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//! \file   solutions/instaspin_foc/src/proj_lab02a.c
//! \brief Using InstaSPIN™-FOC for the first time, Motor ID, full control system from ROM 
//!
//! (C) Copyright 2011, Texas Instruments, Inc.

//! \defgroup PROJ_LAB02a PROJ_LAB02a
//@{

//! \defgroup PROJ_LAB02a_OVERVIEW Project Overview
//!
//! Using InstaSPIN™-FOC for the first time, Motor ID, full control system from ROM 
//!

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

// system includes
#include <math.h>
#include "main.h"

#ifdef HAL_SCI
#include "sw/drivers/hal_sci/src/32b/f28x/f2806x/hal_sci.h"
#endif

#ifdef FLASH
#pragma CODE_SECTION(mainISR,"ramfuncs");
#endif

// Include header files used in the main function


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

#define LED_BLINK_FREQ_Hz   5


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

uint_least16_t gCounter_updateGlobals = 0;

bool Flag_Latch_softwareUpdate = true;

CTRL_Handle ctrlHandle;

HAL_Handle halHandle;

USER_Params gUserParams;

HAL_PwmData_t gPwmData = {_IQ(0.0), _IQ(0.0), _IQ(0.0)};

HAL_AdcData_t gAdcData;

_iq gMaxCurrentSlope = _IQ(0.0);

#ifdef FAST_ROM_V1p6
CTRL_Obj *controller_obj;
#else
CTRL_Obj ctrl;				//v1p7 format
#endif

uint16_t gLEDcnt = 0;

volatile MOTOR_Vars_t gMotorVars = MOTOR_Vars_INIT;

#ifdef FLASH
// Used for running BackGround in flash, and ISR in RAM
extern uint16_t *RamfuncsLoadStart, *RamfuncsLoadEnd, *RamfuncsRunStart;
#endif


#ifdef USING_POTENTIOMETER
bool Flag_Init_Motor = true;
_iq gPotentiometer = _IQ(0.0);
#endif

#ifdef DRV8301_SPI
// Watch window interface to the 8301 SPI
DRV_SPI_8301_Vars_t gDrvSpi8301Vars;
#endif

// **************************************************************************
// the functions

void main(void)
{
  uint_least8_t estNumber = 0;

#ifdef FAST_ROM_V1p6
  uint_least8_t ctrlNumber = 0;
#endif

  // Only used if running from FLASH
  // Note that the variable FLASH is defined by the project
  #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((uint16_t *)&RamfuncsLoadStart,(uint16_t *)&RamfuncsLoadEnd,(uint16_t *)&RamfuncsRunStart);
  #endif

  // initialize the hardware abstraction layer
  halHandle = HAL_init(&hal,sizeof(hal));

  // check for errors in user parameters
  USER_checkForErrors(&gUserParams);

  // store user parameter error in global variable
  gMotorVars.UserErrorCode = USER_getErrorCode(&gUserParams);

  // do not allow code execution if there is a user parameter error
  if(gMotorVars.UserErrorCode != USER_ErrorCode_NoError)
    {
      for(;;)
        {
          gMotorVars.Flag_enableSys = false;
        }
    }


  // initialize the user parameters
  USER_setParams(&gUserParams);


  // set the hardware abstraction layer parameters
  HAL_setParams(halHandle,&gUserParams);


  // initialize the controller
#ifdef FAST_ROM_V1p6
  ctrlHandle = CTRL_initCtrl(ctrlNumber, estNumber);  		//v1p6 format (06xF and 06xM devices)
  controller_obj = (CTRL_Obj *)ctrlHandle;
#else
  ctrlHandle = CTRL_initCtrl(estNumber,&ctrl,sizeof(ctrl));	//v1p7 format default
#endif


  {
    CTRL_Version version;

    // get the version number
    CTRL_getVersion(ctrlHandle,&version);

    gMotorVars.CtrlVersion = version;
  }


  // set the default controller parameters
  CTRL_setParams(ctrlHandle,&gUserParams);

  #ifdef HAL_SCI
  HAL_sciA_init(halHandle);
  #endif

  // setup faults
  HAL_setupFaults(halHandle);


