASE_CURRENT_A        (0.2f)

//! \brief motor unbalance ratio percent threshold
#define USER_M1_UNBALANCE_RATIO             (0.2f)

//! \brief motor over load power threshold
#define USER_M1_OVER_LOAD_POWER_W           (50.0f)

//! \brief motor stall current threshold
#define USER_M1_STALL_CURRENT_A             (10.0f)

//! \brief motor fault check current threshold
#define USER_M1_FAULT_CHECK_CURRENT_A       (0.2f)

//! \brief motor failed maximum speed threshold
#define USER_M1_FAIL_SPEED_MAX_HZ           (500.0f)

//! \brief motor failed minimum speed threshold
#define USER_M1_FAIL_SPEED_MIN_HZ           (5.0f)

//! \brief Defines the number of failed torque
//!
#define USER_M1_TORQUE_FAILED_SET           (0.000001f)
// end of BSXL8316RT_REVA
//------------------------------------------------------------------------------
//------------------------------------------------------------------------------

//------------------------------------------------------------------------------
#else   // No Board Selection
#error The board parameters are not defined in user_mtr1.h
#endif  // No Board Selection

//------------------------------------------------------------------------------
//! \brief ADC current offsets checking value for A, B, and C phases
// the error threshold to check if the ADC offset of the phase current sensing circuit is correct.
#define USER_M1_IS_OFFSET_AD_DELTA      (150.0f)    // The value is 0.0f~1024.0f

// the high threshold of the ADC offsets checking value for A/B/C phase current
#define USER_M1_IA_OFFSET_AD_MAX        (USER_M1_IA_OFFSET_AD + USER_M1_IS_OFFSET_AD_DELTA)
#define USER_M1_IB_OFFSET_AD_MAX        (USER_M1_IB_OFFSET_AD + USER_M1_IS_OFFSET_AD_DELTA)
#define USER_M1_IC_OFFSET_AD_MAX        (USER_M1_IC_OFFSET_AD + USER_M1_IS_OFFSET_AD_DELTA)

// the low threshold of the ADC offsets checking value for A phase current
#define USER_M1_IA_OFFSET_AD_MIN        (USER_M1_IA_OFFSET_AD - USER_M1_IS_OFFSET_AD_DELTA)
#define USER_M1_IB_OFFSET_AD_MIN        (USER_M1_IB_OFFSET_AD - USER_M1_IS_OFFSET_AD_DELTA)
#define USER_M1_IC_OFFSET_AD_MIN        (USER_M1_IC_OFFSET_AD - USER_M1_IS_OFFSET_AD_DELTA)

#define USER_M1_IS_OFFSET_AD_MAX        (USER_M1_IA_OFFSET_AD + USER_M1_IB_OFFSET_AD + USER_M1_IC_OFFSET_AD + (USER_M1_IS_OFFSET_AD_DELTA * 3.0f))
#define USER_M1_IS_OFFSET_AD_MIN        (USER_M1_IA_OFFSET_AD + USER_M1_IB_OFFSET_AD + USER_M1_IC_OFFSET_AD - (USER_M1_IS_OFFSET_AD_DELTA * 3.0f))

//! \brief ADC voltage offsets for A, B, and C phases
// the error threshold to check if the ADC offset of the phase voltage sensing circuit is correct
#define USER_M1_VA_OFFSET_SF_DELTA      (0.05f)     // The value is 0.0f ~ 0.5f

// the high threshold of the ADC offsets checking value for A/B/C phase voltage
#define USER_M1_VA_OFFSET_SF_MAX        (USER_M1_VA_OFFSET_SF + USER_M1_VA_OFFSET_SF_DELTA)
#define USER_M1_VB_OFFSET_SF_MAX        (USER_M1_VB_OFFSET_SF + USER_M1_VA_OFFSET_SF_DELTA)
#define USER_M1_VC_OFFSET_SF_MAX        (USER_M1_VC_OFFSET_SF + USER_M1_VA_OFFSET_SF_DELTA)

// the low threshold of the ADC offsets checking value for A/B/C phase voltage
#define USER_M1_VA_OFFSET_SF_MIN        (USER_M1_VA_OFFSET_SF - USER_M1_VA_OFFSET_SF_DELTA)
#define USER_M1_VB_OFFSET_SF_MIN        (USER_M1_VB_OFFSET_SF - USER_M1_VA_OFFSET_SF_DELTA)
#define USER_M1_VC_OFFSET_SF_MIN        (USER_M1_VC_OFFSET_SF - USER_M1_VA_OFFSET_SF_DELTA)

#define USER_M1_VS_OFFSET_SF_MAX        (USER_M1_VA_OFFSET_SF + USER_M1_VB_OFFSET_SF + USER_M1_VC_OFFSET_SF + (USER_M1_VA_OFFSET_SF_DELTA * 3.0f))
#define USER_M1_VS_OFFSET_SF_MIN        (USER_M1_VA_OFFSET_SF + USER_M1_VB_OFFSET_SF + USER_M1_VC_OFFSET_SF - (USER_M1_VA_OFFSET_SF_DELTA * 3.0f))

//******************************************************************************
//! \brief Defines the number of pwm clock ticks per isr clock tick
//!        Note: Valid values are 1, 2 or 3 only
#define USER_M1_NUM_PWM_TICKS_PER_ISR_TICK          (2)

//! \brief Defines the number of ISR clock ticks per current controller clock tick
//!
#define USER_M1_NUM_ISR_TICKS_PER_CURRENT_TICK      (1)


//! \brief Defines the number of ISR clock ticks per speed controller clock tick
//!
#define USER_M1_NUM_ISR_TICKS_PER_SPEED_TICK        (10)


//! \brief Defines the number of current sensors
//!
#define USER_M1_NUM_CURRENT_SENSORS                 (3)

//! \brief Defines the number of voltage sensors
//!
#define USER_M1_NUM_VOLTAGE_SENSORS                 (3)


//! \brief Defines the Pulse Width Modulation (PWM) frequency, kHz
//!
#define USER_M1_PWM_FREQ_kHz        (40.0f)
#define USER_M1_PWM_TBPRD_NUM       (uint16_t)(USER_SYSTEM_FREQ_MHz * 1000.0f / USER_M1_PWM_FREQ_kHz / 2.0f)

//! \brief Defines the Pulse Width Modulation (PWM) period, usec
//!
#define USER_M1_PWM_PERIOD_usec     (1000.0f / USER_M1_PWM_FREQ_kHz)


//! \brief Defines the Interrupt Service Routine (ISR) frequency, Hz
//!
#define USER_M1_ISR_FREQ_Hz         (USER_M1_PWM_FREQ_kHz * 1000.0f / (float32_t)USER_M1_NUM_PWM_TICKS_PER_ISR_TICK)

//! \brief Defines the Interrupt Service Routine (ISR) period, usec
//!
#define USER_M1_ISR_PERIOD_usec     (USER_M1_PWM_PERIOD_usec * (float32_t)USER_M1_NUM_PWM_TICKS_PER_ISR_TICK)


//! \brief Defines the direct voltage (Vd) scale factor
//!
#define USER_M1_VD_SF               (0.95f)


//! \brief Defines the voltage scale factor for the system
//!
#define USER_M1_VOLTAGE_SF          (USER_M1_ADC_FULL_SCALE_VOLTAGE_V / 4096.0f)

//! \brief Defines the current scale factor for the system
//!
#define USER_M1_CURRENT_SF          (USER_M1_ADC_FULL_SCALE_CURRENT_A / 4096.0f)


//! \brief Defines the current scale invert factor for the system
//!
#define USER_M1_CURRENT_INV_SF      (4096.0f / USER_M1_ADC_FULL_SCALE_CURRENT_A)


//! \brief Defines the analog voltage filter pole location, rad/s
//!
#define USER_M1_VOLTAGE_FILTER_POLE_rps  (MATH_TWO_PI * USER_M1_VOLTAGE_FILTER_POLE_Hz)

//! \brief Defines the maximum Vs magnitude in per units allowed
//! \brief This value sets the maximum magnitude for the output of the Id and
//! \brief Iq PI current controllers. The Id and Iq current controller outputs
//! \brief are Vd and Vq. The relationship between Vs, Vd, and Vq is:
//! \brief Vs = sqrt(Vd^2 + Vq^2).  In this FOC controller, the Vd value is set
//! \brief equal to USER_MAX_VS_MAG*USER_VD_MAG_FACTOR.
//! \brief so the Vq value is set equal to sqrt(USER_MAX_VS_MAG^2 - Vd^2).
//!
//! \brief Set USER_MAX_VS_MAG = 0.5 for a pure sinewave with a peak at
//! \brief SQRT(3)/2 = 86.6% duty cycle.  No current reconstruction
//! \brief is needed for this scenario.
//!
//! \brief Set USER_MAX_VS_MAG = 1/SQRT(3) = 0.5774 for a pure sinewave
//! \brief with a peak at 100% duty cycle.  Current reconstruction
//! \brief will be needed for this scenario (Lab08).
//!
//! \brief Set USER_MAX_VS_MAG = 2/3 = 0.6666 to create a trapezoidal
//! \brief voltage waveform.  Current reconstruction will be needed
//! \brief for this scenario (Lab08).
//!
//! \brief For space vector over-modulation, see lab08 for details on
//! \brief system requirements that will allow the SVM generator to
//! \brief go all the way to trapezoidal.
//!
//#define USER_M1_MAX_VS_MAG_PU             (0.66f)
//#define USER_M1_MAX_VS_MAG_PU             (0.65f)
#define USER_M1_MAX_VS_MAG_PU               (0.576f)
//#define USER_M1_MAX_VS_MAG_PU             (0.565f)
//#define USER_M1_MAX_VS_MAG_PU             (0.5f)


//! \brief Defines the reference Vs magnitude in per units allowed
//! \      Set the value equal from 0.5 to 0.95 of the maximum Vs magnitude
#define USER_M1_VS_REF_MAG_PU               (0.8f * USER_MAX_VS_MAG_PU)

//! \brief Defines the R/L excitation frequency, Hz
//!
#define USER_M1_R_OVER_L_EXC_FREQ_Hz        (300.0f)


//! \brief Defines the R/L Kp scale factor, pu
//! \brief Kp used during R/L is USER_M1_R_OVER_L_KP_SF * USER_M1_NOMINAL_DC_BUS_VOLTAGE_V / USER_MOTOR1_MAX_CURRENT_A;
//!
#define USER_M1_R_OVER_L_KP_SF              (0.02f)


//! \brief Defines maximum acceleration for the estimation speed profiles, Hz/sec
//!
#define USER_M1_MAX_ACCEL_Hzps              (2.0f)


//! \brief Defines the controller execution period, usec
//!
#define USER_M1_CTRL_PERIOD_usec            ((float32_t)USER_M1_ISR_PERIOD_usec)


//! \brief Defines the controller execution period, sec
//!
#define USER_M1_CTRL_PERIOD_sec             ((float32_t)USER_M1_CTRL_PERIOD_usec / 1000000.0f)


//! \brief Defines the IdRated delta to use during estimation
//!
#define USER_M1_IDRATED_DELTA_A                 (0.0001f)

#if defined(_FULL_FAST_LIB)
//! \brief Defines the forced angle frequency, Hz
#define USER_M1_FORCE_ANGLE_FREQ_Hz             (1.0f)

//! \brief Defines the forced angle acceleration, Hz
#define USER_M1_FORCE_ANGLE_ACCEL_Hzps          (10.0f)
#else  // !_FULL_FAST_LIB
//! \brief Defines the forced angle frequency, Hz
#define USER_M1_FORCE_ANGLE_FREQ_Hz             (1.0f)
#endif  // !_FULL_FAST_LIB

//! \brief Defines the near zero speed limit for electrical frequency estimation, Hz
//!        The flux integrator uses this limit to regulate flux integration
#define USER_M1_FREQ_NEARZEROSPEEDLIMIT_Hz      (0.0f)

//! \brief Defines the fraction of IdRated to use during inductance estimation
//!
#define USER_M1_IDRATED_FRACTION_FOR_L_IDENT    (0.5f)


//! \brief Defines the fraction of SpeedMax to use during inductance estimation
//!
#define USER_M1_SPEEDMAX_FRACTION_FOR_L_IDENT   (1.0f)


//! \brief Defines the Power Warp gain for computing Id reference
//!
#define USER_M1_PW_GAIN                         (1.0f)


//! \brief Defines the pole location for the DC bus filter, rad/sec
//!
#define USER_M1_DCBUS_POLE_rps                  (100.0f)


//! \brief Defines the pole location for the voltage and current offset estimation, rad/s
//!
#define USER_M1_OFFSET_POLE_rps                 (20.0f)


//! \brief Defines the pole location for the speed control filter, rad/sec
//!
#define USER_M1_SPEED_POLE_rps                  (100.0f)


//! \brief Defines the pole location for the direction filter, rad/sec
//!
#define USER_M1_DIRECTION_POLE_rps              (MATH_TWO_PI * 10.0f)

//! \brief Defines the pole location for the flux estimation, rad/sec
//!
#define USER_M1_FLUX_POLE_rps                   (10.0f)


//! \brief Defines the pole location for the R/L estimation, rad/sec
//!
#define USER_M1_R_OVER_L_POLE_rps               (MATH_TWO_PI * 3.2f)


//! \brief Defines the convergence factor for the estimator
//!
#define USER_M1_EST_KAPPAQ                      (1.5f)


//! \brief Defines the scale factor for the flux estimation
//! the default value is 1.0f, change the value between 0.1f and 1.25f
//!
//#define USER_M1_EST_FLUX_HF_SF                (0.120f)
#define USER_M1_EST_FLUX_HF_SF                  (0.250f)
//#define USER_M1_EST_FLUX_HF_SF                (1.00f)

//! \brief Defines the scale factor for the frequency estimation
//! the default value is 1.0f, change the value between 0.5f and 1.5f
//!
#define USER_M1_EST_FREQ_HF_SF                  (1.00f)

//! \brief Defines the scale factor for the bemf estimation
//! the default value is 1.0f, change the value between 0.50f and 1.25f
//!
#define USER_M1_EST_BEMF_HF_SF                  (1.00f)

//------------------------------------------------------------------------------
//! brief Define the Kp gain for Field Weakening Control
#define USER_M1_FWC_KP                          0.0525f

//! brief Define the Ki gain for Field Weakening Control
#define USER_M1_FWC_KI                          0.00325f

//! brief Define the maximum current vector angle for Field Weakening Control
#define USER_M1_FWC_MAX_ANGLE          -15.0f                        // degree
#define USER_M1_FWC_MAX_ANGLE_RAD      USER_M1_FWC_MAX_ANGLE /180.0f * MATH_PI  // rad

//! brief Define the minimum current vector angle for Field Weakening Control
#define USER_M1_FWC_MIN_ANGLE          0.0f                          // degree
#define USER_M1_FWC_MIN_ANGLE_RAD      USER_M1_FWC_MIN_ANGLE /180.0f * MATH_PI  // rad

//! \brief Defines the number of DC bus over/under voltage setting time
//!  timer base = 5ms
#define USER_M1_VOLTAGE_FAULT_TIME_SET          (500U)      // in 5ms

//! \brief Defines the number of motor over load setting time
//!  timer base = 5ms, 1s
#define USER_M1_OVER_LOAD_TIME_SET              (200U)

//! \brief Defines the number of motor stall setting time
//!  timer base = 5ms, 1s
#define USER_M1_STALL_TIME_SET                  (200U)

//! \brief Defines the number of phase unbalanced setting time
//!  timer base = 5ms, 5s
#define USER_M1_UNBALANCE_TIME_SET              (1000U)

//! \brief Defines the number of lost phase setting time
//!  timer base = 5ms, 10s
#define USER_M1_LOST_PHASE_TIME_SET             (2000U)

//! \brief Defines the number of over speed setting time
//!  timer base = 5ms
#define USER_M1_OVER_SPEED_TIME_SET             (600U)

//! \brief Defines the number of startup failed setting time
//!  timer base = 5ms, 10s
#define USER_M1_STARTUP_FAIL_TIME_SET           (2000U)

//! \brief Defines the number of over load setting times
//!
#define USER_M1_OVER_CURRENT_TIMES_SET          (5U)

//! \brief Defines the number of stop wait time
//!  timer base = 5ms, 10s
#define USER_M1_STOP_WAIT_TIME_SET              (2000U)

//! \brief Defines the number of restart wait time
//!  timer base = 5ms, 10s
#define USER_M1_RESTART_WAIT_TIME_SET           (2000U)

//! \brief Defines the number of restart times when has a fault
//!
#define USER_M1_START_TIMES_SET                 (3U)

//! \brief Defines the alignment time
//!  timer base = 5ms, 10s
#define USER_M1_ALIGN_TIME_SET              (2000U)

//! \brief Defines the QEP unit ticks
#define USER_M1_QEP_UNIT_TIMER_TICKS        (uint32_t)(USER_SYSTEM_FREQ_MHz/(2.0f * USER_M1_ISR_FREQ_Hz) * 1000000.0f)

//! \brief Defines the current filter pole location, Hz
#define USER_M1_IS_FILTER_POLE_Hz           (7500.0f)      // 7.5kHz

//! \brief Defines the current filter pole location, rad/s
//!
#define USER_M1_IS_FILTER_POLE_rps          (MATH_TWO_PI * USER_M1_IS_FILTER_POLE_Hz)


//! \brief Defines the voltage filter pole location, Hz
#define USER_M1_VS_FILTER_POLE_Hz           (30000.0f)     // 30.0kHz

//! \brief Defines the voltage filter pole location, rad/s
//!
#define USER_M1_VS_FILTER_POLE_rps          (MATH_TWO_PI * USER_M1_VS_FILTER_POLE_Hz)

//==============================================================================
// Only a few listed motor below are tested with the related algorithm as the comments
// Motor defines
// High voltage PMSM Motors
//#define USER_MOTOR1 Estun_EMJ_04APB22            //* Tested, FAST/eSMO/ENC
//#define USER_MOTOR1 Anaheim_BLWS235D             //* Tested, FAST

//#define USER_MOTOR1 CHMotor_WM_Test
//#define USER_MOTOR1 Anaheim_BLZ362S
//#define USER_MOTOR1 ziehlab_Fan160hv              //* Tested, FAST/eSMO
//#define USER_MOTOR1 embpast_Fan160hv              //* Tested, FAST/eSMO
//#define USER_MOTOR1 GMCC_KSK89D53U                //* Tested, FAST/eSMO
//#define USER_MOTOR1 QXA_A091ZE190A                //* Tested, FAST/eSMO
//#define USER_MOTOR1 Baldor_BSM90N175              //* Tested, FAST/eSMO
//#define USER_MOTOR1 Marathon_N56PNRA10102         //* Tested, FAST

// Low Voltage PMSM Motors
//#define USER_MOTOR1 Anaheim_BLY172S_24V           //* Tested, FAST/eSMO/HALL/ENC(MD)
//#define USER_MOTOR1 Teknic_M2310PLN04K              //* Tested, FAST/eSMO/ENC/HALL
//#define USER_MOTOR1 Nedic_EPSMS037_D12V
//#define USER_MOTOR1 Anaheim_BLY341S_48V
//#define USER_MOTOR1 Anaheim_BLY341S_Y24V
//#define USER_MOTOR1 Anaheim_BLY341S_D24V
//#define USER_MOTOR1 Drone_DJI920KV                //* Tested, FAST
//#define USER_MOTOR1 Drone_BLK2BLADE               //* Tested, FAST
//#define USER_MOTOR1 Drone_SENSEFLY                //* Tested, FAST
//#define USER_MOTOR1 Drone_SF_Black                //* Tested, FAST
//#define USER_MOTOR1 Drone9616_110KV_48V           //* Tested, FAST

//#define USER_MOTOR1 Tamagawa_TS4606N8302          //* Tested, FAST/Resolver
//#define USER_MOTOR1 AKM21G_CK9NGE00               //* Tested, FAST/sin&cos encoder

//#define USER_MOTOR1 AirFan_MFA0500_24V            //* Tested, FAST
//#define USER_MOTOR1 Tool_Makita_GFD01             //* Tested, FAST

// ACI Motor
//#define USER_MOTOR1 Marathon_5K33GN2A
//#define USER_MOTOR1 Marathon_56H17T2011A
//#define USER_MOTOR1 Dayton_3N352C
//#define USER_MOTOR1 EMSYNERGY_LVACI

#define USER_MOTOR1 my_pm_motor_1
//#define USER_MOTOR1 my_aci_motor_2

//------------------------------------------------------------------------------
#if (USER_MOTOR1 == Teknic_M2310PLN04K)
// the motor type
#define USER_MOTOR1_TYPE                   MOTOR_TYPE_PM

