#ifndef __FOC_H__
#define __FOC_H__

#include <stdbool.h>
#include <stdint.h>
#include "esp_err.h"
#include "esp_check.h"

extern volatile short Motor_Speed;
extern volatile short A_PULS_DUTY;
extern volatile short A_MIUNS_DUTY;
extern volatile short B_PULS_DUTY;
extern volatile short B_MIUNS_DUTY;
extern volatile float Ud;
extern volatile float Uq;
extern volatile float theta;
extern volatile float U_ALPHA;
extern volatile float U_BETA;

void park(float ia, float ib, float theta, float *id, float *iq);
void inv_park(float vd, float vq, float theta, float *valpha, float *vbeta);
void PWM_DRIVER_OPENLOOP(float U_ALPHA, float U_BETA);
bool foc_cal_cb(void *user_data);
esp_err_t foc_openloop_start(void);

#endif