  // initialize the interrupt vector table
  HAL_initIntVectorTable(halHandle);


  // enable the ADC interrupts
  HAL_enableAdcInts(halHandle);


  // enable global interrupts
  HAL_enableGlobalInts(halHandle);


  // enable debug interrupts
  HAL_enableDebugInt(halHandle);


  // disable the PWM
  HAL_disablePwm(halHandle);


#ifdef DRV8301_SPI
  // turn on the DRV8301 if present
  HAL_enableDrv(halHandle);
  // initialize the DRV8301 interface
  HAL_setupDrvSpi(halHandle,&gDrvSpi8301Vars);
#endif


  // enable DC bus compensation
  CTRL_setFlag_enableDcBusComp(ctrlHandle, true);

#ifdef HAL_SCI
  HAL_printf(halHandle, "\n...LAB02a : " BOLD_S UNDER_S  "Minimun setup using FOC"  NORM_S);
  HAL_printf(halHandle, "\n...");

  HAL_print_state(halHandle, "Before going to the forever loop");
#endif


  for(;;)
  {
      #ifdef HAL_SCI
	  unsigned int prt = 0;
      #endif

      #ifdef USING_POTENTIOMETER
	  if (Flag_Init_Motor) {
		  HAL_print_state(halHandle, "Delay 5000ms ...");
		  usDelay(5000L);
		  gMotorVars.Flag_enableSys = true;
          #ifdef HAL_SCI
		  HAL_print_flag(halHandle, gMotorVars.Flag_enableSys);
          #endif
	  }
      #endif

    // Waiting for enable system flag to be set
    while(!(gMotorVars.Flag_enableSys));

    // loop while the enable system flag is true
    while(gMotorVars.Flag_enableSys)
      {
        #ifdef HAL_SCI
     	char str1[20], str2[20], str0[20];
        #endif

        CTRL_Obj *obj = (CTRL_Obj *)ctrlHandle;

        // increment counters
        gCounter_updateGlobals++;


        if(CTRL_isError(ctrlHandle))
          {
            // set the enable controller flag to false
            CTRL_setFlag_enableCtrl(ctrlHandle,false);

            // set the enable system flag to false
            gMotorVars.Flag_enableSys = false;

            // disable the PWM
            HAL_disablePwm(halHandle);
          }
        else
          {
            // update the controller state
            bool flag_ctrlStateChanged = CTRL_updateState(ctrlHandle);

            #ifdef USING_POTENTIOMETER
            if (Flag_Init_Motor) {
        	  usDelay(5000L);
        	  gMotorVars.Flag_Run_Identify = true;
              #ifdef HAL_SCI
        	  HAL_print_flag(halHandle, gMotorVars.Flag_Run_Identify);
              #endif
        	  Flag_Init_Motor = false;
            }
            #endif

            // enable or disable the control
            CTRL_setFlag_enableCtrl(ctrlHandle, true/*gMotorVars.Flag_Run_Identify*/);

            if(flag_ctrlStateChanged)
              {
                CTRL_State_e ctrlState = CTRL_getState(ctrlHandle);
                EST_State_e estState = EST_getState(obj->estHandle);

                if(ctrlState == CTRL_State_OffLine)
                  {
                    // enable the PWM
                    HAL_enablePwm(halHandle);
                    HAL_print_state(halHandle, CTRL_State_OffLine);
                  }
                else if(ctrlState == CTRL_State_OnLine)
                  {

                    HAL_print_state(halHandle, CTRL_State_OnLine);

                    if((estState < EST_State_LockRotor) || (estState > EST_State_MotorIdentified))
                      {
                        // update the ADC bias values
                        HAL_updateAdcBias(halHandle);
                      }

                    // Return the bias value for currents
                    gMotorVars.I_bias.value[0] = HAL_getBias(halHandle,HAL_SensorType_Current,0);
                    gMotorVars.I_bias.value[1] = HAL_getBias(halHandle,HAL_SensorType_Current,1);
                    gMotorVars.I_bias.value[2] = HAL_getBias(halHandle,HAL_SensorType_Current,2);