// the number of pole pairs of the motor
#define USER_MOTOR1_NUM_POLE_PAIRS         (4)

// the rotor resistance value of the motor, in Ohm
#define USER_MOTOR1_Rr_Ohm                 (NULL)

// the stator resistance value of the motor, in Ohm
#define USER_MOTOR1_Rs_Ohm                 (0.393955578f)

// the stator inductance value of the motor in the direct direction, in H
#define USER_MOTOR1_Ls_d_H                 (0.000190442806f)

// the stator inductance value of the motor in the quadrature direction, in H
#define USER_MOTOR1_Ls_q_H                 (0.000190442806f)

// the rated flux value of the motor, in V/Hz
#define USER_MOTOR1_RATED_FLUX_VpHz        (0.0399353318f)

// the Id rated current value of the motor, in A. Induction motors only
#define USER_MOTOR1_MAGNETIZING_CURRENT_A  (NULL)

// the maximum current value for stator resistance (R_s) identification, in A
#define USER_MOTOR1_RES_EST_CURRENT_A      (1.5f)

// the maximum current value to use for stator inductance identification, in A
#define USER_MOTOR1_IND_EST_CURRENT_A      (-1.0f)

// the maximum current value of the motor, in A
#define USER_MOTOR1_MAX_CURRENT_A          (6.6f)

// the R/L excitation frequency for motor parameters identification, in Hz
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz       (60.0f)

// the inertia that describes the amount of mass, in Kg.m2
#define USER_MOTOR1_INERTIA_Kgm2           (7.06154e-06)

// the rated voltage of the motor, V
#define USER_MOTOR1_RATED_VOLTAGE_V        (24.0f)          // V

// the minimum rotation frequency if the motor (Hz)
#define USER_MOTOR1_FREQ_MIN_Hz            (9.0f)           // Hz

// the maximum/base rotation frequency of the motor (Hz)
#define USER_MOTOR1_FREQ_MAX_Hz            (600.0f)         // Hz

// V/f Profile Parameters for open-loop in build level 2
// the low frequency f_low  of V/f profile, in Hz,
// set to 10% of rated motor frequency
#define USER_MOTOR1_FREQ_LOW_Hz            (5.0f)           // Hz

// the high frequency f_high of V/f profile, in Hz,
// set to 100% of rated motor frequency
#define USER_MOTOR1_FREQ_HIGH_Hz           (400.0f)         // Hz

// the minimum voltage V_min  of V/f profile,
// the value is suggested to set to 15% of rated motor voltage, in Volt.
#define USER_MOTOR1_VOLT_MIN_V             (1.0f)           // Volt

// the maximum voltage,  V_max of V/f profile,
// the value is suggested to set to 100% of rated motor voltage, in Volt
#define USER_MOTOR1_VOLT_MAX_V             (24.0f)          // Volt

// the current increasing delta value for running the motor with force open-loop , in A
#define USER_MOTOR1_FORCE_DELTA_A          (0.05f)          // A

// the current increasing delta value for motor rotor alignment, in A
#define USER_MOTOR1_ALIGN_DELTA_A          (0.01f)          // A

// the current for running the motor with force open-loop, in A
#define USER_MOTOR1_FLUX_CURRENT_A         (0.5f)           // A

// the current for motor rotor alignment, in A
#define USER_MOTOR1_ALIGN_CURRENT_A        (1.5f)           // A

// the current for start to run motor with closed-loop when the speed is
//  lower than the startup setting speed, in A
#define USER_MOTOR1_STARTUP_CURRENT_A      (3.5f)           // A

// the current for running the motor with torque control mode when start the motor, in A.
#define USER_MOTOR1_TORQUE_CURRENT_A       (3.0f)           // A

// the over-current threshold for the motor, in A.
// The value can be set to 50%~300% of the rated current of the motor
#define USER_MOTOR1_OVER_CURRENT_A         (7.5f)           // A

// the speed threshold for start the motor, in Hz
#define USER_MOTOR1_SPEED_START_Hz         (35.0f)          // Hz

// the speed threshold for running the motor with force open-loop, in Hz
#define USER_MOTOR1_SPEED_FORCE_Hz         (30.0f)          // Hz

// the acceleration for start the motor, in Hz/s.
#define USER_MOTOR1_ACCEL_START_Hzps       (10.0f)          // Hz/s

// the maximum acceleration for running the motor, in Hz/s
#define USER_MOTOR1_ACCEL_MAX_Hzps         (20.0f)          // Hz/s

// the speed threshold for running the motor with flying start mode, in Hz
#define USER_MOTOR1_SPEED_FS_Hz            (3.0f)           // Hz

// the current for motor brake, in A.
#define USER_MOTOR1_BRAKE_CURRENT_A        (1.0f)           // A

// the duration time for motor brake, in 5ms time base
#define USER_MOTOR1_BRAKE_TIME_DELAY       (12000U)         // 60s/5ms

#if defined(MOTOR1_FAST)
// the slope coefficient for Ld compensation, (0.0f~0.5f)
#define USER_MOTOR1_Ls_d_COMP_COEF         (0.15f)          // 0.0f~0.5f

// the slope coefficient for Lq compensation, (0.0f~0.5f)
#define USER_MOTOR1_Ls_q_COMP_COEF         (0.35f)          // 0.0f~0.5f

// the minimum inductance coefficient for inductance compensation, (0.0f~0.5f)
#define USER_MOTOR1_Ls_MIN_NUM_COEF        (0.55f)          // 0.5f~1.0f

// the near zero speed limit for electrical frequency estimation, Hz.
// The flux integrator uses this limit to regulate flux integration
#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz  (5.0f)           // Hz

// the waiting time without enabling the Rs online clibrartion,  in 5ms
#define USER_MOTOR1_RSONLINE_WAIT_TIME      (60000U)    // 5min/300s at 5ms base

// the the duration time with enabling the Rs online clibrartion,  in 5ms
#define USER_MOTOR1_RSONLINE_WORK_TIME      (24000U)     //2min/120s at 5ms base
#endif  // MOTOR1_FAST

#if defined(MOTOR1_ESMO)
// Only for eSMO
// PLL (phase-locked loop)
// PID proportional, integral, derivative
// the sliding mode control maximum gain that equals to Ke*fmax/vscale/sqrt(2)*factor(max),
//  tune the factor(0.1~10) based the test status
#define USER_MOTOR1_KSLIDE_MAX             (0.50f)

// the sliding mode control minimum gain that equals to Ke*fmin/vscale/sqrt(2)*factor(min),
//  tune the factor(0.1~10) based the test status
#define USER_MOTOR1_KSLIDE_MIN             (0.10f)

// the PLL control maximum gain that equals to 2*(Damping factor)*(Natural frequency)*factor(max),
// tune the factor(0.1~10) based the test status
#define USER_MOTOR1_PLL_KP_MAX             (10.0f)

// the PLL control minimum gain that equals to 2*(Damping factor)*(Natural frequency)*factor(min),
// tune the factor(0.1~5) based the test status
#define USER_MOTOR1_PLL_KP_MIN             (1.50f)

// the PLL control gain adjusting coefficient that
// equals to (Kpll_max-Kpll_min)/fscale/fmax
#define USER_MOTOR1_PLL_KP_SF              (5.0f)

// the phase-locked loop control integration gain that
// equals to (Natural frequency)*(Natural frequency)*Ts
#define USER_MOTOR1_PLL_KI                 (2.8125E-06f)    // Not used, reserve

// the threshold of the estimated current error for sliding mode control that
// equals to (motor maximum BEMF voltage / rated voltage), (0.3~0.5 )
#define USER_MOTOR1_BEMF_THRESHOLD         (0.5f)

// the parameters of the low-pass filter for the estimated back EMF,
// Kslf equal to (fc*2*PI()*Ts), (0.5~2.5)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz        (2.0f)

// the offset coefficient to compensate the error by using
// the low-pass filter that equals to 1.0, or [0.5~1.5]
#define USER_MOTOR1_THETA_OFFSET_SF        (1.0f)

// the cut-off frequency of the low-pass filter to calculate the estimated speed, (100~400)
#define USER_MOTOR1_SPEED_LPF_FC_Hz        (200.0f)
#endif  // MOTOR1_ESMO

#if defined(MOTOR1_ENC)
// Only for encoder
#define USER_MOTOR1_NUM_ENC_SLOTS          (1000)           // lines
#define USER_MOTOR1_ENC_POS_MAX            (USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1)
#define USER_MOTOR1_ENC_POS_OFFSET         (668)            // lines
#endif  // MOTOR1_ENC

#if defined(MOTOR1_HALL)
// Only for hall sensor
#define USER_MOTOR1_HALL_DELTA_rad          (MATH_TWO_PI / 36.0f)   // rad
#endif  // MOTOR1_HALL

#if defined(MOTOR1_ISBLDC)
// Only for IS-BLDC
#define USER_MOTOR1_RAMP_START_Hz           (3.0f)
#define USER_MOTOR1_RAMP_END_Hz             (30.0f)
#define USER_MOTOR1_RAMP_DELAY              (5)

#define USER_MOTOR1_ISBLDC_INT_MAX          (0.015f)
#define USER_MOTOR1_ISBLDC_INT_MIN          (0.010f)
#endif  // MOTOR1_ISBLDC



// Current and Speed PI Regulators Tuning Coefficient
// the low speed threshold for adjusting the Kp and Ki of the speed PI regulator
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz        (60.0f)      // 10%~50% of the rated speed

// the high speed threshold for adjusting the Kp and Ki of the speed PI regulator
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz       (150.0f)     // 50%~100% of the rated speed

// the gain coefficient to adjust the Kp of the speed PI regulator for startup
#define USER_MOTOR1_KP_SPD_START_SF          (1.5f)       // 0.1~100.0

// the gain coefficient to adjust the Ki of the speed PI regulator for startup
#define USER_MOTOR1_KI_SPD_START_SF          (1.5f)       // 0.1~10.0

// the low gain coefficient  to adjust the Kp of the speed PI regulator
#define USER_MOTOR1_KP_SPD_LOW_SF            (2.0f)       // 0.1~100.0

// the low gain coefficient  to adjust the Ki of the speed PI regulator
#define USER_MOTOR1_KI_SPD_LOW_SF            (2.0f)       // 0.1~10.0

// the high gain coefficient  to adjust the Kp of the speed PI regulator
#define USER_MOTOR1_KP_SPD_HIGH_SF           (1.0f)       // 0.1~100.0

// the high gain coefficient  to adjust the Ki of the speed PI regulator
#define USER_MOTOR1_KI_SPD_HIGH_SF           (1.0f)       // 0.1~10.0

// the low current threshold to adjust the Kp and Ki of the q-axis current PI regulator
#define USER_MOTOR1_GAIN_IQ_LOW_A            (2.0f)       // 10%~50% of the rated current

// the high current threshold to adjust the Kp and Ki of the q-axis current PI regulator
#define USER_MOTOR1_GAIN_IQ_HIGH_A           (6.0f)       // 50%~100% of the rated current

// the gain coefficient to adjust the Kp of the q-axis current PI regulator for startup
#define USER_MOTOR1_KP_IQ_START_SF           (1.5f)       // 0.1~10.0

// the gain coefficient to adjust the Ki of the q-axis current PI regulator for startup
#define USER_MOTOR1_KI_IQ_START_SF           (1.5f)       // 0.1~10.0

// the low gain coefficient to adjust the Kp of the q-axis current PI regulator
#define USER_MOTOR1_KP_IQ_LOW_SF             (2.0f)       // 0.1~10.0

// the low gain coefficient to adjust the Ki of the q-axis current PI regulator
#define USER_MOTOR1_KI_IQ_LOW_SF             (2.0f)       // 0.1~10.0

// the high gain coefficient to adjust the Kp of the d-axis current PI regulator
#define USER_MOTOR1_KP_IQ_HIGH_SF            (1.0f)       // 0.1~10.0

// the high gain coefficient to adjust the Ki of the d-axis current PI regulator
#define USER_MOTOR1_KI_IQ_HIGH_SF            (1.0f)       // 0.1~10.0

// the gain coefficient to adjust the Kp of the q-axis current PI regulator
#define USER_MOTOR1_KP_ID_SF                 (1.0f)       // 0.1~10.0

// the gain coefficient to adjust the Ki of the q-axis current PI regulator
#define USER_MOTOR1_KI_ID_SF                 (1.0f)       // 0.1~10.0

//-----------------------------------------------------------------------------
#elif (USER_MOTOR1 == Estun_EMJ_04APB22)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE                    MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS          (4)
#define USER_MOTOR1_Rr_Ohm                  (0.0f)
#define USER_MOTOR1_Rs_Ohm                  (2.62655902f)
#define USER_MOTOR1_Ls_d_H                  (0.00860825367f)
#define USER_MOTOR1_Ls_q_H                  (0.00860825367f)
#define USER_MOTOR1_RATED_FLUX_VpHz         (0.377903223f)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A   (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A       (1.0f)
#define USER_MOTOR1_IND_EST_CURRENT_A       (-1.0f)
#define USER_MOTOR1_MAX_CURRENT_A           (5.0f)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz        (40.0f)
#define USER_MOTOR1_NUM_ENC_SLOTS           (2500)
#define USER_MOTOR1_INERTIA_Kgm2            (3.100017e-5)

#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz   (5.0f)          // Hz

// Ls compensation coefficient
#define USER_MOTOR1_Ls_d_COMP_COEF         (0.15f)          // 0.0f~0.5f
#define USER_MOTOR1_Ls_q_COMP_COEF         (0.35f)          // 0.0f~0.5f
#define USER_MOTOR1_Ls_MIN_NUM_COEF        (0.55f)          // 0.5f~1.0f

#define USER_MOTOR1_RATED_VOLTAGE_V         (200.0f)
#define USER_MOTOR1_FREQ_MIN_Hz             (5.0f)          // Hz
#define USER_MOTOR1_FREQ_MAX_Hz             (400.0f)        // Hz

#define USER_MOTOR1_FREQ_LOW_Hz             (10.0f)         // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz            (200.0f)        // Hz
#define USER_MOTOR1_VOLT_MIN_V              (20.0f)         // Volt
#define USER_MOTOR1_VOLT_MAX_V              (200.0f)        // Volt

#define USER_MOTOR1_FORCE_DELTA_A           (0.05f)         // A
#define USER_MOTOR1_ALIGN_DELTA_A           (0.01f)         // A
#define USER_MOTOR1_FLUX_CURRENT_A          (0.5f)          // A
#define USER_MOTOR1_ALIGN_CURRENT_A         (1.0f)          // A
#define USER_MOTOR1_STARTUP_CURRENT_A       (1.5f)          // A
#define USER_MOTOR1_TORQUE_CURRENT_A        (1.0f)          // A
#define USER_MOTOR1_OVER_CURRENT_A          (4.5f)          // A

#define USER_MOTOR1_SPEED_START_Hz          (30.0f)
#define USER_MOTOR1_SPEED_FORCE_Hz          (20.0f)
#define USER_MOTOR1_ACCEL_START_Hzps        (10.0f)         // Hz/s
#define USER_MOTOR1_ACCEL_MAX_Hzps          (20.0f)        // Hz/s

#define USER_MOTOR1_SPEED_FS_Hz             (3.0f)

// only for encoder
#define USER_MOTOR1_ENC_POS_MAX            (USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1)
#define USER_MOTOR1_ENC_POS_OFFSET         (668)

// Only for eSMO
#define USER_MOTOR1_KSLIDE_MAX             (1.50f)       // 2.0f
#define USER_MOTOR1_KSLIDE_MIN             (0.75f)

#define USER_MOTOR1_PLL_KP_MAX             (10.0f)
#define USER_MOTOR1_PLL_KP_MIN             (2.0f)
#define USER_MOTOR1_PLL_KP_SF              (5.0f)
#define USER_MOTOR1_PLL_KI                 (2.8125E-06f)    // Not used, reserve

#define USER_MOTOR1_BEMF_THRESHOLD         (0.5f)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz        (2.0f)       // 1.0f
#define USER_MOTOR1_THETA_OFFSET_SF        (1.0f)       // 2.5f
#define USER_MOTOR1_SPEED_LPF_FC_Hz        (200.0f)     // 100.0f

// for IS-BLDC
#define USER_MOTOR1_RAMP_START_Hz           (5.0f)
#define USER_MOTOR1_RAMP_END_Hz             (30.0f)
#define USER_MOTOR1_RAMP_DELAY              (1)

#define USER_MOTOR1_ISBLDC_INT_MAX          (0.015f)
#define USER_MOTOR1_ISBLDC_INT_MIN          (0.010f)

// for Rs online calibration
#define USER_MOTOR1_RSONLINE_WAIT_TIME      (60000U)    // 5min/300s at 5ms base
#define USER_MOTOR1_RSONLINE_WORK_TIME      (24000U)     //2min/120s at 5ms base

// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz        (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz       (150.0f)

#define USER_MOTOR1_KP_SPD_START_SF          (1.5f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF          (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_LOW_SF            (2.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF            (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_HIGH_SF           (1.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF           (1.0f)       // 0.1~10.0

#define USER_MOTOR1_GAIN_IQ_LOW_A            (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A           (6.0f)

#define USER_MOTOR1_KP_IQ_START_SF           (1.5f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF           (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_LOW_SF             (2.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF             (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_HIGH_SF            (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF            (1.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_ID_SF                 (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF                 (1.0f)       // 0.1~10.0

//------------------------------------------------------------------------------
#elif (USER_MOTOR1 == Tool_Makita_GFD01)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE                   MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS         (2)
#define USER_MOTOR1_Rr_Ohm                 (NULL)

// 15kHz
//#define USER_MOTOR1_Rs_Ohm                 (0.0253030714f)
//#define USER_MOTOR1_Ls_d_H                 (2.89102645e-05f)
//#define USER_MOTOR1_Ls_q_H                 (2.89102645e-05f)
//#define USER_MOTOR1_RATED_FLUX_VpHz        (0.0242515542f)

//// 25kHz
//#define USER_MOTOR1_Rs_Ohm                 (0.0250713862f)
//#define USER_MOTOR1_Ls_d_H                 (2.84397684e-05f)
//#define USER_MOTOR1_Ls_q_H                 (2.84397684e-05f)
//#define USER_MOTOR1_RATED_FLUX_VpHz        (0.0242347941f)

// 20kHz
#define USER_MOTOR1_Rs_Ohm                 (0.0379858911f)
#define USER_MOTOR1_Ls_d_H                 (0.000106012929f)
#define USER_MOTOR1_Ls_q_H                 (0.000106012929f)
#define USER_MOTOR1_RATED_FLUX_VpHz        (0.0138726495f)

#define USER_MOTOR1_MAGNETIZING_CURRENT_A  (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A      (5.0f)
#define USER_MOTOR1_IND_EST_CURRENT_A      (-3.5f)
#define USER_MOTOR1_MAX_CURRENT_A          (25.0f)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz       (100.0f)
#define USER_MOTOR1_INERTIA_Kgm2           (7.06154e-06)

// Ls compensation coefficient
#define USER_MOTOR1_Ls_d_COMP_COEF         (0.15f)          // 0.0f~0.5f
#define USER_MOTOR1_Ls_q_COMP_COEF         (0.35f)          // 0.0f~0.5f
#define USER_MOTOR1_Ls_MIN_NUM_COEF        (0.55f)          // 0.5f~1.0f

#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz  (5.0f)           // Hz

#define USER_MOTOR1_RATED_VOLTAGE_V        (36.0f)          // V
#define USER_MOTOR1_FREQ_MIN_Hz            (10.0f)          // Hz
#define USER_MOTOR1_FREQ_MAX_Hz            (1500.0f)        // Hz

#define USER_MOTOR1_FREQ_LOW_Hz            (10.0f)          // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz           (1500.0f)        // Hz
#define USER_MOTOR1_VOLT_MIN_V             (3.0f)           // Volt
#define USER_MOTOR1_VOLT_MAX_V             (36.0f)          // Volt

#define USER_MOTOR1_FORCE_DELTA_A          (0.05f)          // A
#define USER_MOTOR1_ALIGN_DELTA_A          (0.01f)          // A
#define USER_MOTOR1_FLUX_CURRENT_A         (0.5f)           // A
#define USER_MOTOR1_ALIGN_CURRENT_A        (1.0f)           // A
#define USER_MOTOR1_STARTUP_CURRENT_A      (8.5f)           // A
#define USER_MOTOR1_TORQUE_CURRENT_A       (5.0f)           // A
#define USER_MOTOR1_OVER_CURRENT_A         (26.5f)           // A

