****************************************************************************
#define FALSE 	0
#define TRUE  	1

#define PI 	   3.14159265358979

#define ONE_THIRD  0.33333333333333     // 1/3
#define TWO_THIRD  0.66666666666667     // 2/3
#define INV_SQRT3  0.57735026918963     // 1/sqrt(3)

#define SYSTEM_FREQUENCY 60
#define ISR_FREQUENCY 	 10

#define RS 	11.05		        // Stator resistance (ohm) 
#define RR   	6.11		        // Rotor resistance (ohm) 
#define LS   	0.316423    	  	// Stator inductance (H) 
#define LR   	0.316423	  	// Rotor inductance (H) 	
#define LM   	0.293939	   	// Magnatizing inductance (H)
#define POLES  	4			// Number of poles

#define BASE_VOLTAGE    236.140     	// Base peak phase voltage (volt)
#define BASE_CURRENT    10          	// Base peak phase current (amp)
#define BASE_TORQUE         		// Base torque (N.m)
#define BASE_FLUX       		// Base flux linkage (volt.sec/rad)
#define BASE_FREQ      	120         	// Base electrical frequency (Hz) 
****************************************************************************  

VdTesting = 0.2;
VqTesting = 0.2;
IdRef     = 0.1;
IqRef     = 0.05;
SpeedRef  = 0.3;

T = 0.0001;

offsetFlag = 0;
offsetA    = 0;
offsetB    = 0;
offsetC    = 0;

K1 = 0.998;
K2 = 0.001999;

IsrTicker   = 0;
BackTicker  = 0;
Isw         = 0;
TripFlagDMC = 0;

DlogCh1 = 0;
DlogCh2 = 0;
DlogCh3 = 0;
DlogCh4 = 0;

ChSel[16]   = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
TrigSel[16] = {5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5};
ACQPS[16]   = {8,8,8,8,8,8,8,8,8,8,8,8,8,8,8,8};

SpeedLoopPrescaler = 10;
SpeedLoopCount     = 1;

cap1   ={1,0};
clarke1={0,0,0,0,0};
park1  ={0,0,0,0,0,0,0};
ipark1 ={0,0,0,0,0,0,0};

pwmdac1={1000,500,0x4000,0x4000};
svgen1 ={0,0,0,0,0};
rc1    ={0,5,-1,1,0,0,0,0};
rg1    ={0,0,0,1,0,1}; 
volt1  ={0,0,0,0,1,0,0,0,0,0};
dlog   ={0UL,NULL,NULL,NULL,NULL,0,1,0,0,0UL,
         0x0C0,(int (*)(int))DLOG_4CH_init,(int (*)(int))DLOG_4CH_update};//13

CpuTimer0Regs.PRD.all = 60000;		
CpuTimer1Regs.PRD.all = 300000;		
CpuTimer2Regs.PRD.all = 3000000;	

Alpha_State_Ptr = &A0;
A_Task_Ptr      = &A1;
B_Task_Ptr      = &B1;
C_Task_Ptr      = &C1;

pwm1            ={1000,100,0x4000,0x4000,0x4000};
pwm1.PeriodMax  = 3000;
pwm1.HalfPerMax = 1500;
pwm1.Deadband   = 120; 

pwmdac1.PeriodMax  = 500;
pwmdac1.HalfPerMax = 250;

dlog.iptr1 	= &DlogCh1;
dlog.iptr2 	= &DlogCh2;
dlog.iptr3 	= &DlogCh3;
dlog.iptr4 	= &DlogCh4;
dlog.trig_value = 0x1;
dlog.size       = 0x0C8;
dlog.prescalar  = 5;

ChSel[0] = 1;		
ChSel[1] = 1;		
ChSel[2] = 9;		 
ChSel[3] = 3;		
ChSel[4] = 15;	
ChSel[5] = 14;	
ChSel[6] = 12;	
ChSel[7] = 7;	

qep1                 ={0x0,0x0,0x0,0x0,0x0,0x0,0x00020000,0x0,2,0,0x0};//11
qep1.LineEncoder     = 2048;
qep1.MechScaler      = 0.0001220703125;/*1/8192*/	
qep1.PolePairs 	     = 2;
qep1.CalibratedAngle = 0;