                    // Return the bias value for voltages
                    gMotorVars.V_bias.value[0] = HAL_getBias(halHandle,HAL_SensorType_Voltage,0);
                    gMotorVars.V_bias.value[1] = HAL_getBias(halHandle,HAL_SensorType_Voltage,1);
                    gMotorVars.V_bias.value[2] = HAL_getBias(halHandle,HAL_SensorType_Voltage,2);

                    // enable the PWM
                    HAL_enablePwm(halHandle);

                    #ifdef HAL_SCI
                    _IQ24toa(str0,"%1.15f",gMotorVars.I_bias.value[0]);
                    _IQ24toa(str1,"%1.15f",gMotorVars.I_bias.value[1]);
                    _IQ24toa(str2,"%1.15f",gMotorVars.I_bias.value[2]);
                    HAL_printf(halHandle, "\n\n...\tI_bias = {%s,%s,%s}", str0, str1, str2);

                    _IQ24toa(str0,"%1.15f",gMotorVars.V_bias.value[0]);
                    _IQ24toa(str1,"%1.15f",gMotorVars.V_bias.value[1]);
                    _IQ24toa(str2,"%1.15f",gMotorVars.V_bias.value[2]);
                    HAL_printf(halHandle, "\n...\tV_bias = {%s,%s,%s}\n",  str0, str1, str2);

                    _IQ24toa(str0,"%1.15f",gMotorVars.Rs_Ohm);
                    _IQ24toa(str1,"%1.15f",gMotorVars.Lsq_H);
                    HAL_printf(halHandle, "\n...\Rs_Ohm = %s    Lsq_H = %s\n", str0, str1);
                    // HAL_printf(halHandle, "\n...\Rs_Ohm %1.15d * Lsq_H %1.15d\n",  gMotorVars.Rs_Ohm, gMotorVars.Lsq_H);
                    HAL_print_state(halHandle, CTRL_State_OnLine);
                    #endif
                  }
                else if(ctrlState == CTRL_State_Idle)
                  {
                    // disable the PWM
                    HAL_disablePwm(halHandle);
                    gMotorVars.Flag_Run_Identify = false;
                    HAL_print_state(halHandle, CTRL_State_Idle);
                  }

                if((CTRL_getFlag_enableUserMotorParams(ctrlHandle) == true) &&
                  (ctrlState > CTRL_State_Idle) &&
                  (gMotorVars.CtrlVersion.minor == 6))
                  {
                    // call this function to fix 1p6
                    USER_softwareUpdate1p6(ctrlHandle);
                  }

              }
          }


        if(EST_isMotorIdentified(obj->estHandle))
          {
            // set the current ramp
            EST_setMaxCurrentSlope_pu(obj->estHandle,gMaxCurrentSlope);
            gMotorVars.Flag_MotorIdentified = true;

            #ifdef USING_POTENTIOMETER

            // Using the potentiometer here to control the speed
            gPotentiometer = HAL_readPotentiometerData(halHandle);
            gMotorVars.SpeedRef_krpm =  _IQmpy( gPotentiometer, CTRL_getMaximumSpeed_pu(ctrlHandle) );

            #ifdef HAL_SCI
            if (prt == 501) {
            	_IQ13toa(str1,"%10.03f",_IQ13mpy(_IQtoIQ13(gMotorVars.SpeedRef_krpm), _IQ13(1000.00)));
            	_IQ13toa(str2,"%10.03f",_IQ13mpy(_IQtoIQ13(gMotorVars.Speed_krpm),    _IQ13(1000.00)));
            	_IQtoa(str0,"%10.03f",gPotentiometer);
            	HAL_printf(halHandle,"\r... %s rpm  (set at %s) pot %s   ", str2, str1, str0);
            	prt = 1;
            } else {
            	prt++;
            }
            #endif

            #endif

            // set the speed reference
            CTRL_setSpd_ref_krpm(ctrlHandle,gMotorVars.SpeedRef_krpm);

            // set the speed acceleration
            CTRL_setMaxAccel_pu(ctrlHandle,_IQmpy(MAX_ACCEL_KRPMPS_SF,gMotorVars.MaxAccel_krpmps));

            if(Flag_Latch_softwareUpdate)
            {
              Flag_Latch_softwareUpdate = false;

