/* =================================================================================
System Name:  	HVPM_Sensorless

File Name:	  	HVPM_Sensorless.C

Description:	Primary system file for the Real Implementation of Sensorless  
          		Field Orientation Control for Three Phase Permanent-Magnet
          		Synchronous Motor (PMSM) 

Originator:		Digital control systems Group - Texas Instruments

Note: In this software, the default inverter is supposed to be HVDMC board. 
====================================================================================
 History:
-------------------------------------------------------------------------------------
 10-9-2010	Version 1.1: Supports F2803x 
=====================================================================================  */

// Include header files used in the main function

#include "PeripheralHeaderIncludes.h"
#include "IQmathLib.h"
#include "HVPM_Sensorless.h"
#include "HVPM_Sensorless-Settings.h"
#include <math.h>

// F28035_RAM_HVPM_Sensorless.CMD
// PAGE0 RAMM0	   : origin = 0x000050,	length = 0x0003B0
// ramfuncs         : > RAMM0, PAGE = 0
  
#ifdef FLASH
#pragma CODE_SECTION(PWM1_Interrupt,"ramfuncs"); //在.cmd文件中對MainISR函數段進行單獨物理地址映射
#pragma CODE_SECTION(U1RX_Interrupt,"ramfuncs"); //在.cmd文件中對U1RX_Interrupt函數段進行單獨物理地址映射
#pragma CODE_SECTION(T0_Interrupt,"ramfuncs");   //在.cmd文件中對T1_Interrupt函數段進行單獨物理地址映射


// Prototype statements for functions found within this file.

interrupt void PWM1_Interrupt(void);
interrupt void U1RX_Interrupt(void);
interrupt void T0_Interrupt(void);
interrupt void T1_Interrupt(void);
interrupt void T2_Interrupt(void);

void DeviceInit();
void MemCopy();
void InitFlash();
void HVDMC_Protection(void);
void init_Module(void);
void Pressure_calculate(void);
void TransCMD_Data(void);
void TransmitUART(unsigned char *data);
void Reload_ReceiverData(void);

// 用於在FLASH 背景運行和在RAM 中 ISR
// F28035_RAM_HVPM_Sensorless.CMD
// PAGE0 RAMM0	: origin = 0x000050,	length = 0x0003B0
// ramfuncs       : > RAMM0, PAGE = 0  

extern Uint16 *RamfuncsLoadStart, *RamfuncsLoadEnd, *RamfuncsRunStart;


void main(void)
{
   DeviceInit();	

// Device Life support & GPIO		
// HVPM_Sensorless-DevInit_F2803x.c
//  ADC CALIBRATION  , PERIPHERAL CLOCK ENABLES , 
// Only used if running from FLASH
// Note that the variable FLASH is defined by the compiler

#ifdef FLASH
// Copy time critical code and Flash setup code to RAM
// The  RamfuncsLoadStart, RamfuncsLoadEnd, and RamfuncsRunStart
// symbols are created by the linker. Refer to the linker files. 
	MemCopy(&RamfuncsLoadStart, &RamfuncsLoadEnd, &RamfuncsRunStart);
// HVPM_Sensorless-DevInit_F2803x.c
// Call Flash Initialization to setup flash waitstates
// This function must reside in RAM
	InitFlash();	// Call the flash wrapper init function
	                // HVPM_Sensorless-DevInit_F2803x.c
#endif   //(FLASH)

init_Module();

for(;;)  //infinite loop
 { 	
 	 ByteCTL.disp_rpm.all= desireSpeed;
     Pressure_calculate(); 
     
     if ((lsw ==2 && stall_check_EN == 1) && (Disp.DR_Byte_Old != Disp.DR_Byte))
         {  
 		   Soft_stop = 1;
 		 }
     
 	if (ByteCTL.Kgf_cm2.all== 0 ){ 	              //Stop motor entry point in here . ByteCTL.Kgf_cm2.all value is load from calculate( );
 		