#define USER_MOTOR1_SPEED_START_Hz         (35.0f)          // Hz
#define USER_MOTOR1_SPEED_FORCE_Hz         (30.0f)          // Hz
#define USER_MOTOR1_ACCEL_START_Hzps       (50.0f)          // Hz/s
#define USER_MOTOR1_ACCEL_MAX_Hzps         (200.0f)         // Hz/s

#define USER_MOTOR1_SPEED_FS_Hz            (3.0f)           // Hz

#define USER_MOTOR1_BRAKE_CURRENT_A        (1.0f)           // A
#define USER_MOTOR1_BRAKE_TIME_DELAY       (12000U)         // 60s/5ms

// Only for encoder
#define USER_MOTOR1_NUM_ENC_SLOTS          (1000)           // lines
#define USER_MOTOR1_ENC_POS_MAX            (USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1)
#define USER_MOTOR1_ENC_POS_OFFSET         (668)            // lines

// Only for eSMO
#define USER_MOTOR1_KSLIDE_MAX             (0.50f)
#define USER_MOTOR1_KSLIDE_MIN             (0.10f)

#define USER_MOTOR1_PLL_KP_MAX             (10.0f)
#define USER_MOTOR1_PLL_KP_MIN             (1.50f)
#define USER_MOTOR1_PLL_KP_SF              (5.0f)
#define USER_MOTOR1_PLL_KI                 (2.8125E-06f)    // Not used, reserve

#define USER_MOTOR1_BEMF_THRESHOLD         (0.5f)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz        (2.0f)
#define USER_MOTOR1_THETA_OFFSET_SF        (1.0f)
#define USER_MOTOR1_SPEED_LPF_FC_Hz        (200.0f)

// Only for IS-BLDC
#define USER_MOTOR1_RAMP_START_Hz           (3.0f)
#define USER_MOTOR1_RAMP_END_Hz             (30.0f)
#define USER_MOTOR1_RAMP_DELAY              (5)

#define USER_MOTOR1_ISBLDC_INT_MAX          (0.015f)
#define USER_MOTOR1_ISBLDC_INT_MIN          (0.010f)

// for Rs online calibration with FAST
#define USER_MOTOR1_RSONLINE_WAIT_TIME      (60000U)    // 5min/300s at 5ms base
#define USER_MOTOR1_RSONLINE_WORK_TIME      (24000U)     //2min/120s at 5ms base

// Controller Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz        (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz       (150.0f)

#define USER_MOTOR1_KP_SPD_START_SF          (1.5f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF          (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_LOW_SF            (2.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF            (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_HIGH_SF           (1.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF           (1.0f)       // 0.1~10.0

#define USER_MOTOR1_GAIN_IQ_LOW_A            (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A           (6.0f)

#define USER_MOTOR1_KP_IQ_START_SF           (1.5f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF           (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_LOW_SF             (2.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF             (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_HIGH_SF            (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF            (1.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_ID_SF                 (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF                 (1.0f)       // 0.1~10.0

//-----------------------------------------------------------------------------------------
#elif (USER_MOTOR1 == CHMotor_WM_Test)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE                    MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS          (8)
#define USER_MOTOR1_Rr_Ohm                  (0.0f)
#define USER_MOTOR1_Rs_Ohm                  (3.56442809f)
#define USER_MOTOR1_Ls_d_H                  (0.0478876233f)
#define USER_MOTOR1_Ls_q_H                  (0.0478876233f)
#define USER_MOTOR1_RATED_FLUX_VpHz         (0.377903223f)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A   (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A       (1.0f)
#define USER_MOTOR1_IND_EST_CURRENT_A       (-1.0f)
#define USER_MOTOR1_MAX_CURRENT_A           (5.0f)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz        (40.0f)
#define USER_MOTOR1_NUM_ENC_SLOTS           (2500)
#define USER_MOTOR1_INERTIA_Kgm2            (3.100017e-5)

#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz   (5.0f)          // Hz

// Ls compensation coefficient
#define USER_MOTOR1_Ls_d_COMP_COEF         (0.15f)          // 0.0f~0.5f
#define USER_MOTOR1_Ls_q_COMP_COEF         (0.35f)          // 0.0f~0.5f
#define USER_MOTOR1_Ls_MIN_NUM_COEF        (0.55f)          // 0.5f~1.0f

#define USER_MOTOR1_RATED_VOLTAGE_V         (200.0f)
#define USER_MOTOR1_FREQ_MIN_Hz             (5.0f)          // Hz
#define USER_MOTOR1_FREQ_MAX_Hz             (400.0f)        // Hz

#define USER_MOTOR1_FREQ_LOW_Hz             (10.0f)         // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz            (200.0f)        // Hz
#define USER_MOTOR1_VOLT_MIN_V              (20.0f)         // Volt
#define USER_MOTOR1_VOLT_MAX_V              (200.0f)        // Volt

#define USER_MOTOR1_FORCE_DELTA_A           (0.05f)         // A
#define USER_MOTOR1_ALIGN_DELTA_A           (0.01f)         // A
#define USER_MOTOR1_FLUX_CURRENT_A          (0.5f)          // A
#define USER_MOTOR1_ALIGN_CURRENT_A         (1.0f)          // A
#define USER_MOTOR1_STARTUP_CURRENT_A       (2.5f)          // A
#define USER_MOTOR1_TORQUE_CURRENT_A        (1.0f)          // A
#define USER_MOTOR1_OVER_CURRENT_A          (4.5f)          // A

#define USER_MOTOR1_SPEED_START_Hz          (30.0f)
#define USER_MOTOR1_SPEED_FORCE_Hz          (20.0f)
#define USER_MOTOR1_ACCEL_START_Hzps        (10.0f)         // Hz/s
#define USER_MOTOR1_ACCEL_MAX_Hzps          (20.0f)        // Hz/s

#define USER_MOTOR1_SPEED_FS_Hz             (3.0f)

// only for encoder
#define USER_MOTOR1_ENC_POS_MAX            (USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1)
#define USER_MOTOR1_ENC_POS_OFFSET         (668)

// Only for eSMO
#define USER_MOTOR1_KSLIDE_MAX             (1.50f)       // 2.0f
#define USER_MOTOR1_KSLIDE_MIN             (0.75f)

#define USER_MOTOR1_PLL_KP_MAX             (10.0f)
#define USER_MOTOR1_PLL_KP_MIN             (2.0f)
#define USER_MOTOR1_PLL_KP_SF              (5.0f)
#define USER_MOTOR1_PLL_KI                 (2.8125E-06f)    // Not used, reserve

#define USER_MOTOR1_BEMF_THRESHOLD         (0.5f)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz        (2.0f)       // 1.0f
#define USER_MOTOR1_THETA_OFFSET_SF        (1.0f)       // 2.5f
#define USER_MOTOR1_SPEED_LPF_FC_Hz        (200.0f)     // 100.0f

// for IS-BLDC
#define USER_MOTOR1_RAMP_START_Hz           (5.0f)
#define USER_MOTOR1_RAMP_END_Hz             (30.0f)
#define USER_MOTOR1_RAMP_DELAY              (1)

#define USER_MOTOR1_ISBLDC_INT_MAX          (0.015f)
#define USER_MOTOR1_ISBLDC_INT_MIN          (0.010f)

// for Rs online calibration
#define USER_MOTOR1_RSONLINE_WAIT_TIME      (60000U)    // 5min/300s at 5ms base
#define USER_MOTOR1_RSONLINE_WORK_TIME      (24000U)     //2min/120s at 5ms base

// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz        (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz       (150.0f)

#define USER_MOTOR1_KP_SPD_START_SF          (1.5f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF          (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_LOW_SF            (2.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF            (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_HIGH_SF           (1.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF           (1.0f)       // 0.1~10.0

#define USER_MOTOR1_GAIN_IQ_LOW_A            (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A           (6.0f)

#define USER_MOTOR1_KP_IQ_START_SF           (1.5f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF           (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_LOW_SF             (2.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF             (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_HIGH_SF            (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF            (1.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_ID_SF                 (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF                 (1.0f)       // 0.1~10.0

#elif (USER_MOTOR1 == Marathon_N56PNRA10102)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE                   MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS         (3)
#define USER_MOTOR1_Rr_Ohm                 (NULL)
#define USER_MOTOR1_Rs_Ohm                 (2.21783066f)
#define USER_MOTOR1_Ls_d_H                 (0.0271135084f)
#define USER_MOTOR1_Ls_q_H                 (0.0271135084f)
#define USER_MOTOR1_RATED_FLUX_VpHz        (0.575999975f)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A  (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A      (1.5f)
#define USER_MOTOR1_IND_EST_CURRENT_A      (-1.0f)
#define USER_MOTOR1_MAX_CURRENT_A          (5.0f)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz       (20.0f)
#define USER_MOTOR1_NUM_ENC_SLOTS          (2500)
#define USER_MOTOR1_INERTIA_Kgm2           (6.300017e-5)

#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz  (5.0f)           // Hz

#define USER_MOTOR1_RATED_VOLTAGE_V        (200.0f)         // V
#define USER_MOTOR1_FREQ_MIN_Hz            (5.0f)           // Hz
#define USER_MOTOR1_FREQ_MAX_Hz            (400.0f)         // Hz

#define USER_MOTOR1_FREQ_LOW_Hz            (10.0)           // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz           (200.0)          // Hz
#define USER_MOTOR1_VOLT_MIN_V             (20.0)           // Volt
#define USER_MOTOR1_VOLT_MAX_V             (200.0)          // Volt

#define USER_MOTOR1_FORCE_DELTA_A          (0.05f)          // A
#define USER_MOTOR1_ALIGN_DELTA_A          (0.01f)          // A
#define USER_MOTOR1_FLUX_CURRENT_A         (0.5f)           // A
#define USER_MOTOR1_ALIGN_CURRENT_A        (1.0f)           // A
#define USER_MOTOR1_STARTUP_CURRENT_A      (2.5f)           // A
#define USER_MOTOR1_TORQUE_CURRENT_A       (1.0f)           // A
#define USER_MOTOR1_OVER_CURRENT_A         (4.5f)           // A

#define USER_MOTOR1_SPEED_START_Hz         (30.0f)          // Hz
#define USER_MOTOR1_SPEED_FORCE_Hz         (20.0f)          // Hz
#define USER_MOTOR1_ACCEL_START_Hzps       (10.0f)          // Hz/s
#define USER_MOTOR1_ACCEL_MAX_Hzps         (20.0f)          // Hz/s

#define USER_MOTOR1_SPEED_FS_Hz            (3.0f)

// only for encoder
#define USER_MOTOR1_ENC_POS_MAX            (USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1)
#define USER_MOTOR1_ENC_POS_OFFSET         (668)

// Only for eSMO
#define USER_MOTOR1_KSLIDE_MAX             (1.50f)       // 1.5f
#define USER_MOTOR1_KSLIDE_MIN             (0.75f)

#define USER_MOTOR1_PLL_KP_MAX             (10.0f)
#define USER_MOTOR1_PLL_KP_MIN             (2.0f)
#define USER_MOTOR1_PLL_KP_SF              (5.0f)
#define USER_MOTOR1_PLL_KI                 (2.8125E-06f)    // Not used, reserve

#define USER_MOTOR1_BEMF_THRESHOLD         (0.5f)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz        (2.0f)       // 2.0f
#define USER_MOTOR1_THETA_OFFSET_SF        (1.0f)       // 1.0f
#define USER_MOTOR1_SPEED_LPF_FC_Hz        (200.0f)     // 200.0f

// for IS-BLDC
#define USER_MOTOR1_RAMP_START_Hz           (5.0f)
#define USER_MOTOR1_RAMP_END_Hz             (30.0f)
#define USER_MOTOR1_RAMP_DELAY              (1)

#define USER_MOTOR1_ISBLDC_INT_MAX          (0.015f)
#define USER_MOTOR1_ISBLDC_INT_MIN          (0.010f)

// for Rs online calibration
#define USER_MOTOR1_RSONLINE_WAIT_TIME      (12000U)    // 1min/60s at 5ms base
#define USER_MOTOR1_RSONLINE_WORK_TIME      (12000U)     //1min/60s at 5ms base

// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz        (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz       (150.0f)

#define USER_MOTOR1_KP_SPD_START_SF          (1.5f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF          (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_LOW_SF            (2.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF            (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_HIGH_SF           (1.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF           (1.0f)       // 0.1~10.0

#define USER_MOTOR1_GAIN_IQ_LOW_A            (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A           (6.0f)

#define USER_MOTOR1_KP_IQ_START_SF           (1.5f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF           (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_LOW_SF             (2.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF             (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_HIGH_SF            (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF            (1.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_ID_SF                 (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF                 (1.0f)       // 0.1~10.0

//------------------------------------------------------------------------------
#elif (USER_MOTOR1 == Tamagawa_TS4606N8302)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE                   MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS         (4)
#define USER_MOTOR1_Rr_Ohm                 (NULL)

#define USER_MOTOR1_Rs_Ohm                 (0.214345068f)
#define USER_MOTOR1_Ls_d_H                 (0.000486983976f)
#define USER_MOTOR1_Ls_q_H                 (0.000486983976f)
#define USER_MOTOR1_RATED_FLUX_VpHz        (0.0441591553f)

#define USER_MOTOR1_MAGNETIZING_CURRENT_A  (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A      (2.0f)
#define USER_MOTOR1_IND_EST_CURRENT_A      (-1.0f)
#define USER_MOTOR1_MAX_CURRENT_A          (8.5f)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz       (60.0f)
#define USER_MOTOR1_INERTIA_Kgm2           (7.06154e-06)

// Ls compensation coefficient
#define USER_MOTOR1_Ls_d_COMP_COEF         (0.15f)          // 0.0f~0.5f
#define USER_MOTOR1_Ls_q_COMP_COEF         (0.35f)          // 0.0f~0.5f
#define USER_MOTOR1_Ls_MIN_NUM_COEF        (0.55f)          // 0.5f~1.0f

#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz  (5.0f)           // Hz

#define USER_MOTOR1_FREQ_LOW_Hz            (10.0f)           // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz           (400.0f)         // Hz
#define USER_MOTOR1_VOLT_MIN_V             (3.0f)           // Volt
#define USER_MOTOR1_VOLT_MAX_V             (24.0f)          // Volt

#define USER_MOTOR1_RATED_VOLTAGE_V        (24.0f)          // V
#define USER_MOTOR1_FREQ_MIN_Hz            (9.0f)           // Hz
#define USER_MOTOR1_FREQ_MAX_Hz            (600.0f)         // Hz

#define USER_MOTOR1_FORCE_DELTA_A          (0.05f)          // A
#define USER_MOTOR1_ALIGN_DELTA_A          (0.01f)          // A
#define USER_MOTOR1_FLUX_CURRENT_A         (0.5f)           // A
#define USER_MOTOR1_ALIGN_CURRENT_A        (1.5f)           // A
#define USER_MOTOR1_STARTUP_CURRENT_A      (3.5f)           // A
#define USER_MOTOR1_TORQUE_CURRENT_A       (3.0f)           // A
#define USER_MOTOR1_OVER_CURRENT_A         (7.5f)           // A

#define USER_MOTOR1_SPEED_START_Hz         (5.0f)           // Hz
#define USER_MOTOR1_SPEED_FORCE_Hz         (5.0f)           // Hz
#define USER_MOTOR1_ACCEL_START_Hzps       (10.0f)          // Hz/s
#define USER_MOTOR1_ACCEL_MAX_Hzps         (20.0f)          // Hz/s

#define USER_MOTOR1_SPEED_FS_Hz            (3.0f)           // Hz

#define USER_MOTOR1_BRAKE_CURRENT_A        (1.0f)           // A
#define USER_MOTOR1_BRAKE_TIME_DELAY       (12000U)         // 60s/5ms

// for Rs online calibration with FAST
#define USER_MOTOR1_RSONLINE_WAIT_TIME      (60000U)    // 5min/300s at 5ms base
#define USER_MOTOR1_RSONLINE_WORK_TIME      (24000U)     //2min/120s at 5ms base

// Only for encoder
#define USER_MOTOR1_NUM_ENC_SLOTS          (1000)           // lines
#define USER_MOTOR1_ENC_POS_MAX            (USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1)
#define USER_MOTOR1_ENC_POS_OFFSET         (668)            // lines

// Only for eSMO
#define USER_MOTOR1_KSLIDE_MAX             (0.50f)
#define USER_MOTOR1_KSLIDE_MIN             (0.10f)

#define USER_MOTOR1_PLL_KP_MAX             (10.0f)
#define USER_MOTOR1_PLL_KP_MIN             (1.50f)
#define USER_MOTOR1_PLL_KP_SF              (5.0f)
#define USER_MOTOR1_PLL_KI                 (2.8125E-06f)    // Not used, reserve

#define USER_MOTOR1_BEMF_THRESHOLD         (0.5f)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz        (2.0f)
#define USER_MOTOR1_THETA_OFFSET_SF        (1.0f)
#define USER_MOTOR1_SPEED_LPF_FC_Hz        (200.0f)

// Only for IS-BLDC
#define USER_MOTOR1_RAMP_START_Hz           (3.0f)
#define USER_MOTOR1_RAMP_END_Hz             (30.0f)
#define USER_MOTOR1_RAMP_DELAY              (5)

#define USER_MOTOR1_ISBLDC_INT_MAX          (0.015f)
#define USER_MOTOR1_ISBLDC_INT_MIN          (0.010f)

// Resolver related parameters defines
#define USER_M1_PEXC_OFFSET_SET              (1574.6f)
#define USER_M1_PEXC_SCALE_SF_SET            (0.5f / 2048.0f)

#define USER_M1_PSIN_OFFSET_SET              (1849.927f)
#define USER_M1_PCOS_OFFSET_SET              (1849.2431f)

#define USER_M1_PSIN_SCALE_SF_SET            (0.0015059217f)
#define USER_M1_PCOS_SCALE_SF_SET            (0.0015136319f)

// Decouple the main PWM frequency and resolver frequency
// Note that the ratio between PWM frequency resolver sampling frequency
// have to be integer value
#define USER_MOTOR1_RESOLVER_EXCITE_FREQUENCY   (10.0f)         // 10.0kHz
#define USER_MOTOR1_RESOLVER_SAMPLE_FREQUENCY   (20.0f)

#define USER_MOTOR1_RESOLVER_EXC_PWM_FREQUENCY  \
          (USER_MOTOR1_RESOLVER_EXCITE_FREQUENCY * 20.0)        // 200kHz

// Change to SYSTEM_FREQUENCY / 1 after changing EPWM Clock Divide Select to /1
#define USER_MOTOR1_RESOLVER_ADC_PWM_TICKS       \
              ((USER_SYSTEM_FREQ_MHz / USER_MOTOR1_RESOLVER_SAMPLE_FREQUENCY) * \
                500.0f - 1.0f)

#define USER_MOTOR1_RESOLVER_DAC_PWM_TICKS       \
             ((USER_SYSTEM_FREQ_MHz / USER_MOTOR1_RESOLVER_EXC_PWM_FREQUENCY) * \
                  1000.0f - 1.0f)

#define USER_MOTOR1_RESOLVER_PLL_OMEGA          (200.0f * MATH_TWO_PI)
#define USER_MOTOR1_RESOLVER_PLL_ZETA           (0.7f)
#define USER_MOTOR1_RESOLVER_PLL_COMP_GAIN      (-4.6585E-5f)

#define USER_MOTOR1_RESOLVER_PLL_LPF_BW         (100.0f)        // Unit: Hz

// Bias between Resolver zero and Id
#define USER_MOTOR1_RESOLVER_POS_BIAS           (-1.05097198f)  // Unit: rad

#define USER_MOTOR1_RESOLVER_THETA_BIAS_RAD     (-1.05097198f)  // Unit: rad
#define USER_MOTOR1_RESOLVER_LPF_FC_HZ          (100.0f)        // Unit: Hz
#define USER_MOTOR1_RESOLVER_SCOS_LPF_HZ        (5000.0f)       // Unit: Hz
#define USER_MOTOR1_RESOLVER_CALIB_LPF_HZ       (200.0f)        // unit: Hz

// sin/cos encoder related parameters defines
#define USER_M1_PSINAB_OFFSET_SET           (1928.65234f)
#define USER_M1_PCOSAB_OFFSET_SET           (1866.88171f)

#define USER_M1_PSINAB_SCALE_SF_SET         (0.5f / 2048.0f)
#define USER_M1_PCOSAB_SCALE_SF_SET         (0.5f / 2048.0f)

#define USER_M1_PSINCD_OFFSET_SET           (1928.65234f)
#define USER_M1_PCOSCD_OFFSET_SET           (1866.88171f)