              USER_calcPIgains(ctrlHandle);
            }

          }
        else
          {
            Flag_Latch_softwareUpdate = true;

            // the estimator sets the maximum current slope during identification
            gMaxCurrentSlope = EST_getMaxCurrentSlope_pu(obj->estHandle);
          }


        // when appropriate, update the global variables
        if(gCounter_updateGlobals >= NUM_MAIN_TICKS_FOR_GLOBAL_VARIABLE_UPDATE)
          {
            // reset the counter
            gCounter_updateGlobals = 0;

            updateGlobalVariables_motor(ctrlHandle);
          }

        // recalculate Kp and Ki gains to fix the R/L limitation of 2000.0, and Kp limit to 0.11
        recalcKpKi(ctrlHandle);

        if(CTRL_getMotorType(ctrlHandle) == MOTOR_Type_Induction)
          {
            // set electrical frequency limit to zero while identifying an induction motor
            setFeLimitZero(ctrlHandle);

            // calculate Dir_qFmt for acim motors
            acim_Dir_qFmtCalc(ctrlHandle);
          }

        // enable/disable the forced angle
        EST_setFlag_enableForceAngle(obj->estHandle,gMotorVars.Flag_enableForceAngle);

        // enable or disable power warp
        CTRL_setFlag_enablePowerWarp(ctrlHandle,gMotorVars.Flag_enablePowerWarp);

#ifdef DRV8301_SPI
        HAL_writeDrvData(halHandle,&gDrvSpi8301Vars);

        HAL_readDrvData(halHandle,&gDrvSpi8301Vars);
#endif

      } // end of while(gFlag_enableSys) loop


    // disable the PWM
    HAL_disablePwm(halHandle);

    // set the default controller parameters (Reset the control to re-identify the motor)
    CTRL_setParams(ctrlHandle,&gUserParams);
    gMotorVars.Flag_Run_Identify = false;

  } // end of for(;;) loop

} // end of main() function


interrupt void mainISR(void)
{
  HAL_PwmData_t negPwmData = {_IQ(0.0), _IQ(0.0), _IQ(0.0)};

  // toggle status LED
  if(gLEDcnt++ > (uint_least32_t)(USER_ISR_FREQ_Hz / LED_BLINK_FREQ_Hz))
  {
    HAL_toggleLed(halHandle,(GPIO_Number_e)HAL_Gpio_LED2);
    gLEDcnt = 0;
  }


  // acknowledge the ADC interrupt
  HAL_acqAdcInt(halHandle,ADC_IntNumber_1);


  // convert the ADC data
  HAL_readAdcData(halHandle,&gAdcData);


  // run the controller
  CTRL_run(ctrlHandle,halHandle,&gAdcData,&negPwmData);


  // negate PwmData generated by SVGEN module in ROM
  gPwmData.Tabc.value[0] = _IQmpy(negPwmData.Tabc.value[0], _IQ(-1.0));
  gPwmData.Tabc.value[1] = _IQmpy(negPwmData.Tabc.value[1], _IQ(-1.0));
  gPwmData.Tabc.value[2] = _IQmpy(negPwmData.Tabc.value[2], _IQ(-1.0));


  // write the PWM compare values
  HAL_writePwmData(halHandle,&gPwmData);


  // setup the controller
  CTRL_setup(ctrlHandle);


  return;
} // end of mainISR() function


void updateGlobalVariables_motor(CTRL_Handle handle)
{
  CTRL_Obj *obj = (CTRL_Obj *)handle;

  // get the speed estimate
  gMotorVars.Speed_krpm = EST_getSpeed_krpm(obj->estHandle);

  // get the real time speed reference coming out of the speed trajectory generator
  gMotorVars.SpeedTraj_krpm = _IQmpy(CTRL_getSpd_int_ref_pu(handle),EST_get_pu_to_krpm_sf(obj->estHandle));

  // get the magnetizing current
  gMotorVars.MagnCurr_A = EST_getIdRated(obj->estHandle);

