#ifndef FTW_CONSTANTS_H
#define FTW_CONSTANTS_H

/* Serial */
#define BAUD_RATE           115200

/* SPI */
#define SPI_CLOCK_DIV       SPI_CLOCK_DIV4

/* Motor driver */
#define ACCELERATION        20000
#define ENC_DEVIATION_LIMIT 1500
#define ENC_CONST           0x000C1F40
#define ENCMODE_DECIMAL     0x400

/* Yaw axis */
#define YAW_STEPS_PER_ROUND   177000
#define YAW_GEAR_RATIO        739.5555f
#define YAW_GLOBAL_SCALER     80
#define YAW_DEFAULT_XACTUAL   0x0007A120
#define YAW_ENDSTOP_SPEED     25000
#define YAW_DEFAULT_VMAX      50000

/* Pitch axis */
#define PITCH_STEPS_PER_ROUND   500000
#define PITCH_GEAR_RATIO        739.5555f
#define PITCH_GLOBAL_SCALER     50
#define PITCH_DEFAULT_XACTUAL   500000
#define PITCH_ENDSTOP_SPEED     150000
#define PITCH_DEFAULT_VMAX      250000

/* Homing */
#define HOMING_MIN_ROUND_DIFF_OFFSET  6000
#define HOMING_XENC_MARGIN            1000
#define HOMING_DELAY_MS               10
#define HOMING_PITCH_INITIAL_DELAY    1000
#define HOMING_YAW_TIMEOUT_MS         2000

/* Thermal */
#define THERMAL_FAN_ON_TEMP     25
#define THERMAL_FAN_GAIN        20
#define THERMAL_FAN_MAX_PWM     255
#define THERMAL_FAN_PULSE_US    100000
#define THERMAL_FAN_FREQ_DIV    0.004
#define THERMAL_LOOP_INTERVAL   250

/* Info print interval */
#define INFO_PRINT_INTERVAL_MS  250

#endif