#define USER_M1_PSINCD_SCALE_SF_SET         (0.5f / 2048.0f)
#define USER_M1_PCOSCD_SCALE_SF_SET         (0.5f / 2048.0f)


#define USER_MOTOR1_PSINCOS_SAMPLE_FREQUENCY   (20.0f)

#define USER_MOTOR1_PSINCOS_PULSE_LINES        (2048.0f)

// Change to SYSTEM_FREQUENCY / 1 after changing EPWM Clock Divide Select to /1
#define USER_MOTOR1_PSINCOS_ADC_PWM_TICKS       \
              ((USER_SYSTEM_FREQ_MHz / USER_MOTOR1_PSINCOS_SAMPLE_FREQUENCY) * \
                500.0f - 1.0f)

#define USER_MOTOR1_PSINCOS_PLL_OMEGA           (200.0f * MATH_TWO_PI)
#define USER_MOTOR1_PSINCOS_PLL_ZETA            (0.7f)
#define USER_MOTOR1_PSINCOS_PLL_COMP_GAIN       (-4.6585E-5f)

#define USER_MOTOR1_PSINCOS_PLL_LPF_BW          (100.0f)        // Unit: Hz

// Bias between Resolver zero and Id
#define USER_MOTOR1_PSINCOSAB_POS_BIAS          (-1.05097198f)  // Unit: rad
#define USER_MOTOR1_PSINCOSCD_POS_BIAS          (-1.05097198f)  // Unit: rad

#define USER_MOTOR1_PSINCOS_THETA_BIAS_RAD      (2.33111715f)   // Unit: rad
#define USER_MOTOR1_PSINCOS_LPF_FC_HZ           (100.0f)        // Unit: Hz
#define USER_MOTOR1_PSINCOS_SCOS_LPF_HZ         (1000.0f)       // unit: Hz
#define USER_MOTOR1_PSINCOS_CALIB_LPF_HZ        (200.0f)        // unit: Hz

// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz        (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz       (150.0f)

#define USER_MOTOR1_KP_SPD_START_SF          (1.5f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF          (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_LOW_SF            (2.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF            (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_HIGH_SF           (1.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF           (1.0f)       // 0.1~10.0

#define USER_MOTOR1_GAIN_IQ_LOW_A            (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A           (6.0f)

#define USER_MOTOR1_KP_IQ_START_SF           (1.5f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF           (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_LOW_SF             (2.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF             (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_HIGH_SF            (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF            (1.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_ID_SF                 (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF                 (1.0f)       // 0.1~10.0

//------------------------------------------------------------------------------
#elif (USER_MOTOR1 == AKM21G_CK9NGE00)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE                   MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS         (3)
#define USER_MOTOR1_Rr_Ohm                 (NULL)

#define USER_MOTOR1_Rs_Ohm                 (0.724585772f)
#define USER_MOTOR1_Ls_d_H                 (0.00115217688f)
#define USER_MOTOR1_Ls_q_H                 (0.00115217688f)
#define USER_MOTOR1_RATED_FLUX_VpHz        (0.105363153f)

#define USER_MOTOR1_MAGNETIZING_CURRENT_A  (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A      (2.0f)
#define USER_MOTOR1_IND_EST_CURRENT_A      (-1.0f)
#define USER_MOTOR1_MAX_CURRENT_A          (8.5f)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz       (60.0f)
#define USER_MOTOR1_INERTIA_Kgm2           (7.06154e-06)

// Ls compensation coefficient
#define USER_MOTOR1_Ls_d_COMP_COEF         (0.15f)          // 0.0f~0.5f
#define USER_MOTOR1_Ls_q_COMP_COEF         (0.35f)          // 0.0f~0.5f
#define USER_MOTOR1_Ls_MIN_NUM_COEF        (0.55f)          // 0.5f~1.0f

#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz  (5.0f)           // Hz

#define USER_MOTOR1_FREQ_LOW_Hz            (10.0f)           // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz           (400.0f)         // Hz
#define USER_MOTOR1_VOLT_MIN_V             (3.0f)           // Volt
#define USER_MOTOR1_VOLT_MAX_V             (24.0f)          // Volt

#define USER_MOTOR1_RATED_VOLTAGE_V        (24.0f)          // V
#define USER_MOTOR1_FREQ_MIN_Hz            (9.0f)           // Hz
#define USER_MOTOR1_FREQ_MAX_Hz            (600.0f)         // Hz

#define USER_MOTOR1_FORCE_DELTA_A          (0.05f)          // A
#define USER_MOTOR1_ALIGN_DELTA_A          (0.01f)          // A
#define USER_MOTOR1_FLUX_CURRENT_A         (0.5f)           // A
#define USER_MOTOR1_ALIGN_CURRENT_A        (1.5f)           // A
#define USER_MOTOR1_STARTUP_CURRENT_A      (3.5f)           // A
#define USER_MOTOR1_TORQUE_CURRENT_A       (3.0f)           // A
#define USER_MOTOR1_OVER_CURRENT_A         (7.5f)           // A

#define USER_MOTOR1_SPEED_START_Hz         (5.0f)           // Hz
#define USER_MOTOR1_SPEED_FORCE_Hz         (5.0f)           // Hz
#define USER_MOTOR1_ACCEL_START_Hzps       (10.0f)          // Hz/s
#define USER_MOTOR1_ACCEL_MAX_Hzps         (20.0f)          // Hz/s

#define USER_MOTOR1_SPEED_FS_Hz            (3.0f)           // Hz

#define USER_MOTOR1_BRAKE_CURRENT_A        (1.0f)           // A
#define USER_MOTOR1_BRAKE_TIME_DELAY       (12000U)         // 60s/5ms

// for Rs online calibration with FAST
#define USER_MOTOR1_RSONLINE_WAIT_TIME      (60000U)    // 5min/300s at 5ms base
#define USER_MOTOR1_RSONLINE_WORK_TIME      (24000U)     //2min/120s at 5ms base

// Only for encoder
#define USER_MOTOR1_NUM_ENC_SLOTS          (1000)           // lines
#define USER_MOTOR1_ENC_POS_MAX            (USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1)
#define USER_MOTOR1_ENC_POS_OFFSET         (668)            // lines

// Only for eSMO
#define USER_MOTOR1_KSLIDE_MAX             (0.50f)
#define USER_MOTOR1_KSLIDE_MIN             (0.10f)

#define USER_MOTOR1_PLL_KP_MAX             (10.0f)
#define USER_MOTOR1_PLL_KP_MIN             (1.50f)
#define USER_MOTOR1_PLL_KP_SF              (5.0f)
#define USER_MOTOR1_PLL_KI                 (2.8125E-06f)    // Not used, reserve

#define USER_MOTOR1_BEMF_THRESHOLD         (0.5f)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz        (2.0f)
#define USER_MOTOR1_THETA_OFFSET_SF        (1.0f)
#define USER_MOTOR1_SPEED_LPF_FC_Hz        (200.0f)

// Only for IS-BLDC
#define USER_MOTOR1_RAMP_START_Hz           (3.0f)
#define USER_MOTOR1_RAMP_END_Hz             (30.0f)
#define USER_MOTOR1_RAMP_DELAY              (5)

#define USER_MOTOR1_ISBLDC_INT_MAX          (0.015f)
#define USER_MOTOR1_ISBLDC_INT_MIN          (0.010f)

// sin/cos encoder related parameters defines
#define USER_M1_PSINAB_OFFSET_SET           (1928.65234f)
#define USER_M1_PCOSAB_OFFSET_SET           (1866.88171f)

#define USER_M1_PSINAB_SCALE_SF_SET         (0.25f / 2048.0f)
#define USER_M1_PCOSAB_SCALE_SF_SET         (0.25f / 2048.0f)

#define USER_M1_PSINCD_OFFSET_SET           (1928.65234f)
#define USER_M1_PCOSCD_OFFSET_SET           (1866.88171f)

#define USER_M1_PSINCD_SCALE_SF_SET         (0.25f / 2048.0f)
#define USER_M1_PCOSCD_SCALE_SF_SET         (0.25f / 2048.0f)


#define USER_MOTOR1_PSINCOS_SAMPLE_FREQUENCY   (20.0f)

#define USER_MOTOR1_PSINCOS_PULSE_LINES        (2048.0f)
#define USER_MOTOR1_PSINCOS_LINES_MAX          (USER_MOTOR1_PSINCOS_PULSE_LINES * 4.0f - 1.0f)

// Change to SYSTEM_FREQUENCY / 1 after changing EPWM Clock Divide Select to /1
#define USER_MOTOR1_PSINCOS_ADC_PWM_TICKS       \
              ((USER_SYSTEM_FREQ_MHz / USER_MOTOR1_PSINCOS_SAMPLE_FREQUENCY) * \
                500.0f - 1.0f)

#define USER_MOTOR1_PSINCOS_PLL_OMEGA           (200.0f * MATH_TWO_PI)
#define USER_MOTOR1_PSINCOS_PLL_ZETA            (0.7f)
#define USER_MOTOR1_PSINCOS_PLL_COMP_GAIN       (-4.6585E-5f)

#define USER_MOTOR1_PSINCOS_PLL_LPF_BW          (100.0f)        // Unit: Hz

// Bias between Resolver zero and Id
#define USER_MOTOR1_PSINCOSAB_POS_BIAS          (-1.05097198f)  // Unit: rad
#define USER_MOTOR1_PSINCOSCD_POS_BIAS          (-1.05097198f)  // Unit: rad

#define USER_MOTOR1_PSINCOS_THETA_BIAS_RAD      (2.33111715f)   // Unit: rad
#define USER_MOTOR1_PSINCOS_LPF_FC_HZ           (100.0f)        // Unit: Hz
#define USER_MOTOR1_PSINCOS_SCOS_LPF_HZ         (5000.0f)       // unit: Hz
#define USER_MOTOR1_PSINCOS_CALIB_LPF_HZ        (200.0f)        // unit: Hz

// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz        (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz       (150.0f)

#define USER_MOTOR1_KP_SPD_START_SF          (1.5f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF          (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_LOW_SF            (2.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF            (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_HIGH_SF           (1.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF           (1.0f)       // 0.1~10.0

#define USER_MOTOR1_GAIN_IQ_LOW_A            (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A           (6.0f)

#define USER_MOTOR1_KP_IQ_START_SF           (1.5f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF           (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_LOW_SF             (2.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF             (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_HIGH_SF            (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF            (1.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_ID_SF                 (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF                 (1.0f)       // 0.1~10.0

//------------------------------------------------------------------------------
#elif (USER_MOTOR1 == Anaheim_BLY172S_24V)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE                   MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS         (4)
#define USER_MOTOR1_Rr_Ohm                 (NULL)
#define USER_MOTOR1_Rs_Ohm                 (0.399648607f)
#define USER_MOTOR1_Ls_d_H                 (0.000585399743f)
#define USER_MOTOR1_Ls_q_H                 (0.000585399743f)
#define USER_MOTOR1_RATED_FLUX_VpHz        (0.0343291275f)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A  (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A      (1.5f)
#define USER_MOTOR1_IND_EST_CURRENT_A      (-1.5f)
#define USER_MOTOR1_MAX_CURRENT_A          (7.5f)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz       (40.0f)
#define USER_MOTOR1_NUM_ENC_SLOTS          (2000)
#define USER_MOTOR1_INERTIA_Kgm2           (4.80185e-06)

// Ls compensation coefficient
#define USER_MOTOR1_Ls_d_COMP_COEF         (0.15f)          // 0.0f~0.5f
#define USER_MOTOR1_Ls_q_COMP_COEF         (0.35f)          // 0.0f~0.5f
#define USER_MOTOR1_Ls_MIN_NUM_COEF        (0.55f)          // 0.5f~1.0f

#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz  (5.0f)          // Hz

#define USER_MOTOR1_RATED_VOLTAGE_V        (24.0f)
#define USER_MOTOR1_FREQ_MIN_Hz            (9.0f)          // Hz
#define USER_MOTOR1_FREQ_MAX_Hz            (600.0f)        // Hz
#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz  (5.0f)          // Hz

#define USER_MOTOR1_FREQ_LOW_Hz            (5.0f)           // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz           (400.0f)         // Hz
#define USER_MOTOR1_VOLT_MIN_V             (2.0f)           // Volt
#define USER_MOTOR1_VOLT_MAX_V             (24.0f)          // Volt

#define USER_MOTOR1_FORCE_DELTA_A          (0.05f)          // A
#define USER_MOTOR1_ALIGN_DELTA_A          (0.01f)          // A
#define USER_MOTOR1_FLUX_CURRENT_A         (0.5f)           // A
#define USER_MOTOR1_ALIGN_CURRENT_A        (3.5f)           // A
#define USER_MOTOR1_STARTUP_CURRENT_A      (5.5f)           // A
#define USER_MOTOR1_TORQUE_CURRENT_A       (4.0f)           // A
#define USER_MOTOR1_OVER_CURRENT_A         (9.5f)           // A

#define USER_MOTOR1_SPEED_START_Hz         (20.0f)
#define USER_MOTOR1_SPEED_FORCE_Hz         (15.0f)
#define USER_MOTOR1_ACCEL_START_Hzps       (10.0f)
#define USER_MOTOR1_ACCEL_MAX_Hzps         (20.0f)

#define USER_MOTOR1_SPEED_FS_Hz            (3.0f)

#define USER_MOTOR1_ENC_POS_MAX            (USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1)
#define USER_MOTOR1_ENC_POS_OFFSET         (668)

// Only for eSMO
#define USER_MOTOR1_KSLIDE_MAX             (0.55f)
#define USER_MOTOR1_KSLIDE_MIN             (0.10f)

#define USER_MOTOR1_PLL_KP_MAX             (7.25f)
#define USER_MOTOR1_PLL_KP_MIN             (1.75f)
#define USER_MOTOR1_PLL_KP_SF              (20.0f)
#define USER_MOTOR1_PLL_KI                 (2.8125E-06f)    // Not used, reserve

#define USER_MOTOR1_BEMF_THRESHOLD         (0.5f)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz        (1.0f)
#define USER_MOTOR1_THETA_OFFSET_SF        (1.0f)
#define USER_MOTOR1_SPEED_LPF_FC_Hz        (200.0f)

// for IS-BLDC
#define USER_MOTOR1_RAMP_START_Hz           (3.0f)
#define USER_MOTOR1_RAMP_END_Hz             (30.0f)
#define USER_MOTOR1_RAMP_DELAY              (5)

#define USER_MOTOR1_ISBLDC_INT_MAX          (0.015f)
#define USER_MOTOR1_ISBLDC_INT_MIN          (0.010f)

// for Rs online calibration with FAST
#define USER_MOTOR1_RSONLINE_WAIT_TIME      (60000U)    // 5min/300s at 5ms base
#define USER_MOTOR1_RSONLINE_WORK_TIME      (24000U)     //2min/120s at 5ms base

// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz        (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz       (150.0f)

#define USER_MOTOR1_KP_SPD_START_SF          (1.5f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF          (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_LOW_SF            (2.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF            (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_HIGH_SF           (1.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF           (1.0f)       // 0.1~10.0

#define USER_MOTOR1_GAIN_IQ_LOW_A            (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A           (6.0f)

#define USER_MOTOR1_KP_IQ_START_SF           (1.5f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF           (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_LOW_SF             (2.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF             (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_HIGH_SF            (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF            (1.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_ID_SF                 (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF                 (1.0f)       // 0.1~10.0

#elif (USER_MOTOR1 == Baldor_BSM90N175)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE                    MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS          (4)
#define USER_MOTOR1_Rr_Ohm                  (0.0)
#define USER_MOTOR1_Rs_Ohm                  (0.636681914f)
#define USER_MOTOR1_Ls_d_H                  (0.00240929401f)
#define USER_MOTOR1_Ls_q_H                  (0.00240929401f)
#define USER_MOTOR1_RATED_FLUX_VpHz         (0.635046303f)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A   (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A       (1.5f)      // A - 10~30% of rated current of the motor
#define USER_MOTOR1_IND_EST_CURRENT_A       (-1.5f)     // A - 10~30% of rated current of the motor, just enough to enable rotation
#define USER_MOTOR1_MAX_CURRENT_A           (9.5f)     // A - 30~150% of rated current of the motor
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz        (40.0f)     // Hz - 10~30% of rated frequency of the motor
#define USER_MOTOR1_NUM_ENC_SLOTS           (2500.0)
#define USER_MOTOR1_INERTIA_Kgm2            (6.327e-4)

#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz   (5.0f)          // Hz

#define USER_MOTOR1_RATED_VOLTAGE_V         (200.0f)
#define USER_MOTOR1_FREQ_MIN_Hz             (5.0f)           // Hz
#define USER_MOTOR1_FREQ_MAX_Hz             (400.0f)         // Hz

#define USER_MOTOR1_FREQ_LOW_Hz             (10.0f)          // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz            (200.0f)         // Hz
#define USER_MOTOR1_VOLT_MIN_V              (10.0f)          // Volt
#define USER_MOTOR1_VOLT_MAX_V              (200.0f)         // Volt

#define USER_MOTOR1_FORCE_DELTA_A           (0.05f)          // A
#define USER_MOTOR1_ALIGN_DELTA_A           (0.01f)          // A
#define USER_MOTOR1_FLUX_CURRENT_A          (0.5f)           // A
#define USER_MOTOR1_ALIGN_CURRENT_A         (3.0f)           //
#define USER_MOTOR1_STARTUP_CURRENT_A       (5.0f)           //
#define USER_MOTOR1_TORQUE_CURRENT_A        (1.0f)           // A
#define USER_MOTOR1_OVER_CURRENT_A          (9.5f)           //

#define USER_MOTOR1_SPEED_START_Hz          (10.0f)          //
#define USER_MOTOR1_SPEED_FORCE_Hz          (20.0f)          //
#define USER_MOTOR1_ACCEL_START_Hzps        (5.0f)           //
#define USER_MOTOR1_ACCEL_MAX_Hzps          (10.0f)          //

#define USER_MOTOR1_SPEED_FS_Hz             (3.0f)

// Only for eSMO
#define USER_MOTOR1_KSLIDE_MAX              (1.50f)       // 2.0f
#define USER_MOTOR1_KSLIDE_MIN              (0.75f)

#define USER_MOTOR1_PLL_KP_MAX              (10.0f)
#define USER_MOTOR1_PLL_KP_MIN              (2.0f)
#define USER_MOTOR1_PLL_KP_SF               (5.0f)
#define USER_MOTOR1_PLL_KI                  (2.8125E-06f)    // Not used, reserve

#define USER_MOTOR1_BEMF_THRESHOLD          (0.5f)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz         (2.0f)       // 1.0f
#define USER_MOTOR1_THETA_OFFSET_SF         (1.0f)       // 2.5f
#define USER_MOTOR1_SPEED_LPF_FC_Hz         (200.0f)     // 100.0f

// for Rs online calibration
#define USER_MOTOR1_RSONLINE_WAIT_TIME      (60000U)    // 5min/300s at 5ms base
#define USER_MOTOR1_RSONLINE_WORK_TIME      (24000U)     //2min/120s at 5ms base

// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz        (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz       (150.0f)

#define USER_MOTOR1_KP_SPD_START_SF          (1.5f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF          (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_LOW_SF            (2.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF            (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_HIGH_SF           (1.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF           (1.0f)       // 0.1~10.0

#define USER_MOTOR1_GAIN_IQ_LOW_A            (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A           (6.0f)

#define USER_MOTOR1_KP_IQ_START_SF           (1.5f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF           (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_LOW_SF             (2.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF             (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_HIGH_SF            (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF            (1.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_ID_SF                 (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF                 (1.0f)       // 0.1~10.0

#elif (USER_MOTOR1 == QXA_A091ZE190A)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE                    MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS          (3)
#define USER_MOTOR1_Rr_Ohm                  (0.0)
#define USER_MOTOR1_Rs_Ohm                  (0.771440625f)
#define USER_MOTOR1_Ls_d_H                  (0.0132690407f)
#define USER_MOTOR1_Ls_q_H                  (0.0132690407f)
#define USER_MOTOR1_RATED_FLUX_VpHz         (0.50693661f)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A   (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A       (2.5f)
#define USER_MOTOR1_IND_EST_CURRENT_A       (-2.0f)
#define USER_MOTOR1_MAX_CURRENT_A           (8.0f)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz        (20.0f)
#define USER_MOTOR1_NUM_ENC_SLOTS           (2500.0f)
#define USER_MOTOR1_INERTIA_Kgm2            (3.100017e-5)

#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz   (5.0f)          // Hz

#define USER_MOTOR1_RATED_VOLTAGE_V         (200.0f)
#define USER_MOTOR1_FREQ_MIN_Hz             (5.0f)           // Hz
#define USER_MOTOR1_FREQ_MAX_Hz             (400.0f)         // Hz