  // get the rotor resistance
  gMotorVars.Rr_Ohm = EST_getRr_Ohm(obj->estHandle);

  // get the stator resistance
  gMotorVars.Rs_Ohm = EST_getRs_Ohm(obj->estHandle);

  // get the stator inductance in the direct coordinate direction
  gMotorVars.Lsd_H = EST_getLs_d_H(obj->estHandle);

  // get the stator inductance in the quadrature coordinate direction
  gMotorVars.Lsq_H = EST_getLs_q_H(obj->estHandle);

  // get the flux
  gMotorVars.Flux_VpHz = EST_getFlux_VpHz(obj->estHandle);

  // get the controller state
  gMotorVars.CtrlState = CTRL_getState(handle);

  // get the estimator state
  gMotorVars.EstState = EST_getState(obj->estHandle);

  // Get the DC buss voltage
  gMotorVars.VdcBus_kV = _IQmpy(gAdcData.dcBus,_IQ(USER_IQ_FULL_SCALE_VOLTAGE_V/1000.0));

  return;
} // end of updateGlobalVariables_motor() function


void recalcKpKi(CTRL_Handle handle)
{
  CTRL_Obj *obj = (CTRL_Obj *)handle;
  EST_State_e EstState = EST_getState(obj->estHandle);

  if((EST_isMotorIdentified(obj->estHandle) == false) && (EstState == EST_State_Rs))
    {
      float_t Lhf = CTRL_getLhf(handle);
      float_t Rhf = CTRL_getRhf(handle);
      float_t RhfoverLhf = Rhf/Lhf;
      _iq Kp = _IQ(0.25*Lhf*USER_IQ_FULL_SCALE_CURRENT_A/(USER_CTRL_PERIOD_sec*USER_IQ_FULL_SCALE_VOLTAGE_V));
      _iq Ki = _IQ(RhfoverLhf*USER_CTRL_PERIOD_sec);

      // set Rhf/Lhf
      CTRL_setRoverL(handle,RhfoverLhf);

      // set the controller proportional gains
      CTRL_setKp(handle,CTRL_Type_PID_Id,Kp);
      CTRL_setKp(handle,CTRL_Type_PID_Iq,Kp);

      // set the Id controller gains
      CTRL_setKi(handle,CTRL_Type_PID_Id,Ki);
      PID_setKi(obj->pidHandle_Id,Ki);

      // set the Iq controller gains
      CTRL_setKi(handle,CTRL_Type_PID_Iq,Ki);
      PID_setKi(obj->pidHandle_Iq,Ki);
    }

  return;
} // end of recalcKpKi() function


void setFeLimitZero(CTRL_Handle handle)
{
  CTRL_Obj *obj = (CTRL_Obj *)handle;
  EST_State_e EstState = EST_getState(obj->estHandle);

  _iq fe_neg_max_pu;
  _iq fe_pos_min_pu;

  if((EST_isMotorIdentified(obj->estHandle) == false) && (CTRL_getMotorType(handle) == MOTOR_Type_Induction))
    {
	  fe_neg_max_pu = _IQ30(0.0);

	  fe_pos_min_pu = _IQ30(0.0);
    }
  else
    {
	  fe_neg_max_pu = _IQ30(-USER_ZEROSPEEDLIMIT);

	  fe_pos_min_pu = _IQ30(USER_ZEROSPEEDLIMIT);
    }

  EST_setFe_neg_max_pu(obj->estHandle, fe_neg_max_pu);

  EST_setFe_pos_min_pu(obj->estHandle, fe_pos_min_pu);

  return;
} // end of setFeLimitZero() function


void acim_Dir_qFmtCalc(CTRL_Handle handle)
{
  CTRL_Obj *obj = (CTRL_Obj *)handle;
  EST_State_e EstState = EST_getState(obj->estHandle);

  if(EstState == EST_State_IdRated)
    {
      EST_setDir_qFmt(obj->estHandle, EST_computeDirection_qFmt(obj->estHandle, 0.7));
    }

  return;
} // end of acim_Dir_qFmtCalc() function


//@} //defgroup
// end of file