#include "config.h"
#include "string.h"

#define CONFIG_BASE_ADDRESS (ADDR_FLASH_SECTOR_11)

#ifdef DEBUG
Config_Param_t config = {

#else

static const Config_Param_t config = {

#endif

    .chassis = {
    /* DJI3508µç»ú*/
        .motor_param = {

      {
			.can = BSP_CAN_1, 
			.id = 0x201, 
			.module = MOTOR_M3508, 
			.reverse = false,
			.gear =  true
			},
      { 
			.can = BSP_CAN_1,
			.id = 0x202, 
			.module = MOTOR_M3508, 
			.reverse = false,
			.gear =  true
			},
      { 
			.can = BSP_CAN_1, 
			.id = 0x203, 
			.module = MOTOR_M3508, 
			.reverse = false,
			.gear =  true				
			},
      { 
			.can = BSP_CAN_1,
			.id = 0x204, 
			.module = MOTOR_M3508, 
			.reverse = false,
			.gear =  true	
			},
    },

	.type = CHASSIS_TYPE_MECANUM,
    /* PID  */
    .pid = {
      /* µ×Å̵ç»ú PID */
      .motor_pid_param = {
        .k = 0.0015f,
        .p = 1.0f,
        .i = 0.0f,
        .d = 0.0f,
        .i_limit = 1.0f,
        .out_limit = 1.0f,
        .d_cutoff_freq = -1.0f,
        .range = -1.0f,
      },
    },

    .low_pass_cutoff_freq = {
      .in = 50.0f,
      .out = 50.0f,
    }


  }    

};

/**
 * @brief 获取机器人配置参数
 * @return 机器人配置参数指针
 */
Config_Param_t *Config_GetRobotParam(void)
{
    return &config;
}