#define USER_MOTOR1_FREQ_LOW_Hz             (10.0f)          // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz            (200.0f)         // Hz
#define USER_MOTOR1_VOLT_MIN_V              (10.0f)          // Volt
#define USER_MOTOR1_VOLT_MAX_V              (200.0f)         // Volt

#define USER_MOTOR1_FORCE_DELTA_A           (0.05f)          // A
#define USER_MOTOR1_ALIGN_DELTA_A           (0.01f)          // A
#define USER_MOTOR1_FLUX_CURRENT_A          (0.5f)           // A
#define USER_MOTOR1_ALIGN_CURRENT_A         (3.0f)           //
#define USER_MOTOR1_STARTUP_CURRENT_A       (5.0f)           //
#define USER_MOTOR1_TORQUE_CURRENT_A        (1.0f)           // A
#define USER_MOTOR1_OVER_CURRENT_A          (9.5f)           //

#define USER_MOTOR1_SPEED_START_Hz          (10.0f)          //
#define USER_MOTOR1_SPEED_FORCE_Hz          (20.0f)          //
#define USER_MOTOR1_ACCEL_START_Hzps        (5.0f)           //
#define USER_MOTOR1_ACCEL_MAX_Hzps          (10.0f)          //

#define USER_MOTOR1_SPEED_FS_Hz             (3.0f)

// Only for eSMO
#define USER_MOTOR1_KSLIDE_MAX              (1.50f)       // 2.0f
#define USER_MOTOR1_KSLIDE_MIN              (0.75f)

#define USER_MOTOR1_PLL_KP_MAX              (10.0f)
#define USER_MOTOR1_PLL_KP_MIN              (2.0f)
#define USER_MOTOR1_PLL_KP_SF               (5.0f)
#define USER_MOTOR1_PLL_KI                  (2.8125E-06f)    // Not used, reserve

#define USER_MOTOR1_BEMF_THRESHOLD          (0.5f)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz         (2.0f)       // 1.0f
#define USER_MOTOR1_THETA_OFFSET_SF         (1.0f)       // 2.5f
#define USER_MOTOR1_SPEED_LPF_FC_Hz         (200.0f)     // 100.0f

// for Rs online calibration
#define USER_MOTOR1_RSONLINE_WAIT_TIME      (60000U)    // 5min/300s at 5ms base
#define USER_MOTOR1_RSONLINE_WORK_TIME      (24000U)     //2min/120s at 5ms base

// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz        (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz       (150.0f)

#define USER_MOTOR1_KP_SPD_START_SF          (1.5f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF          (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_LOW_SF            (2.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF            (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_HIGH_SF           (1.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF           (1.0f)       // 0.1~10.0

#define USER_MOTOR1_GAIN_IQ_LOW_A            (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A           (6.0f)

#define USER_MOTOR1_KP_IQ_START_SF           (1.5f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF           (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_LOW_SF             (2.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF             (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_HIGH_SF            (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF            (1.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_ID_SF                 (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF                 (1.0f)       // 0.1~10.0

#elif (USER_MOTOR1 == GMCC_KSK89D53U)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE                    MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS          (3)
#define USER_MOTOR1_Rr_Ohm                  (0.0)
#define USER_MOTOR1_Rs_Ohm                  (1.175)
#define USER_MOTOR1_Ls_d_H                  (0.0076)
#define USER_MOTOR1_Ls_q_H                  (0.0109)
#define USER_MOTOR1_RATED_FLUX_VpHz         (0.5415546)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A   (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A       (3.5)
#define USER_MOTOR1_IND_EST_CURRENT_A       (-3.0)
#define USER_MOTOR1_MAX_CURRENT_A           (8.0)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz        (20.0)
#define USER_MOTOR1_NUM_ENC_SLOTS           (2500.0)
#define USER_MOTOR1_INERTIA_Kgm2            (0.00018)

#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz   (5.0f)          // Hz

#define USER_MOTOR1_RATED_VOLTAGE_V         (200.0f)
#define USER_MOTOR1_FREQ_MIN_Hz             (5.0f)           // Hz
#define USER_MOTOR1_FREQ_MAX_Hz             (400.0f)         // Hz

#define USER_MOTOR1_FREQ_LOW_Hz             (10.0f)          // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz            (200.0f)         // Hz
#define USER_MOTOR1_VOLT_MIN_V              (10.0f)          // Volt
#define USER_MOTOR1_VOLT_MAX_V              (200.0f)         // Volt

#define USER_MOTOR1_FORCE_DELTA_A           (0.05f)          // A
#define USER_MOTOR1_ALIGN_DELTA_A           (0.01f)          // A
#define USER_MOTOR1_FLUX_CURRENT_A          (0.5f)           // A
#define USER_MOTOR1_ALIGN_CURRENT_A         (3.0f)           //
#define USER_MOTOR1_STARTUP_CURRENT_A       (5.0f)           //
#define USER_MOTOR1_TORQUE_CURRENT_A        (1.0f)           // A
#define USER_MOTOR1_OVER_CURRENT_A          (9.5f)           //

#define USER_MOTOR1_SPEED_START_Hz          (10.0f)          //
#define USER_MOTOR1_SPEED_FORCE_Hz          (20.0f)          //
#define USER_MOTOR1_ACCEL_START_Hzps        (5.0f)           //
#define USER_MOTOR1_ACCEL_MAX_Hzps          (10.0f)          //

#define USER_MOTOR1_SPEED_FS_Hz             (3.0f)

// Only for eSMO
#define USER_MOTOR1_KSLIDE_MAX              (1.50f)       // 2.0f
#define USER_MOTOR1_KSLIDE_MIN              (0.75f)

#define USER_MOTOR1_PLL_KP_MAX              (10.0f)
#define USER_MOTOR1_PLL_KP_MIN              (2.0f)
#define USER_MOTOR1_PLL_KP_SF               (5.0f)
#define USER_MOTOR1_PLL_KI                  (2.8125E-06f)    // Not used, reserve

#define USER_MOTOR1_BEMF_THRESHOLD          (0.5f)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz         (2.0f)       // 1.0f
#define USER_MOTOR1_THETA_OFFSET_SF         (1.0f)       // 2.5f
#define USER_MOTOR1_SPEED_LPF_FC_Hz         (200.0f)     // 100.0f

// for Rs online calibration
#define USER_MOTOR1_RSONLINE_WAIT_TIME      (60000U)    // 5min/300s at 5ms base
#define USER_MOTOR1_RSONLINE_WORK_TIME      (24000U)     //2min/120s at 5ms base

// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz        (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz       (150.0f)

#define USER_MOTOR1_KP_SPD_START_SF          (1.5f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF          (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_LOW_SF            (2.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF            (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_HIGH_SF           (1.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF           (1.0f)       // 0.1~10.0

#define USER_MOTOR1_GAIN_IQ_LOW_A            (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A           (6.0f)

#define USER_MOTOR1_KP_IQ_START_SF           (1.5f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF           (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_LOW_SF             (2.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF             (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_HIGH_SF            (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF            (1.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_ID_SF                 (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF                 (1.0f)       // 0.1~10.0

//------------------------------------------------------------------------------
#elif (USER_MOTOR1 == Drone_BLK2BLADE)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE                   MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS         (6)
#define USER_MOTOR1_Rr_Ohm                 (NULL)
#define USER_MOTOR1_Rs_Ohm                 (0.0614009798f)
#define USER_MOTOR1_Ls_d_H                 (1.29998243e-05f)
#define USER_MOTOR1_Ls_q_H                 (1.29998243e-05f)
#define USER_MOTOR1_RATED_FLUX_VpHz        (0.00359785813f)

#define USER_MOTOR1_MAGNETIZING_CURRENT_A  (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A      (4.5)
#define USER_MOTOR1_IND_EST_CURRENT_A      (-3.0)
//! \brief Defines the maximum current at the AD converter
// Gain = 12, Rin=2.49k, Rdac=27.4k
#define USER_MOTOR1_MAX_CURRENT_A          (20.0)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz       (120.0)
#define USER_MOTOR1_NUM_ENC_SLOTS          (1000)
#define USER_MOTOR1_INERTIA_Kgm2           (3.06154e-04)

#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz  (5.0f)          // Hz

#define USER_MOTOR1_RATED_VOLTAGE_V        (24.0)
#define USER_MOTOR1_FREQ_MIN_Hz            (5.0)           // Hz
#define USER_MOTOR1_FREQ_MAX_Hz            (2000.0)        // Hz

#define USER_MOTOR1_FREQ_LOW_Hz            (10.0)          // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz           (400.0)         // Hz
#define USER_MOTOR1_VOLT_MIN_V             (2.0)           // Volt
#define USER_MOTOR1_VOLT_MAX_V             (24.0)          // Volt

#define USER_MOTOR1_FORCE_DELTA_A          (0.05)          // A
#define USER_MOTOR1_ALIGN_DELTA_A          (0.01)          // A
#define USER_MOTOR1_FLUX_CURRENT_A         (0.5)           // A
#define USER_MOTOR1_ALIGN_CURRENT_A        (2.0)           // A
#define USER_MOTOR1_STARTUP_CURRENT_A      (3.0)           //
#define USER_MOTOR1_TORQUE_CURRENT_A       (2.0)           // A
//! \brief Defines the maximum current at the AD converter
// Gain = 12, Rin=2.49k, Rdac=27.4k
#define USER_MOTOR1_OVER_CURRENT_A         (22.25)          //

#define USER_MOTOR1_SPEED_START_Hz         (20.0f)
#define USER_MOTOR1_SPEED_FORCE_Hz         (20.0f)
#define USER_MOTOR1_ACCEL_START_Hzps       (10.0f)
#define USER_MOTOR1_ACCEL_MAX_Hzps         (20.0f)

#define USER_MOTOR1_SPEED_FS_Hz            (3.0f)

// only for encoder
#define USER_MOTOR1_ENC_POS_MAX            (USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1)
#define USER_MOTOR1_ENC_POS_OFFSET         (668)

// Only for eSMO
#define USER_MOTOR1_KSLIDE_MAX             (0.55f)
#define USER_MOTOR1_KSLIDE_MIN             (0.10f)

#define USER_MOTOR1_PLL_KP_MAX             (7.25f)
#define USER_MOTOR1_PLL_KP_MIN             (1.75f)
#define USER_MOTOR1_PLL_KP_SF              (20.0f)
#define USER_MOTOR1_PLL_KI                 (2.8125E-06f)    // Not used, reserve

#define USER_MOTOR1_BEMF_THRESHOLD         (0.5f)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz        (1.0f)
#define USER_MOTOR1_THETA_OFFSET_SF        (1.0f)
#define USER_MOTOR1_SPEED_LPF_FC_Hz        (200.0f)

// for IS-BLDC
#define USER_MOTOR1_RAMP_START_Hz           (5.0f)
#define USER_MOTOR1_RAMP_END_Hz             (30.0f)
#define USER_MOTOR1_RAMP_DELAY              (1)

#define USER_MOTOR1_ISBLDC_INT_MAX          (0.015f)
#define USER_MOTOR1_ISBLDC_INT_MIN          (0.010f)

// for Rs online calibration
#define USER_MOTOR1_RSONLINE_WAIT_TIME      (60000U)    // 5min/300s at 5ms base
#define USER_MOTOR1_RSONLINE_WORK_TIME      (24000U)     //2min/120s at 5ms base

// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz        (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz       (150.0f)

#define USER_MOTOR1_KP_SPD_START_SF          (1.5f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF          (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_LOW_SF            (2.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF            (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_HIGH_SF           (1.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF           (1.0f)       // 0.1~10.0

#define USER_MOTOR1_GAIN_IQ_LOW_A            (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A           (6.0f)

#define USER_MOTOR1_KP_IQ_START_SF           (1.5f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF           (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_LOW_SF             (2.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF             (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_HIGH_SF            (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF            (1.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_ID_SF                 (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF                 (1.0f)       // 0.1~10.0

#elif (USER_MOTOR1 == Drone_DJI920KV)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE                   MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS         (7)
#define USER_MOTOR1_Rr_Ohm                 (NULL)
#define USER_MOTOR1_Rs_Ohm                 (0.115332372f)
#define USER_MOTOR1_Ls_d_H                 (1.76480826e-05f)
#define USER_MOTOR1_Ls_q_H                 (1.76480826e-05f)
#define USER_MOTOR1_RATED_FLUX_VpHz        (0.00605002558f)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A  (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A      (3.0)
#define USER_MOTOR1_IND_EST_CURRENT_A      (-2.5)
#define USER_MOTOR1_MAX_CURRENT_A          (20.0)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz       (120.0)
#define USER_MOTOR1_NUM_ENC_SLOTS          (1000)       // N/A
#define USER_MOTOR1_INERTIA_Kgm2           (5.06154e-06)

#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz  (5.0f)          // Hz

#define USER_MOTOR1_RATED_VOLTAGE_V        (12.0)
#define USER_MOTOR1_FREQ_MIN_Hz            (10.0)          // Hz
#define USER_MOTOR1_FREQ_MAX_Hz            (2000.0)        // Hz

#define USER_MOTOR1_FREQ_LOW_Hz            (10.0)          // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz           (1200.0)        // Hz
#define USER_MOTOR1_VOLT_MIN_V             (3.0)           // Volt
#define USER_MOTOR1_VOLT_MAX_V             (12.0)          // Volt

#define USER_MOTOR1_FORCE_DELTA_A          (0.05)          // A
#define USER_MOTOR1_ALIGN_DELTA_A          (0.01)          // A
#define USER_MOTOR1_FLUX_CURRENT_A         (0.5)           // A
#define USER_MOTOR1_ALIGN_CURRENT_A        (1.0)           // A
#define USER_MOTOR1_STARTUP_CURRENT_A      (3.0)           //
#define USER_MOTOR1_TORQUE_CURRENT_A       (2.0)           // A
#define USER_MOTOR1_OVER_CURRENT_A         (16.5)          //

#define USER_MOTOR1_SPEED_START_Hz         (20.0f)
#define USER_MOTOR1_SPEED_FORCE_Hz         (20.0)
#define USER_MOTOR1_ACCEL_START_Hzps       (10.0f)
#define USER_MOTOR1_ACCEL_MAX_Hzps         (100.0f)

#define USER_MOTOR1_SPEED_FS_Hz             (3.0f)

// only for encoder, no available on this motor
#define USER_MOTOR1_ENC_POS_MAX            (USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1)
#define USER_MOTOR1_ENC_POS_OFFSET         (668)

// Only for eSMO
#define USER_MOTOR1_KSLIDE_MAX             (0.55f)
#define USER_MOTOR1_KSLIDE_MIN             (0.10f)

#define USER_MOTOR1_PLL_KP_MAX             (7.25f)
#define USER_MOTOR1_PLL_KP_MIN             (1.75f)
#define USER_MOTOR1_PLL_KP_SF              (20.0f)
#define USER_MOTOR1_PLL_KI                 (2.8125E-06f)    // Not used, reserve

#define USER_MOTOR1_BEMF_THRESHOLD         (0.5f)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz        (1.0f)
#define USER_MOTOR1_THETA_OFFSET_SF        (1.0f)
#define USER_MOTOR1_SPEED_LPF_FC_Hz        (200.0f)

// for IS-BLDC
#define USER_MOTOR1_RAMP_START_Hz           (5.0f)
#define USER_MOTOR1_RAMP_END_Hz             (30.0f)
#define USER_MOTOR1_RAMP_DELAY              (1)

#define USER_MOTOR1_ISBLDC_INT_MAX          (0.015f)
#define USER_MOTOR1_ISBLDC_INT_MIN          (0.010f)

// for Rs online calibration
#define USER_MOTOR1_RSONLINE_WAIT_TIME      (60000U)    // 5min/300s at 5ms base
#define USER_MOTOR1_RSONLINE_WORK_TIME      (24000U)     //2min/120s at 5ms base

// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz        (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz       (150.0f)

#define USER_MOTOR1_KP_SPD_START_SF          (1.5f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF          (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_LOW_SF            (2.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF            (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_HIGH_SF           (1.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF           (1.0f)       // 0.1~10.0

#define USER_MOTOR1_GAIN_IQ_LOW_A            (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A           (6.0f)

#define USER_MOTOR1_KP_IQ_START_SF           (1.5f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF           (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_LOW_SF             (2.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF             (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_HIGH_SF            (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF            (1.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_ID_SF                 (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF                 (1.0f)       // 0.1~10.0

#elif (USER_MOTOR1 == Drone_SF_Black)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE                   MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS         (7)
#define USER_MOTOR1_Rr_Ohm                 (NULL)
#define USER_MOTOR1_Rs_Ohm                 (0.0276225284)
#define USER_MOTOR1_Ls_d_H                 (1.25800107e-05)
#define USER_MOTOR1_Ls_q_H                 (1.25800107e-05)
#define USER_MOTOR1_RATED_FLUX_VpHz        (0.02469966)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A  (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A      (6.0)
#define USER_MOTOR1_IND_EST_CURRENT_A      (-3.0)
#define USER_MOTOR1_MAX_CURRENT_A          (25.0)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz       (80.0)
#define USER_MOTOR1_NUM_ENC_SLOTS          (1000)
#define USER_MOTOR1_INERTIA_Kgm2           (7.06154e-05)

#define USER_MOTOR1_RATED_VOLTAGE_V        (24.0)
#define USER_MOTOR1_FREQ_MIN_Hz            (5.0)           // Hz
#define USER_MOTOR1_FREQ_MAX_Hz            (2000.0)        // Hz

#define USER_MOTOR1_FREQ_LOW_Hz            (10.0)          // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz           (400.0)         // Hz
#define USER_MOTOR1_VOLT_MIN_V             (2.0)           // Volt
#define USER_MOTOR1_VOLT_MAX_V             (24.0)          // Volt

#define USER_MOTOR1_STARTUP_CURRENT_A      (3.0)           //
#define USER_MOTOR1_TORQUE_CURRENT_A       (2.0)           // A
#define USER_MOTOR1_OVER_CURRENT_A         (25.0)          //

#define USER_MOTOR1_SPEED_START_Hz         (20.0f)
#define USER_MOTOR1_SPEED_FORCE_Hz         (20.0)
#define USER_MOTOR1_ACCEL_START_Hzps         (10.0f)
#define USER_MOTOR1_ACCEL_MAX_Hzps         (100.0f)

#define USER_MOTOR1_SPEED_FS_Hz             (3.0f)

// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz        (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz       (150.0f)

#define USER_MOTOR1_KP_SPD_START_SF          (1.5f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF          (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_LOW_SF            (2.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF            (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_HIGH_SF           (1.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF           (1.0f)       // 0.1~10.0

#define USER_MOTOR1_GAIN_IQ_LOW_A            (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A           (6.0f)

#define USER_MOTOR1_KP_IQ_START_SF           (1.5f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF           (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_LOW_SF             (2.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF             (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_HIGH_SF            (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF            (1.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_ID_SF                 (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF                 (1.0f)       // 0.1~10.0

#elif (USER_MOTOR1 == AirFan_MFA0500_24V)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE                   MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS         (2)
#define USER_MOTOR1_Rr_Ohm                 (NULL)
#define USER_MOTOR1_Rs_Ohm                 (0.150690928)
#define USER_MOTOR1_Ls_d_H                 (2.34591134e-05)
#define USER_MOTOR1_Ls_q_H                 (2.34591134e-05)
#define USER_MOTOR1_RATED_FLUX_VpHz        (0.00798716862f)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A  (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A      (4.5)
#define USER_MOTOR1_IND_EST_CURRENT_A      (-3.0)
#define USER_MOTOR1_MAX_CURRENT_A          (16.5)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz       (200.0)
#define USER_MOTOR1_NUM_ENC_SLOTS          (1000)
#define USER_MOTOR1_INERTIA_Kgm2           (7.06154e-05)

// Ls compensation coefficient
#define USER_MOTOR1_Ls_d_COMP_COEF         (0.15f)          // 0.0f~0.5f
#define USER_MOTOR1_Ls_q_COMP_COEF         (0.35f)          // 0.0f~0.5f
#define USER_MOTOR1_Ls_MIN_NUM_COEF        (0.55f)          // 0.5f~1.0f

#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz  (5.0f)          // Hz

#define USER_MOTOR1_RATED_VOLTAGE_V        (24.0)
#define USER_MOTOR1_FREQ_MIN_Hz            (9.0)          // Hz
#define USER_MOTOR1_FREQ_MAX_Hz            (1500.0)       // Hz

#define USER_MOTOR1_FREQ_LOW_Hz            (10.0)          // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz           (1000.0)        // Hz
#define USER_MOTOR1_VOLT_MIN_V             (2.0)           // Volt
#define USER_MOTOR1_VOLT_MAX_V             (14.0)          // Volt

