#ifndef _MAIN_H_
#define _MAIN_H_
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//! \file   solutions/instaspin_foc/src/main.h
//! \brief Defines the structures, global initialization, and functions used in MAIN 
//!
//! (C) Copyright 2011, Texas Instruments, Inc.

// **************************************************************************
// the includes

// modules
#include "sw/modules/math/src/32b/math.h"
#include "sw/modules/memCopy/src/32b/memCopy.h"
#include "sw/modules/est/src/32b/est.h"
#include "sw/modules/svgen/src/32b/svgen_current.h"
#include "sw/modules/fw/src/32b/fw.h"


// drivers


// platforms
#include "ctrl.h"
#include "drv.h"
#include "user.h"


// **************************************************************************
// the defines


//! \brief Defines the number of main iterations before global variables are updated
//!
#define NUM_MAIN_TICKS_FOR_GLOBAL_VARIABLE_UPDATE  100

//! \brief Defines the speed acceleration scale factor.
//!
#define MAX_ACCEL_KRPMPS_SF  _IQ(USER_MOTOR_NUM_POLE_PAIRS*1000.0/USER_TRAJ_FREQ_Hz/USER_IQ_FULL_SCALE_FREQ_Hz/60.0)

//! \brief Initialization values of global variables
//!
#define MOTOR_Vars_INIT {FALSE, \
                         FALSE, \
                         FALSE, \
                         TRUE, \
                         FALSE, \
                         FALSE, \
                         TRUE, \
                         FALSE, \
						 FALSE, \
                         CTRL_State_Idle, \
                         EST_State_Idle, \
                         _IQ(0.0), \
                         _IQ(0.0), \
                         _IQ(0.1), \
                         _IQ(0.2), \
                         _IQ(0.0), \
                         _IQ(0.0), \
                         _IQ(2.0), \
                         0.0, \
                         0.0, \
                         0.0, \
                         0.0, \
                         _IQ(0.0), \
                         _IQ(0.0), \
                         _IQ(0.0), \
                         _IQ(0.0), \
                         _IQ(0.0), \
                         _IQ(0.0), \
                         _IQ(0.0), \
                         _IQ(0.9 * USER_MAX_DUTY_CYCLE), \
                         _IQ(0.0), \
                         _IQ(0.0), \
                         _IQ(0.0), \
                         {0,0,0}, \
                         {0,0,0}}


// **************************************************************************
// the typedefs

typedef struct _MOTOR_Vars_t_
{
  bool_t Flag_enableSys;
  bool_t Flag_Run_Identify;
  bool_t Flag_MotorIdentified;
  bool_t Flag_enableForceAngle;
  bool_t Flag_enableFieldWeakening;
  bool_t Flag_enableRsRecalc;
  bool_t Flag_enableUserParams;
  bool_t Flag_enableOffsetcalc;
  bool_t Flag_enableEpl;

  CTRL_State_e CtrlState;
  EST_State_e EstState;

  _iq IdRef_A;
  _iq IqRef_A;
  _iq SpeedRef_krpm;
  _iq MaxAccel_krpmps;
  _iq Speed_krpm;
  _iq Torque_lbin;
  _iq OverModulation;

  float32_t Rs_Ohm;
  float32_t gLsd_H;
  float32_t gLsq_H;
  float32_t Flux_VpHz;

  _iq Kp_spd;
  _iq Ki_spd;

  _iq Kp_Idq;
  _iq Ki_Idq;

  _iq Vd;
  _iq Vq;
  _iq Vs;
  _iq VsRef;

  _iq Id_A;
  _iq Iq_A;
  _iq Is_A;

  MATH_vec3 I_bias;
  MATH_vec3 V_bias;

}MOTOR_Vars_t;


// **************************************************************************
// the globals


// **************************************************************************
// the function prototypes

//! \brief The main interrupt service (ISR) routine
//!
interrupt void mainISR(void);


//! \brief     Updates the global motor variables 
//! 
void updateGlobalVariables_motor(CTRL_Handle handle);


//! \brief     Updates version 1p6 of library
//!
void softwareUpdate1p6(CTRL_Handle handle);


//! \brief     Updates Id and Iq PI gains
//!
void calcPIgains(CTRL_Handle handle);


//@} //defgroup
#endif // end of _MAIN_H_ definition