 		if (lsw == 2 && stall_check_EN == 1 )
 		{ Soft_stop = 1;}
 		
 		if (lsw == 1 && stall_check_EN == 0)
 		{  
 	    Soft_stop = 0;
 		TRANS_delayCount=0;		
 		SpeedRpm_Check=0;
 		Charge_Volt = _IQ(0.0900);
 		Pre_desireSpeed = 0;
 	    stall_check_EN = 0;
	    smo1.Kslf = _IQ(0.0060);
	    Pre_CMS = 0;
	    CMS = 1; 
	    Sprint = 1;	   
	    Stable_Spd_Count = 0; 
	    IER = 0;	     
 		PieCtrlRegs.PIEIER3.bit.INTx1 = 0;
		SpeedRef = _IQ(0);
		EPwm4Regs.CMPA.half.CMPA =0;
		EPwm3Regs.CMPA.half.CMPA =0;
		EPwm2Regs.CMPA.half.CMPA =0;
		EPwm1Regs.CMPA.half.CMPA =0;
		EPwm4Regs.AQCTLA.all=0x0555;
		EPwm4Regs.AQCTLB.all=0x0555;
		EPwm3Regs.AQCTLA.all=0x0555;
		EPwm3Regs.AQCTLB.all=0x0555;
		EPwm2Regs.AQCTLA.all=0x0555;
		EPwm2Regs.AQCTLB.all=0x0555;
		EPwm1Regs.AQCTLA.all=0x0555;
		EPwm1Regs.AQCTLB.all=0x0555;
 		Start_motor = 0;
 		Restart_Flag = 0;
 		init_Module(); 			       // re call init_Modele()again to set A/D trig  by Force software 
 		}	
 	}
 	while(Start_motor == 0){		       // when motor stop. keep run this while loop and check ByteCTL.Kgf_cm2.all value
 		  if (AdcRegs.ADCSOCFLG1.all == 0){    // check all SOCx are No sample pending then
 		      AdcRegs.ADCSOCFRC1.all = 0x01ff; // Use Software Force trig SOC0~SOC8 to Convert
 		     }
 		   ByteCTL.disp_rpm.all= desireSpeed;  //load motor desire-speed 
 		   calculate();			               // calculate  A/D convert value 
	     if (TRANS_delayCount == 250000){	       //commucation delay counter
             TRANS_delayCount=0;
 	         TransCMD_Data();                      // send data to son board by UART 
	         Reload_ReceiverData();		       // check data received from son board by UART
	        }
         else {
   	            TRANS_delayCount++;
                }  
 		  if (ByteCTL.Kgf_cm2.all > 50){       // if A/D Channel value if grand than 50 then start motor now. 
 		  	  Restart_Flag = 1;
 		  	  Disp.DR_Byte_Old = Disp.DR_Byte;	// check Motor is CC or CCW  set	
 		   	  if (Disp.DR_Byte_Old != 0x00) {Rev = 1;}	 
 		  	      else {Rev = 0;}
 		  	  break;
 		  	  }
 	
       } //while(Start_motor == 0) 

 	if (Restart_Flag == 1) { 
 		TransCMD_Data(); 	               // send data to son board by UART 
 		Start_motor =1;	
 		Soft_stop = 0;
 		TRANS_delayCount=0;	
 		SpeedRpm_Check=0;
 		Charge_Volt = _IQ(0.0900);
 		Pre_desireSpeed = 0;
 	    stall_check_EN = 0;
	    smo1.Kslf = _IQ(0.0060);
	    Pre_CMS = 0;
	    CMS = 1; 
	    Sprint = 1;
	    Stable_Spd_Count = 0; 
	    Reload_ReceiverData();	 // check data received from son board by UART
	    init_Module();		     // re call init_Modele()again to set A/D trig is by PWM1 interrupt
 	}
 
 if (TRANS_delayCount > 5000){	     //every loop time counter to commucate with son board .
    TRANS_delayCount=0;
 	TransCMD_Data();             // send data to son board by UART 
	Reload_ReceiverData();
   }
   else {
   	TRANS_delayCount++;
   }
	
}	


void init_Module(void)

{
// Initialize DATALOG module
    dlog.iptr1 = &DlogCh1;
    dlog.iptr2 = &DlogCh2;
	dlog.iptr3 = &DlogCh3;
    dlog.iptr4 = &DlogCh4;
    dlog.trig_value = 0x1;
    dlog.size = 0x00c8;
    dlog.prescalar = 5;
    dlog.init(&dlog);
	

   pwm1.PeriodMax = SYSTEM_FREQUENCY*1000000*T/2;
   PWM_INIT_MACRO(pwm1);
     
  
   ADC_MACRO_INIT();   // here is TI exsample macro not change it .
   