#define USER_MOTOR1_FORCE_DELTA_A          (0.05)          // A
#define USER_MOTOR1_ALIGN_DELTA_A          (0.01)          // A
#define USER_MOTOR1_FLUX_CURRENT_A         (0.5)           // A
#define USER_MOTOR1_ALIGN_CURRENT_A        (2.5)           // A
#define USER_MOTOR1_STARTUP_CURRENT_A      (4.5)           // A
#define USER_MOTOR1_TORQUE_CURRENT_A       (2.0)           // A
#define USER_MOTOR1_OVER_CURRENT_A         (16.5)          // A

#define USER_MOTOR1_SPEED_START_Hz         (120.0)
#define USER_MOTOR1_SPEED_FORCE_Hz         (100.0)
#define USER_MOTOR1_ACCEL_START_Hzps       (10.0)
#define USER_MOTOR1_ACCEL_MAX_Hzps         (20.0)

#define USER_MOTOR1_SPEED_FS_Hz            (3.0)

// only for encoder, N/A
#define USER_MOTOR1_ENC_POS_MAX            (USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1)
#define USER_MOTOR1_ENC_POS_OFFSET         (668)

// Only for eSMO
#define USER_MOTOR1_KSLIDE_MAX             (0.25f)
#define USER_MOTOR1_KSLIDE_MIN             (0.10f)

#define USER_MOTOR1_PLL_KP_MAX             (7.25f)
#define USER_MOTOR1_PLL_KP_MIN             (1.75f)
#define USER_MOTOR1_PLL_KP_SF              (5.00f)
#define USER_MOTOR1_PLL_KI                 (2.8125E-06f)    // Not used, reserve

#define USER_MOTOR1_BEMF_THRESHOLD         (0.25f)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz        (1.0f)
#define USER_MOTOR1_THETA_OFFSET_SF        (1.0f)
#define USER_MOTOR1_SPEED_LPF_FC_Hz        (200.0f)

// for IS-NBLDC
#define USER_MOTOR1_RAMP_START_Hz          (5.0)
#define USER_MOTOR1_RAMP_END_Hz            (30.0)
#define USER_MOTOR1_RAMP_DELAY             (1)

// for Rs online calibration
#define USER_MOTOR1_RSONLINE_WAIT_TIME     (60000U)    // 5min/300s at 5ms base
#define USER_MOTOR1_RSONLINE_WORK_TIME     (24000U)     //2min/120s at 5ms base

// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz        (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz       (150.0f)

#define USER_MOTOR1_KP_SPD_START_SF          (1.5f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF          (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_LOW_SF            (2.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF            (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_HIGH_SF           (1.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF           (1.0f)       // 0.1~10.0

#define USER_MOTOR1_GAIN_IQ_LOW_A            (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A           (6.0f)

#define USER_MOTOR1_KP_IQ_START_SF           (1.5f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF           (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_LOW_SF             (2.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF             (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_HIGH_SF            (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF            (1.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_ID_SF                 (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF                 (1.0f)       // 0.1~10.0

#elif (USER_MOTOR1 == Nedic_EPSMS037_D12V)
#define USER_MOTOR1_TYPE                    MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS          (4)
#define USER_MOTOR1_Rr_Ohm                  (0.0)
#define USER_MOTOR1_Rs_Ohm                  (0.0412785485)
#define USER_MOTOR1_Ls_d_H                  (0.000121561985)
#define USER_MOTOR1_Ls_q_H                  (0.000121561985)
#define USER_MOTOR1_RATED_FLUX_VpHz         (0.0572981499)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A   (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A       (5.0)
#define USER_MOTOR1_IND_EST_CURRENT_A       (-4.0)
#define USER_MOTOR1_MAX_CURRENT_A           (12.5)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz        (40.0)
#define USER_MOTOR1_NUM_ENC_SLOTS           (1000.0)
#define USER_MOTOR1_INERTIA_Kgm2            (0.015)

#define USER_MOTOR1_RATED_VOLTAGE_V         (12.0)
#define USER_MOTOR1_FREQ_MIN_Hz              (5.0)            // Hz
#define USER_MOTOR1_FREQ_MAX_Hz             (1500.0)          // Hz

#define USER_MOTOR1_FREQ_LOW_Hz             (10.0)           // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz            (1000.0)          // Hz
#define USER_MOTOR1_VOLT_MIN_V              (2.0)           // Volt
#define USER_MOTOR1_VOLT_MAX_V              (12.0)          // Volt

#define USER_MOTOR1_STARTUP_CURRENT_A       (2.0)            //
#define USER_MOTOR1_TORQUE_CURRENT_A        (1.5)           // A
#define USER_MOTOR1_OVER_CURRENT_A          (12.5)            //

#define USER_MOTOR1_SPEED_START_Hz          (10.0)           //
#define USER_MOTOR1_SPEED_FORCE_Hz          (20.0)
#define USER_MOTOR1_ACCEL_START_Hzps          (10.0)           //
#define USER_MOTOR1_ACCEL_MAX_Hzps          (100.0)          //

#define USER_MOTOR1_SPEED_FS_Hz             (3.0f)

// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz        (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz       (150.0f)

#define USER_MOTOR1_KP_SPD_START_SF          (1.5f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF          (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_LOW_SF            (2.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF            (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_HIGH_SF           (1.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF           (1.0f)       // 0.1~10.0

#define USER_MOTOR1_GAIN_IQ_LOW_A            (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A           (6.0f)

#define USER_MOTOR1_KP_IQ_START_SF           (1.5f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF           (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_LOW_SF             (2.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF             (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_HIGH_SF            (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF            (1.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_ID_SF                 (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF                 (1.0f)       // 0.1~10.0

#elif (USER_MOTOR1 == ziehlab_Fan160hv)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE                   MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS         (4)
#define USER_MOTOR1_Rr_Ohm                 (0.0)
#define USER_MOTOR1_Rs_Ohm                 (24.0002041)
#define USER_MOTOR1_Ls_d_H                 (0.125637174)
#define USER_MOTOR1_Ls_q_H                 (0.125637174)
#define USER_MOTOR1_RATED_FLUX_VpHz        (1.42636561)

#define USER_MOTOR1_MAGNETIZING_CURRENT_A  (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A      (1.25)
#define USER_MOTOR1_IND_EST_CURRENT_A      (-0.5)
#define USER_MOTOR1_MAX_CURRENT_A          (3.75)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz       (15.0)
#define USER_MOTOR1_NUM_ENC_SLOTS          (2500.0)
#define USER_MOTOR1_INERTIA_Kgm2           (27.5e-5)

#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz  (5.0f)          // Hz

#define USER_MOTOR1_RATED_VOLTAGE_V        (200.0)
#define USER_MOTOR1_FREQ_MIN_Hz            (5.0)            // Hz
#define USER_MOTOR1_FREQ_MAX_Hz            (400.0)          // Hz

#define USER_MOTOR1_FREQ_LOW_Hz            (10.0)           // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz           (200.0)          // Hz
#define USER_MOTOR1_VOLT_MIN_V             (20.0)           // Volt
#define USER_MOTOR1_VOLT_MAX_V             (200.0)          // Volt

#define USER_MOTOR1_FORCE_DELTA_A          (0.05)          // A
#define USER_MOTOR1_ALIGN_DELTA_A          (0.01)          // A
#define USER_MOTOR1_FLUX_CURRENT_A         (0.0)           // A
#define USER_MOTOR1_ALIGN_CURRENT_A        (0.0)           // A
#define USER_MOTOR1_STARTUP_CURRENT_A      (2.0)           // A
#define USER_MOTOR1_TORQUE_CURRENT_A       (1.5)           // A
#define USER_MOTOR1_OVER_CURRENT_A         (3.0)           // A

#define USER_MOTOR1_SPEED_START_Hz         (20.0)          //
#define USER_MOTOR1_SPEED_FORCE_Hz         (30.0)          //
#define USER_MOTOR1_ACCEL_START_Hzps       (10.0)           //
#define USER_MOTOR1_ACCEL_MAX_Hzps         (10.0)          //

#define USER_MOTOR1_SPEED_FS_Hz            (3.0f)

// only for encoder
#define USER_MOTOR1_ENC_POS_MAX            (USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1)
#define USER_MOTOR1_ENC_POS_OFFSET         (668)

// Only for eSMO
#define USER_MOTOR1_KSLIDE_MAX             (0.55f)
#define USER_MOTOR1_KSLIDE_MIN             (0.10f)

#define USER_MOTOR1_PLL_KP_MAX             (7.25f)
#define USER_MOTOR1_PLL_KP_MIN             (1.75f)
#define USER_MOTOR1_PLL_KP_SF              (20.0f)
#define USER_MOTOR1_PLL_KI                 (2.8125E-06f)    // Not used, reserve

#define USER_MOTOR1_BEMF_THRESHOLD         (0.5f)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz        (1.0f)
#define USER_MOTOR1_THETA_OFFSET_SF        (1.0f)
#define USER_MOTOR1_SPEED_LPF_FC_Hz        (200.0f)

// for IS-BLDC
#define USER_MOTOR1_RAMP_START_Hz           (5.0f)
#define USER_MOTOR1_RAMP_END_Hz             (30.0f)
#define USER_MOTOR1_RAMP_DELAY              (1)

#define USER_MOTOR1_ISBLDC_INT_MAX          (0.015f)
#define USER_MOTOR1_ISBLDC_INT_MIN          (0.010f)

// for Rs online calibration
#define USER_MOTOR1_RSONLINE_WAIT_TIME      (60000U)    // 5min/300s at 5ms base
#define USER_MOTOR1_RSONLINE_WORK_TIME      (24000U)     //2min/120s at 5ms base

// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz        (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz       (150.0f)

#define USER_MOTOR1_KP_SPD_START_SF          (1.5f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF          (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_LOW_SF            (2.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF            (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_HIGH_SF           (1.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF           (1.0f)       // 0.1~10.0

#define USER_MOTOR1_GAIN_IQ_LOW_A            (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A           (6.0f)

#define USER_MOTOR1_KP_IQ_START_SF           (1.5f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF           (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_LOW_SF             (2.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF             (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_HIGH_SF            (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF            (1.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_ID_SF                 (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF                 (1.0f)       // 0.1~10.0

#elif (USER_MOTOR1 == embpast_Fan160hv)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE                   MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS         (4)
#define USER_MOTOR1_Rr_Ohm                 (0.0)

#define USER_MOTOR1_Rs_Ohm                 (8.76899433)
#define USER_MOTOR1_Ls_d_H                 (0.0284830406)
#define USER_MOTOR1_Ls_q_H                 (0.0284830406)
#define USER_MOTOR1_RATED_FLUX_VpHz        (0.280854076)

#define USER_MOTOR1_MAGNETIZING_CURRENT_A  (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A      (1.25)
#define USER_MOTOR1_IND_EST_CURRENT_A      (-0.30)
#define USER_MOTOR1_MAX_CURRENT_A          (3.5)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz       (20.0)
#define USER_MOTOR1_NUM_ENC_SLOTS          (2500.0)
#define USER_MOTOR1_INERTIA_Kgm2           (27.5e-5)

#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz  (5.0f)          // Hz

#define USER_MOTOR1_RATED_VOLTAGE_V        (200.0)
#define USER_MOTOR1_FREQ_MIN_Hz            (5.0)            // Hz
#define USER_MOTOR1_FREQ_MAX_Hz            (400.0)          // Hz

#define USER_MOTOR1_FREQ_LOW_Hz            (10.0)           // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz           (200.0)          // Hz
#define USER_MOTOR1_VOLT_MIN_V             (20.0)           // Volt
#define USER_MOTOR1_VOLT_MAX_V             (200.0)          // Volt

#define USER_MOTOR1_FORCE_DELTA_A          (0.05)          // A
#define USER_MOTOR1_ALIGN_DELTA_A          (0.01)          // A
#define USER_MOTOR1_FLUX_CURRENT_A         (0.0)           // A
#define USER_MOTOR1_ALIGN_CURRENT_A        (0.0)           // A
#define USER_MOTOR1_STARTUP_CURRENT_A      (2.0)           // A
#define USER_MOTOR1_TORQUE_CURRENT_A       (1.0)           // A
#define USER_MOTOR1_OVER_CURRENT_A         (6.25)          // A

#define USER_MOTOR1_SPEED_START_Hz         (20.0)          //
#define USER_MOTOR1_SPEED_FORCE_Hz         (30.0)          //
#define USER_MOTOR1_ACCEL_START_Hzps       (10.0)           //
#define USER_MOTOR1_ACCEL_MAX_Hzps         (20.0)          //

#define USER_MOTOR1_SPEED_FS_Hz            (3.0f)

// only for encoder
#define USER_MOTOR1_ENC_POS_MAX            (USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1)
#define USER_MOTOR1_ENC_POS_OFFSET         (668)

// Only for eSMO
#define USER_MOTOR1_KSLIDE_MAX             (0.55f)
#define USER_MOTOR1_KSLIDE_MIN             (0.10f)

#define USER_MOTOR1_PLL_KP_MAX             (7.25f)
#define USER_MOTOR1_PLL_KP_MIN             (1.75f)
#define USER_MOTOR1_PLL_KP_SF              (20.0f)
#define USER_MOTOR1_PLL_KI                 (2.8125E-06f)    // Not used, reserve

#define USER_MOTOR1_BEMF_THRESHOLD         (0.5f)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz        (1.0f)
#define USER_MOTOR1_THETA_OFFSET_SF        (1.0f)
#define USER_MOTOR1_SPEED_LPF_FC_Hz        (200.0f)

// for IS-BLDC
#define USER_MOTOR1_RAMP_START_Hz           (5.0f)
#define USER_MOTOR1_RAMP_END_Hz             (30.0f)
#define USER_MOTOR1_RAMP_DELAY              (1)

#define USER_MOTOR1_ISBLDC_INT_MAX          (0.015f)
#define USER_MOTOR1_ISBLDC_INT_MIN          (0.010f)

// for Rs online calibration
#define USER_MOTOR1_RSONLINE_WAIT_TIME      (60000U)    // 5min/300s at 5ms base
#define USER_MOTOR1_RSONLINE_WORK_TIME      (24000U)     //2min/120s at 5ms base

// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz        (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz       (150.0f)

#define USER_MOTOR1_KP_SPD_START_SF          (1.5f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF          (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_LOW_SF            (2.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF            (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_HIGH_SF           (1.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF           (1.0f)       // 0.1~10.0

#define USER_MOTOR1_GAIN_IQ_LOW_A            (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A           (6.0f)

#define USER_MOTOR1_KP_IQ_START_SF           (1.5f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF           (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_LOW_SF             (2.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF             (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_HIGH_SF            (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF            (1.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_ID_SF                 (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF                 (1.0f)       // 0.1~10.0

#elif (USER_MOTOR1 == Anaheim_BLWS235D)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE                    MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS          (2)
#define USER_MOTOR1_Rr_Ohm                  (NULL)
#define USER_MOTOR1_Rs_Ohm                  (5.44400978)
#define USER_MOTOR1_Ls_d_H                  (0.0224932302)
#define USER_MOTOR1_Ls_q_H                  (0.0224932302)
#define USER_MOTOR1_RATED_FLUX_VpHz         (0.560590863)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A   (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A       (1.0)
#define USER_MOTOR1_IND_EST_CURRENT_A       (-1.0)
#define USER_MOTOR1_MAX_CURRENT_A           (2.5)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz        (40.0)
#define USER_MOTOR1_INERTIA_Kgm2            (0.0000230206204) // 0.003261 oz-in-sec2

#define USER_MOTOR1_RATED_VOLTAGE_V         (160.0)
#define USER_MOTOR1_FREQ_MIN_Hz             (5.0)             // Hz
#define USER_MOTOR1_FREQ_MAX_Hz             (200.0)           // Hz

#define USER_MOTOR1_FREQ_LOW_Hz             (10.0)            // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz            (200.0)           // Hz
#define USER_MOTOR1_VOLT_MIN_V              (20.0)            // Volt
#define USER_MOTOR1_VOLT_MAX_V              (160.0)           // Volt

#define USER_MOTOR1_FORCE_DELTA_A           (0.05)         // A
#define USER_MOTOR1_ALIGN_DELTA_A           (0.01)          // A
#define USER_MOTOR1_FLUX_CURRENT_A          (0.5)           // A
#define USER_MOTOR1_ALIGN_CURRENT_A         (1.0)           // A
#define USER_MOTOR1_STARTUP_CURRENT_A       (1.5)            //
#define USER_MOTOR1_TORQUE_CURRENT_A        (1.0)           // A
#define USER_MOTOR1_OVER_CURRENT_A          (2.0)            //

#define USER_MOTOR1_SPEED_START_Hz          (30.0)
#define USER_MOTOR1_SPEED_FORCE_Hz          (20.0)
#define USER_MOTOR1_ACCEL_START_Hzps        (10.0)           //
#define USER_MOTOR1_ACCEL_MAX_Hzps          (100.0)          //

#define USER_MOTOR1_SPEED_FS_Hz             (3.0f)

#if defined(MOTOR1_FAST)
// Only for FAST
#define USER_MOTOR1_Ls_d_COMP_COEF         (0.15f)          // 0.0f~0.5f
#define USER_MOTOR1_Ls_q_COMP_COEF         (0.35f)          // 0.0f~0.5f
#define USER_MOTOR1_Ls_MIN_NUM_COEF        (0.55f)          // 0.5f~1.0f
#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz  (5.0f)           // Hz

// for Rs online calibration
#define USER_MOTOR1_RSONLINE_WAIT_TIME      (60000U)    // 5min/300s at 5ms base
#define USER_MOTOR1_RSONLINE_WORK_TIME      (24000U)     //2min/120s at 5ms base
#endif  // MOTOR1_FAST

#if defined(MOTOR1_ESMO)
// Only for eSMO
#define USER_MOTOR1_KSLIDE_MAX             (1.50f)       // 2.0f
#define USER_MOTOR1_KSLIDE_MIN             (0.75f)

#define USER_MOTOR1_PLL_KP_MAX             (10.0f)
#define USER_MOTOR1_PLL_KP_MIN             (2.0f)
#define USER_MOTOR1_PLL_KP_SF              (5.0f)
#define USER_MOTOR1_PLL_KI                 (2.8125E-06f)    // Not used, reserve

#define USER_MOTOR1_BEMF_THRESHOLD         (0.5f)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz        (2.0f)       // 1.0f
#define USER_MOTOR1_THETA_OFFSET_SF        (1.0f)       // 2.5f
#define USER_MOTOR1_SPEED_LPF_FC_Hz        (200.0f)     // 100.0f
#endif  // MOTOR1_ESMO

#if defined(MOTOR1_ENC)
// Only for encoder
#define USER_MOTOR1_NUM_ENC_SLOTS          (NULL)
#define USER_MOTOR1_ENC_POS_MAX            (USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1)
#define USER_MOTOR1_ENC_POS_OFFSET         (668)            // lines
#endif  // MOTOR1_ENC

#if defined(MOTOR1_HALL)
// Only for hall sensor
#define USER_MOTOR1_HALL_DELTA_rad          (MATH_TWO_PI / 36.0f)   // rad
#endif  // MOTOR1_HALL

#if defined(MOTOR1_ISBLDC)
// for IS-BLDC
#define USER_MOTOR1_RAMP_START_Hz           (5.0f)
#define USER_MOTOR1_RAMP_END_Hz             (30.0f)
#define USER_MOTOR1_RAMP_DELAY              (1)

#define USER_MOTOR1_ISBLDC_INT_MAX          (0.015f)
#define USER_MOTOR1_ISBLDC_INT_MIN          (0.010f)
#endif  // MOTOR1_ISBLDC

// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz        (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz       (150.0f)

#define USER_MOTOR1_KP_SPD_START_SF          (1.5f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF          (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_LOW_SF            (2.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF            (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_HIGH_SF           (1.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF           (1.0f)       // 0.1~10.0

#define USER_MOTOR1_GAIN_IQ_LOW_A            (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A           (6.0f)

#define USER_MOTOR1_KP_IQ_START_SF           (1.5f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF           (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_LOW_SF             (2.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF             (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_HIGH_SF            (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF            (1.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_ID_SF                 (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF                 (1.0f)       // 0.1~10.0

#elif (USER_MOTOR1 == Anaheim_BLZ362S)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE                    MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS          (4)
#define USER_MOTOR1_Rr_Ohm                  (NULL)
#define USER_MOTOR1_Rs_Ohm                  (0.562865257f)
#define USER_MOTOR1_Ls_d_H                  (0.00117779721f)
#define USER_MOTOR1_Ls_q_H                  (0.00117779721f)
#define USER_MOTOR1_RATED_FLUX_VpHz         (0.276417136f)

