#ifndef CONFIG_H
#define CONFIG_H

// WiFi Configuration
#define WIFI_SSID "tami"
#define WIFI_PASSWORD ""

// Static IP Configuration
#define STATIC_IP IPAddress(10, 81, 2, 185)
#define GATEWAY IPAddress(10, 81, 2, 1)
#define SUBNET IPAddress(255, 255, 255, 0)
#define DNS IPAddress(10, 81, 2, 1)

// BTS7960 Pin Definitions
#define L_EN_PIN 14    // Left Enable
#define LPWM_PIN 26    // Left PWM (Reverse)
#define L_IS_PIN 35    // Left Current Sense (ADC input only)

#define R_EN_PIN 27    // Right Enable
#define RPWM_PIN 25    // Right PWM (Forward)
#define R_IS_PIN 34    // Right Current Sense (ADC input only)

// PWM Configuration
#define PWM_FREQ 20000      // 20kHz - reduces motor noise
#define PWM_RESOLUTION 8    // 8-bit resolution (0-255)
#define PWM_CHANNEL_R 0     // LEDC channel for RPWM
#define PWM_CHANNEL_L 1     // LEDC channel for LPWM
#define MIN_PWM_PERCENT 20  // Minimum PWM when motor is running (%)

// Current Sense Configuration
// BTS7960 current sense ratio: 8500:1 (kilo-amps)
// With 1kΩ resistor on IS pin: V = I_motor / 8500
// ESP32 ADC: 12-bit (0-4095), 0-3.3V
#define CURRENT_SENSE_RATIO 8500.0f   // Amps to sense current ratio
#define SENSE_RESISTOR 1000.0f        // 1kΩ sense resistor (ohms)
#define ADC_MAX 4095.0f               // 12-bit ADC max value
#define ADC_VREF 3.3f                 // ADC reference voltage
#define CURRENT_CALIBRATION 1.0f     // Calibration factor (measured current / reported current)

// Stall Detection Configuration (delta-based)
// Detects sudden current spikes above the rolling average
#define STALL_DELTA_THRESHOLD 1.2f    // Current spike above average that indicates stall (amps)
#define STALL_EMA_ALPHA 0.1f          // EMA smoothing factor (0.1 = slow, 0.5 = fast response)
#define STALL_EMA_BASELINE 2.0f       // Expected running current baseline for EMA seeding (amps)
#define STALL_STABILIZE_MS 300        // Ignore stalls for this long after motor starts/changes
#define STALL_CONFIRM_MS 50           // Current must exceed threshold for this long to confirm stall
#define DISABLE_STALL_DETECT false    // Set to true to disable stall detection

// Under-current stall detection: motor commanded but drawing no current
#define STALL_UNDERCURRENT_THRESHOLD 0.5f  // If current below this for too long = stall (amps)
#define STALL_UNDERCURRENT_MS 1000         // Under-current must persist this long to confirm stall

// Repeated spike stall detection: catches oscillating stall (driver protection cycling)
#define STALL_CANDIDATE_COUNT 5            // Number of stall candidates in window to confirm stall
#define STALL_CANDIDATE_WINDOW_MS 2000     // Time window for counting stall candidates

// Web Server
#define HTTP_PORT 80

#endif