    speed3.K1 = _IQ21(1/(BASE_FREQ*T));                                         
    speed3.K2 = _IQ(1/(1+T*2*PI*6));  
    speed3.K3 = _IQ(1)-speed3.K2;      
    speed3.BaseRpm = (unsigned long )120*(BASE_FREQ/POLES); 
    

   rc1.TargetValue = 0; 
   rc1.RampDelayMax = 5;	    
   rc1.RampLowLimit = _IQ(-1);			  
   rc1.RampHighLimit = _IQ(1);
   rc1.RampDelayCount = 0;
   rc1.SetpointValue = 0;			 
   rc1.EqualFlag = 0;

   rg1.Freq = 0;
   rg1.StepAngleMax = _IQ(BASE_FREQ*T); 
   rg1.Angle = 0;
   rg1.Gain = _IQ(1);
   rg1.Out = 0;
   rg1.Offset = _IQ(1); 
   

   smo1_const.Rs = RS; 
   smo1_const.Ls = LS;H)
   smo1_const.Ib = BASE_CURRENT; 
   smo1_const.Vb = BASE_VOLTAGE; 
   smo1_const.Ts = T;
   SMO_CONST_MACRO(smo1_const);
	                             				
	                             


   smo1.Fsmopos = _IQ(smo1_const.Fsmopos); 
   smo1.Gsmopos = _IQ(smo1_const.Gsmopos); 
   smo1.Kslide = _IQ(0.15);  
   smo1.Kslf = _IQ(0.0060);  
    

   pid1_id.Kp = _IQ(0.14); 
   pid1_id.Ki = _IQ(0.007);
   pid1_id.Kd = _IQ(0);					
   pid1_id.Kc = _IQ(0);
    pid1_id.OutMax = _IQ(0.95);
    pid1_id.OutMin = _IQ(-0.95); 
    pid1_id.Ref = _IQ(0) ;
    pid1_id.Fdb = _IQ(0);
    pid1_id.Err = _IQ(0);
    pid1_id.Up  = _IQ(0);
    pid1_id.Ui  = _IQ(0) ;
    pid1_id.Ud  = _IQ(0);
    pid1_id.OutPreSat = _IQ(0);
    pid1_id.Out  = _IQ(0);
    pid1_id.SatErr  = _IQ(0);
    pid1_id.Up1  = _IQ(0);    
 

	pid1_iq.Kp = _IQ(0.8);
	pid1_iq.Ki = _IQ(0.03);			
	pid1_iq.Kd = _IQ(0); 				
	pid1_iq.Kc = _IQ(0);
    pid1_iq.OutMax = _IQ(0.95);
    pid1_iq.OutMin = _IQ(-0.95);    
    pid1_iq.Ref = _IQ(0) ;
    pid1_iq.Fdb = _IQ(0);
    pid1_iq.Err = _IQ(0);
    pid1_iq.Up  = _IQ(0);
    pid1_iq.Ui  = _IQ(0) ;
    pid1_iq.Ud  = _IQ(0);
    pid1_iq.OutPreSat = _IQ(0);
    pid1_iq.Out  = _IQ(0);
    pid1_iq.SatErr  = _IQ(0);
    pid1_iq.Up1  = _IQ(0);


    pid1_spd.Kp = _IQ(0.005);                  
	pid1_spd.Ki = _IQ(0.03);			
	pid1_spd.Kd = _IQ(0.20);					
 	pid1_spd.Kc = _IQ(0.0);
    pid1_spd.OutMax = _IQ(0.5);
    pid1_spd.OutMin = _IQ(-0.95);  
    pid1_spd.Out = _IQ(0);
    pid1_spd.Ref = _IQ(0);
    pid1_spd.Fdb = _IQ(0);
    pid1_spd.Err = _IQ(0);
    pid1_spd.Up  = _IQ(0);
    pid1_spd.Ui  = _IQ(0);
    pid1_spd.Ud  = _IQ(0);
    pid1_spd.OutPreSat = _IQ(0);
    pid1_spd.SatErr  = _IQ(0);
    pid1_spd.Up1  = _IQ(0);


    pid1_Vbus.Kp = _IQ(0.04);                  
	pid1_Vbus.Ki = _IQ(0.008);			
	pid1_Vbus.Kd = _IQ(0.05);					
 	pid1_Vbus.Kc = _IQ(0);
    pid1_Vbus.OutMax = _IQ(0.95);
    pid1_Vbus.OutMin = _IQ(0);  
    pid1_Vbus.Out = _IQ(0) ;
    pid1_Vbus.Ref = _IQ(0) ;
    pid1_Vbus.Fdb = _IQ(0);
    pid1_Vbus.Err = _IQ(0);
    pid1_Vbus.Up  = _IQ(0);
    pid1_Vbus.Ui  = _IQ(0) ;
    pid1_Vbus.Ud  = _IQ(0);
    pid1_Vbus.OutPreSat = _IQ(0);
    pid1_Vbus.Out  = _IQ(0);
    pid1_Vbus.SatErr  = _IQ(0);
    pid1_Vbus.Up1  = _IQ(0);
    