#define USER_MOTOR1_MAGNETIZING_CURRENT_A   (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A       (2.5)
#define USER_MOTOR1_IND_EST_CURRENT_A       (-1.5)
#define USER_MOTOR1_MAX_CURRENT_A           (7.5)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz        (40.0)
#define USER_MOTOR1_NUM_ENC_SLOTS           (NULL)
#define USER_MOTOR1_INERTIA_Kgm2            (0.0000230206204) // 0.003261 oz-in-sec2

#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz   (5.0f)          // Hz

#define USER_MOTOR1_RATED_VOLTAGE_V         (160.0)
#define USER_MOTOR1_FREQ_MIN_Hz             (5.0)             // Hz
#define USER_MOTOR1_FREQ_MAX_Hz             (200.0)           // Hz

#define USER_MOTOR1_FREQ_LOW_Hz             (10.0)            // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz            (200.0)           // Hz
#define USER_MOTOR1_VOLT_MIN_V              (20.0)            // Volt
#define USER_MOTOR1_VOLT_MAX_V              (160.0)           // Volt

#define USER_MOTOR1_FORCE_DELTA_A           (0.05)         // A
#define USER_MOTOR1_ALIGN_DELTA_A           (0.01)          // A
#define USER_MOTOR1_FLUX_CURRENT_A          (0.5)           // A
#define USER_MOTOR1_ALIGN_CURRENT_A         (2.0)           // A
#define USER_MOTOR1_STARTUP_CURRENT_A       (4.5)            //
#define USER_MOTOR1_TORQUE_CURRENT_A        (0.5)           // A
#define USER_MOTOR1_OVER_CURRENT_A          (6.5)            //

#define USER_MOTOR1_SPEED_START_Hz          (30.0)
#define USER_MOTOR1_SPEED_FORCE_Hz          (20.0)
#define USER_MOTOR1_ACCEL_START_Hzps        (10.0)           //
#define USER_MOTOR1_ACCEL_MAX_Hzps          (100.0)          //

#define USER_MOTOR1_SPEED_FS_Hz             (3.0f)

// only for encoder
#define USER_MOTOR1_ENC_POS_MAX            (USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1)
#define USER_MOTOR1_ENC_POS_OFFSET         (668)

// Only for eSMO
#define USER_MOTOR1_KSLIDE_MAX             (1.50f)       // 2.0f
#define USER_MOTOR1_KSLIDE_MIN             (0.75f)

#define USER_MOTOR1_PLL_KP_MAX             (10.0f)
#define USER_MOTOR1_PLL_KP_MIN             (2.0f)
#define USER_MOTOR1_PLL_KP_SF              (5.0f)
#define USER_MOTOR1_PLL_KI                 (2.8125E-06f)    // Not used, reserve

#define USER_MOTOR1_BEMF_THRESHOLD         (0.5f)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz        (2.0f)       // 1.0f
#define USER_MOTOR1_THETA_OFFSET_SF        (1.0f)       // 2.5f
#define USER_MOTOR1_SPEED_LPF_FC_Hz        (200.0f)     // 100.0f

// for IS-BLDC
#define USER_MOTOR1_RAMP_START_Hz           (5.0f)
#define USER_MOTOR1_RAMP_END_Hz             (30.0f)
#define USER_MOTOR1_RAMP_DELAY              (1)

#define USER_MOTOR1_ISBLDC_INT_MAX          (0.015f)
#define USER_MOTOR1_ISBLDC_INT_MIN          (0.010f)

// for Rs online calibration
#define USER_MOTOR1_RSONLINE_WAIT_TIME      (60000U)    // 5min/300s at 5ms base
#define USER_MOTOR1_RSONLINE_WORK_TIME      (24000U)     //2min/120s at 5ms base

// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz        (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz       (150.0f)

#define USER_MOTOR1_KP_SPD_START_SF          (1.5f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF          (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_LOW_SF            (2.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF            (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_HIGH_SF           (1.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF           (1.0f)       // 0.1~10.0

#define USER_MOTOR1_GAIN_IQ_LOW_A            (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A           (6.0f)

#define USER_MOTOR1_KP_IQ_START_SF           (1.5f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF           (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_LOW_SF             (2.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF             (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_HIGH_SF            (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF            (1.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_ID_SF                 (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF                 (1.0f)       // 0.1~10.0

#elif (USER_MOTOR1 == Regal_Beloit_5SME39DL0756)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE                   MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS         (3)
#define USER_MOTOR1_Rr_Ohm                 (0.0)
#define USER_MOTOR1_Rs_Ohm                 (4.581007)
#define USER_MOTOR1_Ls_d_H                 (0.03727356)
#define USER_MOTOR1_Ls_q_H                 (0.03727356)
#define USER_MOTOR1_RATED_FLUX_VpHz        (0.6589699)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A  (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A      (1.0)
#define USER_MOTOR1_IND_EST_CURRENT_A      (-1.0)
#define USER_MOTOR1_MAX_CURRENT_A          (2.6)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz       (20.0)
#define USER_MOTOR1_NUM_ENC_SLOTS          (NULL)

// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz        (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz       (150.0f)

#define USER_MOTOR1_KP_SPD_START_SF          (1.5f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF          (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_LOW_SF            (2.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF            (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_HIGH_SF           (1.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF           (1.0f)       // 0.1~10.0

#define USER_MOTOR1_GAIN_IQ_LOW_A            (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A           (6.0f)

#define USER_MOTOR1_KP_IQ_START_SF           (1.5f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF           (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_LOW_SF             (2.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF             (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_HIGH_SF            (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF            (1.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_ID_SF                 (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF                 (1.0f)       // 0.1~10.0

#elif (USER_MOTOR1 == Drone9616_110KV_48V)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE                   MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS         (7)
#define USER_MOTOR1_Rr_Ohm                 (NULL)
#define USER_MOTOR1_Rs_Ohm                 (0.0282184016)
#define USER_MOTOR1_Ls_d_H                 (1.39398744e-05)
#define USER_MOTOR1_Ls_q_H                 (1.39398744e-05)
#define USER_MOTOR1_RATED_FLUX_VpHz        (0.0159354247)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A  (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A      (3.5)
#define USER_MOTOR1_IND_EST_CURRENT_A      (-3.0)
#define USER_MOTOR1_MAX_CURRENT_A          (50.0)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz       (60.0)
#define USER_MOTOR1_NUM_ENC_SLOTS          (NULL)
#define USER_MOTOR1_INERTIA_Kgm2           (4.80185e-06)

// Ls compensation coefficient
#define USER_MOTOR1_Ls_d_COMP_COEF         (0.15f)          // 0.0f~0.5f
#define USER_MOTOR1_Ls_q_COMP_COEF         (0.35f)          // 0.0f~0.5f
#define USER_MOTOR1_Ls_MIN_NUM_COEF        (0.55f)          // 0.5f~1.0f

#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz  (5.0f)          // Hz

#define USER_MOTOR1_RATED_VOLTAGE_V        (48.0)
#define USER_MOTOR1_FREQ_MIN_Hz            (10.0)           // Hz
#define USER_MOTOR1_FREQ_MAX_Hz            (1200.0)         // Hz

#define USER_MOTOR1_FREQ_LOW_Hz            (10.0)           // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz           (400.0)         // Hz
#define USER_MOTOR1_VOLT_MIN_V             (2.0)           // Volt
#define USER_MOTOR1_VOLT_MAX_V             (48.0)          // Volt

#define USER_MOTOR1_FORCE_DELTA_A          (0.05)          // A
#define USER_MOTOR1_ALIGN_DELTA_A          (0.01)          // A
#define USER_MOTOR1_FLUX_CURRENT_A         (0.5)           // A
#define USER_MOTOR1_ALIGN_CURRENT_A        (1.5)           //
#define USER_MOTOR1_STARTUP_CURRENT_A      (5.0)           //
#define USER_MOTOR1_TORQUE_CURRENT_A       (2.0)           // A
#define USER_MOTOR1_OVER_CURRENT_A         (75.0)           //

#define USER_MOTOR1_SPEED_START_Hz         (75.0)
#define USER_MOTOR1_SPEED_FORCE_Hz         (60.0)
#define USER_MOTOR1_ACCEL_START_Hzps       (10.0)
#define USER_MOTOR1_ACCEL_MAX_Hzps         (50.0)

#define USER_MOTOR1_SPEED_FS_Hz            (3.0)

// only for encoder
#define USER_MOTOR1_ENC_POS_MAX            (USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1)
#define USER_MOTOR1_ENC_POS_OFFSET         (668)

// Only for eSMO
#define USER_MOTOR1_KSLIDE_MAX              (1.00f)       // 2.0f
#define USER_MOTOR1_KSLIDE_MIN              (0.05f)

#define USER_MOTOR1_PLL_KP_MAX              (15.0f)
#define USER_MOTOR1_PLL_KP_MIN              (2.0f)
#define USER_MOTOR1_PLL_KP_SF               (20.0f)
#define USER_MOTOR1_PLL_KI                 (2.8125E-06f)    // Not used, reserve

#define USER_MOTOR1_BEMF_THRESHOLD          (0.05f)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz         (2.0f)       // 1.0f
#define USER_MOTOR1_THETA_OFFSET_SF         (1.0f)       // 2.5f
#define USER_MOTOR1_SPEED_LPF_FC_Hz         (200.0f)     // 100.0f

// for IS-BLDC
#define USER_MOTOR1_RAMP_START_Hz           (5.0f)
#define USER_MOTOR1_RAMP_END_Hz             (30.0f)
#define USER_MOTOR1_RAMP_DELAY              (1)

#define USER_MOTOR1_ISBLDC_INT_MAX          (0.015f)
#define USER_MOTOR1_ISBLDC_INT_MIN          (0.010f)

// for Rs online calibration
#define USER_MOTOR1_RSONLINE_WAIT_TIME      (60000U)    // 5min/300s at 5ms base
#define USER_MOTOR1_RSONLINE_WORK_TIME      (24000U)     //2min/120s at 5ms base

// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz        (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz       (150.0f)

#define USER_MOTOR1_KP_SPD_START_SF          (1.5f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF          (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_LOW_SF            (2.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF            (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_HIGH_SF           (1.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF           (1.0f)       // 0.1~10.0

#define USER_MOTOR1_GAIN_IQ_LOW_A            (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A           (6.0f)

#define USER_MOTOR1_KP_IQ_START_SF           (1.5f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF           (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_LOW_SF             (2.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF             (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_HIGH_SF            (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF            (1.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_ID_SF                 (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF                 (1.0f)       // 0.1~10.0

#elif (USER_MOTOR1 == Anaheim_BLY341S_48V)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE                   MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS         (4)
#define USER_MOTOR1_Rr_Ohm                 (NULL)
#define USER_MOTOR1_Rs_Ohm                 (0.463800967)
#define USER_MOTOR1_Ls_d_H                 (0.00114538975)
#define USER_MOTOR1_Ls_q_H                 (0.00114538975)
#define USER_MOTOR1_RATED_FLUX_VpHz        (0.0978558362)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A  (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A      (2.5)
#define USER_MOTOR1_IND_EST_CURRENT_A      (-2.0)
#define USER_MOTOR1_MAX_CURRENT_A          (20.0)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz       (20.0)
#define USER_MOTOR1_NUM_ENC_SLOTS          (NULL)

#define USER_MOTOR1_FREQ_MIN_Hz             (5.0)           // Hz
#define USER_MOTOR1_FREQ_MAX_Hz            (300.0)         // Hz

#define USER_MOTOR1_FREQ_LOW_Hz            (10.0)          // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz           (200.0)         // Hz
#define USER_MOTOR1_VOLT_MIN_V             (4.0)           // Volt
#define USER_MOTOR1_VOLT_MAX_V             (24.0)          // Volt

#elif (USER_MOTOR1 == Anaheim_BLY341S_Y24V)
#define USER_MOTOR1_TYPE                   MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS         (4)
#define USER_MOTOR1_Rr_Ohm                 (NULL)
#define USER_MOTOR1_Rs_Ohm                 (0.133211181)
#define USER_MOTOR1_Ls_d_H                 (0.000275031634)
#define USER_MOTOR1_Ls_q_H                 (0.000275031634)
#define USER_MOTOR1_RATED_FLUX_VpHz        (0.0514687076)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A  (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A      (4.5)
#define USER_MOTOR1_IND_EST_CURRENT_A      (-4.0)
#define USER_MOTOR1_MAX_CURRENT_A          (12.0)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz       (20.0)
#define USER_MOTOR1_NUM_ENC_SLOTS          (NULL)
#define USER_MOTOR1_INERTIA_Kgm2           (3.99683e-05)     // 0.00566 oz-in-sec2

#define USER_MOTOR1_RATED_VOLTAGE_V        (24.0)
#define USER_MOTOR1_FREQ_MIN_Hz            (5.0)             // Hz
#define USER_MOTOR1_FREQ_MAX_Hz            (300.0)           // Hz

#define USER_MOTOR1_FREQ_LOW_Hz            (10.0)            // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz           (200.0)           // Hz
#define USER_MOTOR1_VOLT_MIN_V             (4.0)             // Volt
#define USER_MOTOR1_VOLT_MAX_V             (24.0)            // Volt

#define USER_MOTOR1_STARTUP_CURRENT_A      (3.0)           //
#define USER_MOTOR1_TORQUE_CURRENT_A       (1.5)           // A
#define USER_MOTOR1_OVER_CURRENT_A         (6.0)           //

#define USER_MOTOR1_SPEED_START_Hz         (10.0)
#define USER_MOTOR1_ACCEL_START_Hzps       (10.0)
#define USER_MOTOR1_ACCEL_MAX_Hzps         (20.0)

// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz        (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz       (150.0f)

#define USER_MOTOR1_KP_SPD_START_SF          (1.5f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF          (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_LOW_SF            (2.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF            (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_HIGH_SF           (1.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF           (1.0f)       // 0.1~10.0

#define USER_MOTOR1_GAIN_IQ_LOW_A            (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A           (6.0f)

#define USER_MOTOR1_KP_IQ_START_SF           (1.5f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF           (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_LOW_SF             (2.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF             (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_HIGH_SF            (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF            (1.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_ID_SF                 (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF                 (1.0f)       // 0.1~10.0

#elif (USER_MOTOR1 == Anaheim_BLY341S_D24V)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE                   MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS         (4)
#define USER_MOTOR1_Rr_Ohm                 (NULL)
#define USER_MOTOR1_Rs_Ohm                 (0.0544644073)
#define USER_MOTOR1_Ls_d_H                 (9.58044038e-05)
#define USER_MOTOR1_Ls_q_H                 (9.58044038e-05)
#define USER_MOTOR1_RATED_FLUX_VpHz        (0.0544644073)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A  (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A      (4.0)
#define USER_MOTOR1_IND_EST_CURRENT_A      (-3.5)
#define USER_MOTOR1_MAX_CURRENT_A          (8.0)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz       (40.0)
#define USER_MOTOR1_NUM_ENC_SLOTS          (NULL)
#define USER_MOTOR1_INERTIA_Kgm2           (3.99683e-05)     // 0.00566 oz-in-sec2

#define USER_MOTOR1_RATED_VOLTAGE_V        (24.0)
#define USER_MOTOR1_FREQ_MIN_Hz            (5.0)             // Hz
#define USER_MOTOR1_FREQ_MAX_Hz            (300.0)           // Hz

#define USER_MOTOR1_FREQ_LOW_Hz            (10.0)            // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz           (200.0)           // Hz
#define USER_MOTOR1_VOLT_MIN_V             (4.0)             // Volt
#define USER_MOTOR1_VOLT_MAX_V             (24.0)            // Volt

#define USER_MOTOR1_STARTUP_CURRENT_A      (3.0)            //
#define USER_MOTOR1_TORQUE_CURRENT_A       (1.5)           // A
#define USER_MOTOR1_OVER_CURRENT_A         (8.5)           //

#define USER_MOTOR1_SPEED_START_Hz         (10.0)
#define USER_MOTOR1_ACCEL_START_Hzps       (10.0)
#define USER_MOTOR1_ACCEL_MAX_Hzps         (20.0)

// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz        (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz       (150.0f)

#define USER_MOTOR1_KP_SPD_START_SF          (1.5f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF          (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_LOW_SF            (2.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF            (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_HIGH_SF           (1.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF           (1.0f)       // 0.1~10.0

#define USER_MOTOR1_GAIN_IQ_LOW_A            (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A           (6.0f)

#define USER_MOTOR1_KP_IQ_START_SF           (1.5f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF           (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_LOW_SF             (2.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF             (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_HIGH_SF            (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF            (1.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_ID_SF                 (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF                 (1.0f)       // 0.1~10.0

#elif (USER_MOTOR1 == EMSYNERGY_LVACI)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE                   MOTOR_TYPE_INDUCTION
#define USER_MOTOR1_NUM_POLE_PAIRS         (2)
#define USER_MOTOR1_Rr_Ohm                 (1.05)
#define USER_MOTOR1_Rs_Ohm                 (1.79)
#define USER_MOTOR1_Ls_d_H                 (0.00681)
#define USER_MOTOR1_Ls_q_H                 (0.00681)
#define USER_MOTOR1_RATED_FLUX_VpHz        (0.8165f*14.7f*1.4142f/50.0f)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A  (0.91f*1.4142f)
#define USER_MOTOR1_RES_EST_CURRENT_A      (0.5f)
#define USER_MOTOR1_IND_EST_CURRENT_A      (NULL)
#define USER_MOTOR1_MAX_CURRENT_A          (2.50)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz       (10.0)
#define USER_MOTOR1_NUM_ENC_SLOTS          (NULL)
#define USER_MOTOR1_INERTIA_Kgm2           (7.06154e-06)

#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz  (5.0f)          // Hz

#define USER_MOTOR1_RATED_VOLTAGE_V        (24.0)
#define USER_MOTOR1_FREQ_MIN_Hz            (5.0)           // Hz
#define USER_MOTOR1_FREQ_MAX_Hz            (400.0)         // Hz

#define USER_MOTOR1_FREQ_LOW_Hz            (10.0)          // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz           (200.0)         // Hz
#define USER_MOTOR1_VOLT_MIN_V             (20.0)          // Volt
#define USER_MOTOR1_VOLT_MAX_V             (200.0)         // Volt

#define USER_MOTOR1_FORCE_DELTA_A          (0.05f)          // A
#define USER_MOTOR1_ALIGN_DELTA_A          (0.01f)          // A
#define USER_MOTOR1_FLUX_CURRENT_A         (0.5f)           // A
#define USER_MOTOR1_ALIGN_CURRENT_A        (1.5f)           // A
#define USER_MOTOR1_STARTUP_CURRENT_A      (1.5f)           // A
#define USER_MOTOR1_TORQUE_CURRENT_A       (1.0f)           // A
#define USER_MOTOR1_OVER_CURRENT_A         (5.0)           // A

#define USER_MOTOR1_SPEED_START_Hz         (30.0)
#define USER_MOTOR1_SPEED_FORCE_Hz         (25.0)
#define USER_MOTOR1_ACCEL_START_Hzps       (10.0)
#define USER_MOTOR1_ACCEL_MAX_Hzps         (20.0)

#define USER_MOTOR1_SPEED_FS_Hz            (3.0)

// only for encoder, N/A
#define USER_MOTOR1_ENC_POS_MAX            (USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1)
#define USER_MOTOR1_ENC_POS_OFFSET         (668)

// Only for eSMO, N/A
#define USER_MOTOR1_KSLIDE_MAX             (1.50f)
#define USER_MOTOR1_KSLIDE_MIN             (0.15f)

#define USER_MOTOR1_PLL_KP_MAX             (7.25f)
#define USER_MOTOR1_PLL_KP_MIN             (1.25f)
#define USER_MOTOR1_PLL_KP_SF              (5.0f)
#define USER_MOTOR1_PLL_KI                 (2.8125E-06f)    // Not used, reserve

#define USER_MOTOR1_BEMF_THRESHOLD         (0.5f)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz        (2.0f)
#define USER_MOTOR1_THETA_OFFSET_SF        (1.0f)
#define USER_MOTOR1_SPEED_LPF_FC_Hz        (200.0f)

// for IS-BLDC, N/A
#define USER_MOTOR1_RAMP_START_Hz           (5.0f)
#define USER_MOTOR1_RAMP_END_Hz             (30.0f)
#define USER_MOTOR1_RAMP_DELAY              (1)

#define USER_MOTOR1_ISBLDC_INT_MAX          (0.015f)
#define USER_MOTOR1_ISBLDC_INT_MIN          (0.010f)