(*eQEP[m]).QDECCTL.all = 0x0000							
(*eQEP[m]).QEPCTL.all  = 0x821E,1000 0010 0001 1110				
(*eQEP[m]).QPOSCTL.all = 0x0000						(*eQEP[m]).QUPRD       = 600000;	/*Unit Timer for 60Hz*/	
(*eQEP[m]).QCAPCTL.all = 0x8075						
(*eQEP[m]).QPOSMAX     = 8192;		/*4*v.LineEncoder*/

speed1 	       ={0,1,0,0,0,0,0,0,0,0};	
speed1.K1      = 83.3333333;
speed1.K2      = 0.99686824;
speed1.K3      = 0.00313175;
speed1.BaseRpm = 3600;

speed2             ={0,0,0,260,0,0,0,1800,0};
speed2.InputSelect = 1;
speed2.BaseRpm     = 3600;
speed2.SpeedScaler = 488.28125000;

rg1.StepAngleMax = 0.012;

fel_const    = {0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0};//16
fe1_const.Rs = 11.05;
fe1_const.Rr = 6.11;
fe1_const.Ls = 0.316423;
fe1_const.Lr = 0.316423;
fe1_const.Lm = 0.293939;
fe1_const.Ib = 10;
fe1_const.Vb = 236.140;
fe1_const.Ts = 0.0001;

fe1_const.Tr = 0.0518
fe1_const.K1 = 0.9981
fe1_const.K2 = 0.0019
fe1_const.K3 = 0.9289
fe1_const.K4 = 0.1475
fe1_const.K5 = 0.4679
fe1_const.K6 = 0.0080
fe1_const.K7 = 1.0765
fe1_const.K8 = 0.1588

fel    ={0,0,0,0,0,0,0,0,0,0,
     	 0,0,0,0,0,0,0,0,0,0,
     	 0,0,0,0,0,0,0,0,0,0,
     	 0,0,0,0,0};//35
fe1.K1 = 0;
fe1.K2 = 0;
fe1.K3 = 0;
fe1.K4 = 0;
fe1.K5 = 0;
fe1.K6 = 0;
fe1.K7 = 0;
fe1.K8 = 0;
fe1.Kp = 2.8; 
fe1.Ki = 0.00022222;

sel_const    ={0,0,0,0,0,0,0,0,0,0,
               0,0,0,0,0,0};//16
se1_const.Rr = 6.11;
se1_const.Lr = 0.316423;
se1_const.fb = 120;
se1_const.fc = 3;
se1_const.Ts = 0.0001;
se1_const.Tc = 0.0531
se1_const.Wb = 753.9822
se1_const.K1 = 0.0256
se1_const.K2 = 83.3333
se1_const.K3 = 0.9981
se1_const.K4 = 0.0019

se1    	     ={0,0,0,0,0.1,0,0,0.1,0,0.1, 
     	       0,0.1,0,3600,0,0,0};//17
se1.K1       = 0;
se1.K2       = 0;
se1.K3       = 0;
se1.K4       = 0;
se1.BaseRpm  = 3600;

pi_spd 	     ={0,0,0,1.0,0.0,1.0,-1.0,0.0,0.0,0.0,0.0,1.0};//12  
pi_spd.Kp    = 2.0;
pi_spd.Ki    = 0.002;
pi_spd.Umax  = 0.95;
pi_spd.Umin  =-0.95;

pi_id        ={0,0,0,1.0,0.0,1.0,-1.0,0.0,0.0,0.0,0.0,1.0};//12 
pi_id.Kp     = 1.0;
pi_id.Ki     = 2.5;
pi_id.Umax   = 0.3;
pi_id.Umin   =-0.3;

pi_iq        ={0,0,0,1.0,0.0,1.0,-1.0,0.0,0.0,0.0,0.0,1.0};//12 
pi_iq.Kp     = 1.0;
pi_iq.Ki     = 2.5;
pi_iq.Umax   = 0.8;
pi_iq.Umin   =-0.8;