    speed3.EstimatedTheta = 0;    //_IQ(0);
    speed3.OldEstimatedTheta= 0;  //_IQ(0);   
    speed3.EstimatedSpeed = 0;    //_IQ(0);      
    speed3.EstimatedSpeedRpm = 0; 
    
    smo1.Valpha = _IQ(0);
    smo1.Ealpha = _IQ(0);   	
    smo1.Zalpha = _IQ(0);      
    smo1.EstIalpha = _IQ(0);   
    smo1.Vbeta = _IQ(0);   	
    smo1.Ebeta = _IQ(0);  		
    smo1.Zbeta = _IQ(0);      	
    smo1.EstIbeta = _IQ(0);   
    smo1.Ialpha = _IQ(0);  	
    smo1.IalphaError = _IQ(0);                 
    smo1.Ibeta = _IQ(0);  		
    smo1.IbetaError = _IQ(0);                
    smo1.Theta = _IQ(0);     	
    
    svgen_dq1.Ualpha = _IQ(0);
	svgen_dq1.Ubeta = _IQ(0);			
    svgen_dq1.Ta  = _IQ(0);					
    svgen_dq1.Tb  = _IQ(0);				 
    svgen_dq1.Tc  = _IQ(0);			
		
	volt1.DcBusVolt = _IQ(0);	
	volt1.MfuncV1 = _IQ(0);  		// Input: Modulation voltage phase A (pu)
	volt1.MfuncV2 = _IQ(0);			// Input: Modulation voltage phase B (pu)	
	volt1.MfuncV3 = _IQ(0);			// Input: Modulation voltage phase C (pu) 
	volt1.VphaseA = _IQ(0);			// Output: Phase voltage phase A (pu)
	volt1.VphaseB = _IQ(0);			// Output: Phase voltage phase B (pu) 
	volt1.VphaseC = _IQ(0);			// Output: Phase voltage phase C (pu) 
	volt1.Valpha = _IQ(0);			// Output: Stationary d-axis phase voltage (pu)
	volt1.Vbeta = _IQ(0);  			// Output: Stationary q-axis phase voltage (pu)
	
    clarke1.As  = _IQ(0);  		
	clarke1.Bs  = _IQ(0);			
	clarke1.Alpha  = _IQ(0);		
	clarke1.Beta  = _IQ(0);		
 
    park1.Alpha = _IQ(0);  		
    park1.Beta = _IQ(0);	
	park1.Angle = _IQ(0);		
	park1.Ds = _IQ(0);			
	park1.Qs = _IQ(0);			
	park1.Sine = _IQ(0);
	park1.Cosine = _IQ(0); 
	
    ipark1.Alpha = _IQ(0);  		
    ipark1.Beta = _IQ(0);	
	ipark1.Angle = _IQ(0);		
	ipark1.Ds = _IQ(0);			
	ipark1.Qs = _IQ(0);			
	ipark1.Sine = _IQ(0);
	ipark1.Cosine = _IQ(0); 
	
    pwm1.MfuncC1 = 0;       
    pwm1.MfuncC2 = 0;       
    pwm1.MfuncC3 = 0;      
    pwm1.PWM1out = 0;
	pwm1.PWM2out = 0;
	pwm1.PWM3out = 0;		
	
    

	HVDMC_Protection();	


	EALLOW;	
	
	PieVectTable.EPWM1_INT = &PWM1_Interrupt; 
	PieVectTable.SCIRXINTA = &U1RX_Interrupt; 
	PieVectTable.TINT0 = &T0_Interrupt;
	PieVectTable.TINT1 = &T1_Interrupt;
	PieVectTable.TINT2 = &T2_Interrupt;



   CpuTimer0Regs.TIM.half.LSW = 50;    

 //  T=1/60*10^6=0.016us
 //  delay 3 seconds =3/0.016us=187.5*10^6=187500000 
   CpuTimer0Regs.PRD.all=187500000; 
   