// for Rs online calibration
#define USER_MOTOR1_RSONLINE_WAIT_TIME      (60000U)    // 5min/300s at 5ms base
#define USER_MOTOR1_RSONLINE_WORK_TIME      (24000U)     //2min/120s at 5ms base


#elif (USER_MOTOR1 == Marathon_5K33GN2A)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE                   MOTOR_TYPE_INDUCTION
#define USER_MOTOR1_NUM_POLE_PAIRS         (2)
#define USER_MOTOR1_Rr_Ohm                 (5.508003)
#define USER_MOTOR1_Rs_Ohm                 (10.71121)
#define USER_MOTOR1_Ls_d_H                 (0.05296588)
#define USER_MOTOR1_Ls_q_H                 (0.05296588)
#define USER_MOTOR1_RATED_FLUX_VpHz        (0.8165*220.0/60.0)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A  (1.378)
#define USER_MOTOR1_RES_EST_CURRENT_A      (1.0)
#define USER_MOTOR1_IND_EST_CURRENT_A      (NULL)
#define USER_MOTOR1_MAX_CURRENT_A          (3.0)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz       (5.0)
#define USER_MOTOR1_NUM_ENC_SLOTS          (NULL)

#define USER_MOTOR1_FREQ_MIN_Hz             (5.0)           // Hz
#define USER_MOTOR1_FREQ_MAX_Hz            (400.0)         // Hz

#define USER_MOTOR1_FREQ_LOW_Hz            (10.0)          // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz           (200.0)         // Hz
#define USER_MOTOR1_VOLT_MIN_V             (20.0)          // Volt
#define USER_MOTOR1_VOLT_MAX_V             (200.0)         // Volt

#elif (USER_MOTOR1 == Marathon_56H17T2011A)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE                   MOTOR_TYPE_INDUCTION
#define USER_MOTOR1_NUM_POLE_PAIRS         (2)
#define USER_MOTOR1_Rr_Ohm                 (5.159403)
#define USER_MOTOR1_Rs_Ohm                 (7.924815)
#define USER_MOTOR1_Ls_d_H                 (0.03904648)
#define USER_MOTOR1_Ls_q_H                 (0.03904648)
#define USER_MOTOR1_RATED_FLUX_VpHz        (0.8*0.8165*230.0/60.0)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A  (0.9941965)
#define USER_MOTOR1_RES_EST_CURRENT_A      (0.5)
#define USER_MOTOR1_IND_EST_CURRENT_A      (NULL)
#define USER_MOTOR1_MAX_CURRENT_A          (2.0)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz       (5.0)
#define USER_MOTOR1_NUM_ENC_SLOTS          (NULL)
#define USER_MOTOR1_INERTIA_Kgm2           (6.300017e-5)

#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz  (5.0f)          // Hz

#define USER_MOTOR1_RATED_VOLTAGE_V        (200.0f)
#define USER_MOTOR1_FREQ_MIN_Hz            (5.0f)          // Hz
#define USER_MOTOR1_FREQ_MAX_Hz            (400.0f)        // Hz

#define USER_MOTOR1_FREQ_MIN_Hz            (5.0)           // Hz
#define USER_MOTOR1_FREQ_MAX_Hz            (400.0)         // Hz

#define USER_MOTOR1_FREQ_LOW_Hz            (10.0)          // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz           (200.0)         // Hz
#define USER_MOTOR1_VOLT_MIN_V             (20.0)          // Volt
#define USER_MOTOR1_VOLT_MAX_V             (200.0)         // Volt

#define USER_MOTOR1_FORCE_DELTA_A          (0.05f)         // A
#define USER_MOTOR1_ALIGN_DELTA_A          (0.01f)         // A
#define USER_MOTOR1_FLUX_CURRENT_A         (0.5f)          // A
#define USER_MOTOR1_ALIGN_CURRENT_A        (1.0f)          // A
#define USER_MOTOR1_STARTUP_CURRENT_A      (2.5f)          // A
#define USER_MOTOR1_TORQUE_CURRENT_A       (1.0f)          // A
#define USER_MOTOR1_OVER_CURRENT_A         (4.5f)          // A

#define USER_MOTOR1_SPEED_START_Hz         (30.0f)
#define USER_MOTOR1_SPEED_FORCE_Hz         (20.0f)
#define USER_MOTOR1_ACCEL_START_Hzps       (10.0f)         // Hz/s
#define USER_MOTOR1_ACCEL_MAX_Hzps         (20.0f)        // Hz/s

#define USER_MOTOR1_SPEED_FS_Hz            (3.0f)

// only for encoder
#define USER_MOTOR1_ENC_POS_MAX            (USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1)
#define USER_MOTOR1_ENC_POS_OFFSET         (668)

#elif (USER_MOTOR1 == Dayton_3N352C)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE                   MOTOR_TYPE_INDUCTION
#define USER_MOTOR1_NUM_POLE_PAIRS         (2)
#define USER_MOTOR1_Rr_Ohm                 (2.428799)
#define USER_MOTOR1_Rs_Ohm                 (2.863202)
#define USER_MOTOR1_Ls_d_H                 (0.02391323)
#define USER_MOTOR1_Ls_q_H                 (0.02391323)
#define USER_MOTOR1_RATED_FLUX_VpHz        (0.8165*230.0/60.0)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A  (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A      (1.0)
#define USER_MOTOR1_IND_EST_CURRENT_A      (NULL)
#define USER_MOTOR1_MAX_CURRENT_A          (3.0)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz       (5.0)
#define USER_MOTOR1_NUM_ENC_SLOTS          (NULL)

//------------------------------------------------------------------
#elif (USER_MOTOR1 == my_pm_motor_1)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE                   MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS         (3)
#define USER_MOTOR1_Rr_Ohm                 (NULL)
#define USER_MOTOR1_Rs_Ohm                 (0.007)
#define USER_MOTOR1_Ls_d_H                 (0.000021)
#define USER_MOTOR1_Ls_q_H                 (0.000021)
#define USER_MOTOR1_RATED_FLUX_VpHz        (0.0270898938)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A  (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A      (10.0f)   //電機額定電流的10%~30%(A)
#define USER_MOTOR1_IND_EST_CURRENT_A      (-10.0f)  //電機額定電流的10%~30%, 剛好能驅動(A)
#define USER_MOTOR1_MAX_CURRENT_A          (150.0f)   //電機最大電流, 額定電流的50%~150%(A)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz       (40.0f)  //電機額定轉速的10%~30%(Hz)
#define DC_LINK_LIMIT                      (150.0f)  //總電流限制

// Number of lines on the motor's quadrature encoder
#define USER_MOTOR1_NUM_ENC_SLOTS          (1000)

#define USER_MOTOR1_INERTIA_Kgm2           (0.00014)    //轉子轉動慣量, 1.4Kgcm2=0.00014Kgm2

// Ls compensation coefficient
#define USER_MOTOR1_Ls_d_COMP_COEF         (0.15f)          // 0.0f~0.5f
#define USER_MOTOR1_Ls_q_COMP_COEF         (0.35f)          // 0.0f~0.5f
#define USER_MOTOR1_Ls_MIN_NUM_COEF        (0.55f)          // 0.5f~1.0f

#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz  (5.0f)          // Hz

#define USER_MOTOR1_RATED_VOLTAGE_V        (12.0f)
#define USER_MOTOR1_FREQ_MIN_Hz            (9.0f)          // Hz
#define USER_MOTOR1_FREQ_MAX_Hz            (250.0f)         // Hz

#define USER_MOTOR1_FREQ_LOW_Hz            (5.0f)            // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz           (400.0f)          // Hz
#define USER_MOTOR1_VOLT_MIN_V             (1.0f)            // Volt
#define USER_MOTOR1_VOLT_MAX_V             (24.0f)           // Volt

#define USER_MOTOR1_FORCE_DELTA_A          (0.05f)          // A
#define USER_MOTOR1_ALIGN_DELTA_A          (0.01f)          // A
#define USER_MOTOR1_FLUX_CURRENT_A         (0.5f)           // A
#define USER_MOTOR1_ALIGN_CURRENT_A        (1.5f)           // A
#define USER_MOTOR1_STARTUP_CURRENT_A      (10.0f)           // A
#define USER_MOTOR1_TORQUE_CURRENT_A       (2.0f)           // A
#define USER_MOTOR1_OVER_CURRENT_A         (180.0f)           // A

#define USER_MOTOR1_BRAKE_CURRENT_A        (1.0f)           // A
#define USER_MOTOR1_BRAKE_TIME_DELAY       (12000U)        // 60s/5ms

#define USER_MOTOR1_SPEED_START_Hz         (30.0f)
#define USER_MOTOR1_SPEED_FORCE_Hz         (25.0f)
#define USER_MOTOR1_ACCEL_START_Hzps       (10.0f)
#define USER_MOTOR1_ACCEL_MAX_Hzps         (20.0f)

#define USER_MOTOR1_SPEED_FS_Hz            (3.0f)

// only for encoder
#define USER_MOTOR1_ENC_POS_MAX            (USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1)
#define USER_MOTOR1_ENC_POS_OFFSET         (668)

// Only for eSMO
#define USER_MOTOR1_KSLIDE_MAX             (0.75f)      //
#define USER_MOTOR1_KSLIDE_MIN             (0.15f)

#define USER_MOTOR1_PLL_KP_MAX             (6.75f)      //
#define USER_MOTOR1_PLL_KP_MIN             (0.75f)
#define USER_MOTOR1_PLL_KP_SF              (5.0f)
#define USER_MOTOR1_PLL_KI                 (2.8125E-06f)    // Not used, reserve

#define USER_MOTOR1_BEMF_THRESHOLD         (0.5f)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz        (1.0f)
#define USER_MOTOR1_THETA_OFFSET_SF        (1.0f)
#define USER_MOTOR1_SPEED_LPF_FC_Hz        (200.0f)

// for IS-BLDC
#define USER_MOTOR1_RAMP_START_Hz           (3.0f)
#define USER_MOTOR1_RAMP_END_Hz             (30.0f)
#define USER_MOTOR1_RAMP_DELAY              (5)

#define USER_MOTOR1_ISBLDC_INT_MAX          (0.015f)
#define USER_MOTOR1_ISBLDC_INT_MIN          (0.010f)

// for Rs online calibration
#define USER_MOTOR1_RSONLINE_WAIT_TIME      (60000U)    // 5min/300s at 5ms base
#define USER_MOTOR1_RSONLINE_WORK_TIME      (24000U)     //2min/120s at 5ms base

// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz        (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz       (150.0f)

#define USER_MOTOR1_KP_SPD_START_SF          (1.5f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF          (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_LOW_SF            (2.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF            (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_HIGH_SF           (1.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF           (1.0f)       // 0.1~10.0

#define USER_MOTOR1_GAIN_IQ_LOW_A            (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A           (6.0f)

#define USER_MOTOR1_KP_IQ_START_SF           (1.5f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF           (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_LOW_SF             (2.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF             (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_HIGH_SF            (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF            (1.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_ID_SF                 (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF                 (1.0f)       // 0.1~10.0

#elif (USER_MOTOR1 == my_aci_motor_2)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE                   MOTOR_TYPE_INDUCTION
#define USER_MOTOR1_NUM_POLE_PAIRS         (2)
#define USER_MOTOR1_Rr_Ohm                 (NULL)
#define USER_MOTOR1_Rs_Ohm                 (NULL)
#define USER_MOTOR1_Ls_d_H                 (NULL)
#define USER_MOTOR1_Ls_q_H                 (NULL)
#define USER_MOTOR1_RATED_FLUX_VpHz        (0.8165f * 230.0f / 60.0f)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A  (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A      (0.5f)
#define USER_MOTOR1_IND_EST_CURRENT_A      (NULL)
#define USER_MOTOR1_MAX_CURRENT_A          (5.0f)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz       (5.0f)

// Number of lines on the motor's quadrature encoder
#define USER_MOTOR1_NUM_ENC_SLOTS          (1000)

#define USER_MOTOR1_FREQ_MIN_Hz            (5.0f)           // Hz
#define USER_MOTOR1_FREQ_MAX_Hz            (300.0f)         // Hz

#define USER_MOTOR1_FREQ_LOW_Hz            (10.0f)          // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz           (400.0f)         // Hz
#define USER_MOTOR1_VOLT_MIN_V             (4.0f)           // Volt
#define USER_MOTOR1_VOLT_MAX_V             (24.0f)          // Volt

// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz        (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz       (150.0f)

#define USER_MOTOR1_KP_SPD_START_SF          (1.5f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF          (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_LOW_SF            (2.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF            (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_SPD_HIGH_SF           (1.0f)       // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF           (1.0f)       // 0.1~10.0

#define USER_MOTOR1_GAIN_IQ_LOW_A            (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A           (6.0f)

#define USER_MOTOR1_KP_IQ_START_SF           (1.5f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF           (1.5f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_LOW_SF             (2.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF             (2.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_IQ_HIGH_SF            (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF            (1.0f)       // 0.1~10.0

#define USER_MOTOR1_KP_ID_SF                 (1.0f)       // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF                 (1.0f)       // 0.1~10.0

#else
#error No motor type specified
#endif


//! \brief Defines the maximum current slope for Id trajectory
//!
#define USER_M1_MAX_CURRENT_DELTA_A        (USER_MOTOR1_RES_EST_CURRENT_A / USER_M1_ISR_FREQ_Hz)


//! \brief Defines the maximum current slope for Id trajectory during power warp mode
//!
#define USER_M1_MAX_CURRENT_DELTA_PW_A    (0.3 * USER_MOTOR1_RES_EST_CURRENT_A / USER_M1_ISR_FREQ_Hz)


#ifndef USER_MOTOR1
#error Motor type is not defined in user_mtr1.h
#endif

#ifndef USER_MOTOR1_TYPE
#error The motor type is not defined in user_mtr1.h
#endif

#ifndef USER_MOTOR1_NUM_POLE_PAIRS
#error Number of motor pole pairs is not defined in user_mtr1.h
#endif

#ifndef USER_MOTOR1_Rr_Ohm
#error The rotor resistance is not defined in user_mtr1.h
#endif

#ifndef USER_MOTOR1_Rs_Ohm
#error The stator resistance is not defined in user_mtr1.h
#endif

#ifndef USER_MOTOR1_Ls_d_H
#error The direct stator inductance is not defined in user_mtr1.h
#endif

#ifndef USER_MOTOR1_Ls_q_H
#error The quadrature stator inductance is not defined in user_mtr1.h
#endif

#ifndef USER_MOTOR1_RATED_FLUX_VpHz
#error The rated flux of motor is not defined in user_mtr1.h
#endif

#ifndef USER_MOTOR1_MAGNETIZING_CURRENT_A
#error The magnetizing current is not defined in user_mtr1.h
#endif

#ifndef USER_MOTOR1_RES_EST_CURRENT_A
#error The resistance estimation current is not defined in user_mtr1.h
#endif

#ifndef USER_MOTOR1_IND_EST_CURRENT_A
#error The inductance estimation current is not defined in user_mtr1.h
#endif

#ifndef USER_MOTOR1_MAX_CURRENT_A
#error The maximum current is not defined in user_mtr1.h
#endif

#ifndef USER_MOTOR1_FLUX_EXC_FREQ_Hz
#error The flux excitation frequency is not defined in user_mtr1.h
#endif

#if ((USER_M1_NUM_CURRENT_SENSORS < 2) || (USER_M1_NUM_CURRENT_SENSORS > 3))
#error The number of current sensors must be 2 or 3
#endif

#if (USER_M1_NUM_VOLTAGE_SENSORS != 3)
#error The number of voltage sensors must be 3
#endif

// **************************************************************************
// the Defines

//! \brief Defines the minimum ADC value for pot
#define USER_M1_POT_ADC_MIN         (200U)          // 0 < the value < 4096

//! \brief Defines the maximum ADC value for pot
#define USER_M1_POT_ADC_MAX         (4096U - 200U)  // 0 < the value < 4096

//! \brief Defines the speed conversion coefficient for pot
#define USER_M1_POT_SPEED_SF        USER_MOTOR1_FREQ_MAX_Hz / ((float32_t)(USER_M1_POT_ADC_MAX - USER_M1_POT_ADC_MIN))

//! \brief Defines the minimum frequency for pot
#define USER_M1_POT_SPEED_MIN_Hz    (USER_MOTOR1_FREQ_MAX_Hz * 0.1f)

//! \brief Defines the maximum frequency for pot
#define USER_M1_POT_SPEED_MAX_Hz    (USER_MOTOR1_FREQ_MAX_Hz * 0.5f)

//! \brief Defines the pot signal wait delay time
#define USER_M1_WAIT_TIME_SET       (500U)         // 0.5s/1ms

//! \brief Defines the minimum frequency for pulse input
#define USER_M1_SPEED_CAP_MIN_Hz        (15.0f)

//! \brief Defines the maximum frequency for pulse input
#define USER_M1_SPEED_CAP_MAX_Hz        (600.0f)

//! \brief Defines the pulse capture wait delay time
#define USER_M1_CAP_WAIT_TIME_SET       (200U)     // 0.2s/1ms

//! \brief Defines the switch signal wait delay time
#define USER_M1_SWITCH_WAIT_TIME_SET    (50U)      // 0.05s/1ms

// **************************************************************************
// the typedefs


// **************************************************************************
// the globals
extern USER_Params userParams_M1;

#if defined(BSXL8323RS_REVA) || defined(BSXL8353RS_REVA) || \
    defined(BSXL8316RT_REVA)
// Watch window interface to the drv8323/drv8353/DRV8316 SPI
extern DRVIC_VARS_t drvicVars_M1;
#endif  // BSXL8323RS_REVA | BSXL8353RS_REVA | BSXL8316RT_REVA

// **************************************************************************
// the functions
//! \param[in]  pUserParams  The pointer to the user param structure
extern void USER_setMotor1Params(userParams_Handle handle);

//*****************************************************************************
//
// Close the Doxygen group.
//! @}
//
//*****************************************************************************

//*****************************************************************************
//
// Mark the end of the C bindings section for C++ compilers.
//
//*****************************************************************************
#ifdef __cplusplus
}
#endif

#endif // end of USER_MTR1_H definition
谢谢。此致、
切里
0 admin 10 个月前
TI__Guru**** 663810 points
请注意，本文内容源自机器翻译，可能存在语法或其它翻译错误，仅供参考。如需获取准确内容，请参阅链接中的英语原文或自行翻译。
您好、Cherry：
换向控制算法将受到 CSA 中读取的数据的影响。您是否具有 CSA 引脚输入电压图像？为了更好地降低电流检测信号中的噪声、您需要考虑滤波(在 CSA 的输入端和输出端)和物理板布局(按照本应用手册 https://www.ti.com/lit/an/slvaf66/slvaf66.pdf 中的建议和我之前发送的最佳实践手册)。换向算法的实际代码也许很好。
此致！
戴维斯
0 admin 10 个月前
TI__Guru**** 663810 points
请注意，本文内容源自机器翻译，可能存在语法或其它翻译错误，仅供参考。如需获取准确内容，请参阅链接中的英语原文或自行翻译。
嗨、Davis：
稍后将分享该波形、因为控制器有问题。
下面是驱动板的 PCB 布局、您能否帮助检查是否有任何需要调整的地方？
/cfs-file/__key/communityserver-discussions-components-files/138/pcb-layout.rar
谢谢。此致、
切里
0 admin 10 个月前
TI__Guru**** 663810 points
请注意，本文内容源自机器翻译，可能存在语法或其它翻译错误，仅供参考。如需获取准确内容，请参阅链接中的英语原文或自行翻译。
您好、Cherry：
请参阅我们的最佳布局实践应用手册： https://www.ti.com/lit/an/slva959b/slva959b.pdf?ts=1686935027388。此外、本常见问题解答的第11节还介绍了有关布局审查的一些要点： https://e2e.ti.com/support/motor-drivers-group/motor-drivers/f/motor-drivers-forum/1176539/faq-quick-guide-to-debugging-common-issues-in-bldc-motor-drivers。如果这些资源能提供帮助、请告诉我。
此致！
戴维斯
0 admin 10 个月前
TI__Guru**** 663810 points
请注意，本文内容源自机器翻译，可能存在语法或其它翻译错误，仅供参考。如需获取准确内容，请参阅链接中的英语原文或自行翻译。
您好、Cherry：
如果提供的信息有助于解决客户的问题、请将此主题标记为"已解决"；如果他们仍有问题、请告知我。
此致！
戴维斯
电机驱动器（参考译文帖）

电机驱动器（参考译文帖）(Read Only)

[参考译文] DRV8343-Q1：电流反馈 SOA、SOB、SOC 异常信号
