#ifndef MOTOR_CONTROLLER_H
#define MOTOR_CONTROLLER_H

#include "stm32f0xx_hal.h"
#include "stm32f0xx_hal_def.h"
#include "stm32f0xx_hal_tim.h"

typedef struct {
    TIM_HandleTypeDef*      Driver_PWM_TIM;
    uint32_t                U_Phase_TIM_Channel;
    uint32_t                V_Phase_TIM_Channel;
    uint32_t                W_Phase_TIM_Channel;
} Cont_Mot_PWMInterface_TypeDef;

typedef struct {
    uint32_t                rpm_rated_speed;
    uint32_t                mA_rated_current;
    uint8_t                 num_poles;
    uint16_t                v_rated_voltage;
    uint16_t                w_rated_power;
    float                   vkrpm_bemf_constant;
    uint32_t                Nmm_rated_torque;
} Electrical_Specs_TypeDef;

typedef struct {
    Cont_Mot_PWMInterface_TypeDef   PWM_Interface;
    Electrical_Specs_TypeDef        Electrical_Specs;
} Motor_TypeDef;

void BLDC_PWM_Init(Cont_Mot_PWMInterface_TypeDef* PWM_Interface);
void BLDC_Loop();

#endif