   CpuTimer0Regs.TPR.bit.TDDR = 0;    
   CpuTimer0Regs.TPR.bit.PSC = 0;    
   CpuTimer0Regs.TPRH.bit.TDDRH = 0;  
   CpuTimer0Regs.TPRH.bit.PSCH = 0;   
   CpuTimer0Regs.TCR.bit.SOFT = 0;      
   CpuTimer0Regs.TCR.bit.FREE = 0;
   CpuTimer0Regs.TCR.bit.TRB = 1;    
   CpuTimer0Regs.TCR.bit.TIF  = 1;  
   CpuTimer0Regs.TCR.bit.TIE  = 1;  
   CpuTimer0Regs.TCR.bit.TSS  = 1; 
// CpuTimer0Regs.TCR.bit.TSS = 0; 


  if (Restart_Flag == 0)         // first power on .the Restart_Flag is '0' will excute SCI init 
  {

// SCI-A init here

   SciaRegs.SCICCR.all =0x0007;   // 1 stop bit,  No loopback test mode disable
                                  // No parity,8 char bits,
                                  // async mode, idle-line protocol
   SciaRegs.SCICTL1.all =0x0003;  // enable TX, RX, internal SCICLK,
                                  // Disable RX ERR, SLEEP, TXWAKE
   SciaRegs.SCICTL2.all =0x0002;  // disable TXRDY interrupt
                                  // Enable RXRDY/BRKDT interrupt
                                  // full  TXRDY flag =0, TX EMPTY flag=0
   
// LSPCLK = SYSCLKOUT/4 = 60M/4 = 15Mz
// BRR = (LSPCLK/SCI Asynchronous BAUD)-1 = (15 500 000/153094(=19133*8))-1 = 97 =0x61

   SciaRegs.SCIHBAUD = 0x0000;
   SciaRegs.SCILBAUD = 0x0061;       // 19133 BPS -0.36%_ERROR
   SciaRegs.SCICCR.bit.LOOPBKENA =0; // disable loop back
   SciaRegs.SCIFFTX.all=0xC000;   //SCIFFENA=1   SCIRST=1   TXFFIENA=0
   SciaRegs.SCIFFRX.all=0x0021;   //RXFFENA=1  RXFFIL(0~4)=00000
   SciaRegs.SCIFFCT.all=0x0000;   // 
   SciaRegs.SCICTL1.all =0x0023;     // Relinquish SCI from Reset  TXRDY,TXEMPTY =1
   SciaRegs.SCIFFTX.bit.TXFIFOXRESET=1;
   SciaRegs.SCIFFRX.bit.RXFIFORESET=1;
   SciaRegs.SCITXBUF=0x00;

  }
   

   PieCtrlRegs.PIEIER1.bit.INTx7 = 1;
   PieCtrlRegs.PIEIER3.bit.INTx1 = 1; 
   PieCtrlRegs.PIEIER9.bit.INTx1 = 1;
  

    EPwm1Regs.ETSEL.bit.INTEN = 1; 
    EPwm1Regs.ETSEL.bit.INTSEL = 1;  
    EPwm1Regs.ETPS.bit.INTPRD = 1;   
	EPwm1Regs.ETCLR.bit.INT = 1;    
    EDIS;
   
  if (Restart_Flag == 1)        // after power on  and motor need Restart excute here 
    {
     for (Stall_Count=0 ; Stall_Count < 200000 ; Stall_Count++){;}
     Stall_Count = 0;
     Restart_Flag = 0;
     switch (Disp.GR_Byte){
         	  case 1:
         	         My_IdRef = _IQ(-0.25); 
         	         break;
         	  case 2:
         	         My_IdRef = _IQ(-0.28); 
         	         break;
         	  case 3:
         	         My_IdRef = _IQ(-0.30); 
         	         break;
         	  default : 
                     My_IdRef = _IQ(-0.25); 
         	         break;
         }  
     desireSpeed = Start_Speed;
     SpdRef_Data = _IQ(((float)desireSpeed / (float)speed3.BaseRpm));  // this SpdRef_Data  will load to PWM1 interrupt 
    }

	IER |= M_INT1; 
		
if  (Start_motor == 1){	   // if Motor want start that enable PWM1 interrupt function.
	IER |= M_INT3;  
	               
	}  
      
    IER |= M_INT9; 	                

	EINT; 
	ERTM;


if  (Start_motor == 0){   // if Motor want Stop that Reset A/D module trig fucntion in Force software .
	EALLOW;																						\
	AdcRegs.ADCCTL1.bit.ADCBGPWD	= 1;	/* Power up band gap */								\
																								\
	DELAY_US(ADC_usDELAY);					/* Delay before powering up rest of ADC */			\
																								\
	AdcRegs.ADCCTL1.bit.ADCREFSEL	= 1;	/* ADINAN0 for VREFHI */	    					\
	AdcRegs.ADCCTL1.bit.VREFLOCONV	= 1;    /* VREFLO internally connected to the ADC for sampling*/\
   	AdcRegs.ADCCTL1.bit.ADCREFPWD	= 1;	/* Power up reference */							\
   	AdcRegs.ADCCTL1.bit.ADCPWDN 	= 1;	/* Power up rest of ADC */							\
	AdcRegs.ADCCTL1.bit.ADCENABLE	= 1;	/* Enable ADC */									\
																								\
	asm(" RPT#100 || NOP");																		\
																								\
	AdcRegs.ADCCTL1.bit.INTPULSEPOS=1;    	                                                    \
    AdcRegs.ADCCTL1.bit.TEMPCONV=0;																\
																								\
	DELAY_US(ADC_usDELAY);																		\
	AdcRegs.SOCPRICTL.bit.RRPOINTER=0x00;\
	AdcRegs.SOCPRICTL.bit.SOCPRIORITY=0x04;\
/******* CHANNEL SELECT *******/															    \
																								\
	AdcRegs.ADCSOC0CTL.bit.CHSEL 	= 0;	/*Dummy meas. avoid 1st sample issue Rev0 Picollo*/	\
	AdcRegs.ADCSOC0CTL.bit.TRIGSEL  = 0;	        											\
	AdcRegs.ADCSOC0CTL.bit.ACQPS 	= 6;														\
																								\
	AdcRegs.ADCSOC1CTL.bit.CHSEL 	= 12;	/* ChSelect: ADC B4-> Phase A Current */			\
	AdcRegs.ADCSOC1CTL.bit.TRIGSEL  = 0;	/* Set SOC0 start trigger on EPWM1A */				\
	AdcRegs.ADCSOC1CTL.bit.ACQPS 	= 6; 	/* Set SOC0 S/H Window to 6+1 ADC Clock Cycles */   \
																								\
	AdcRegs.ADCSOC2CTL.bit.CHSEL 	= 14;	/* ChSelect: ADC B6-> Phase B Current */			\
	AdcRegs.ADCSOC2CTL.bit.TRIGSEL  = 0;	/* PWM1 trig  */  									\
	AdcRegs.ADCSOC2CTL.bit.ACQPS 	= 6;														\
																								\
	AdcRegs.ADCSOC3CTL.bit.CHSEL 	= 1;	\
	AdcRegs.ADCSOC3CTL.bit.TRIGSEL  = 0;														\
	AdcRegs.ADCSOC3CTL.bit.ACQPS 	= 6;														\
																								\
	AdcRegs.ADCSOC4CTL.bit.CHSEL 	= 2;	/* ChSelect: ADC A2-> VDC_Det */					\
	AdcRegs.ADCSOC4CTL.bit.TRIGSEL 	= 0;														\
	AdcRegs.ADCSOC4CTL.bit.ACQPS 	= 6;													 	\
																								\
	AdcRegs.ADCSOC5CTL.bit.CHSEL 	= 3;	\
	AdcRegs.ADCSOC5CTL.bit.TRIGSEL  = 0;														\
	AdcRegs.ADCSOC5CTL.bit.ACQPS 	= 6;														\
																								\
	AdcRegs.ADCSOC6CTL.bit.CHSEL 	= 4;	/* ChSelect: ADC A4-> I_SUM */					    \
	AdcRegs.ADCSOC6CTL.bit.TRIGSEL  = 0;														\
	AdcRegs.ADCSOC6CTL.bit.ACQPS 	= 6;														\
																								\
	AdcRegs.ADCSOC7CTL.bit.CHSEL 	= 7;    /* ChSelect: ADC A7->  here is control Motor start and stop	*/  \
	AdcRegs.ADCSOC7CTL.bit.TRIGSEL 	= 0;													    \
	AdcRegs.ADCSOC7CTL.bit.ACQPS 	= 6;														\
	\
	AdcRegs.ADCSOC8CTL.bit.CHSEL 	= 6;                      \
	AdcRegs.ADCSOC8CTL.bit.TRIGSEL 	= 0;													    \
	AdcRegs.ADCSOC8CTL.bit.ACQPS 	= 6;\
	EDIS;\
   }
}