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/* ==============================================================================
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)

Supports F2833x(floating point) and F2803x(fixed point) devices
================================================================================= */

// Include header files used in the main function

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


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

// Prototype statements for functions found within this file.
interrupt void MainISR(void);
interrupt void OffsetISR(void);
void DeviceInit();
void MemCopy();
void InitFlash();
void HVDMC_Protection(void);


// State Machine function prototypes
//------------------------------------
// Alpha states
void A0(void); //state A0
void B0(void); //state B0
void C0(void); //state C0

// A branch states
void A1(void); //state A1
void A2(void); //state A2
void A3(void); //state A3

// B branch states
void B1(void); //state B1
void B2(void); //state B2
void B3(void); //state B3

// C branch states
void C1(void); //state C1
void C2(void); //state C2
void C3(void); //state C3

// Variable declarations
void (*Alpha_State_Ptr)(void); // Base States pointer
void (*A_Task_Ptr)(void); // State pointer A branch
void (*B_Task_Ptr)(void); // State pointer B branch
void (*C_Task_Ptr)(void); // State pointer C branch

// Used for running BackGround in flash, and ISR in RAM
extern Uint16 *RamfuncsLoadStart, *RamfuncsLoadEnd, *RamfuncsRunStart;

int16 VTimer0[4]; // Virtual Timers slaved off CPU Timer 0 (A events)
int16 VTimer1[4]; // Virtual Timers slaved off CPU Timer 1 (B events)
int16 VTimer2[4]; // Virtual Timers slaved off CPU Timer 2 (C events)
int16 SerialCommsTimer;

// Global variables used in this system

Uint16 OffsetFlag=0;
_iq offsetA=0;
_iq offsetB=0;
_iq offsetC=0;
_iq K1=_IQ(0.998); //Offset filter coefficient K1: 0.05/(T+0.05);
_iq K2=_IQ(0.001999); //Offset filter coefficient K2: T/(T+0.05);
extern _iq IQsinTable[];
extern _iq IQcosTable[];

_iq VdTesting = _IQ(0.0); // Vd reference (pu)
_iq VqTesting = _IQ(0.15); // Vq reference (pu)
_iq IdRef = _IQ(0.0); // Id reference (pu)
_iq IqRef = _IQ(0.1); // Iq reference (pu)

#if (BUILDLEVEL<LEVEL3) // Speed reference (pu)
_iq SpeedRef = _IQ(0.15); // For Open Loop tests
#else
_iq SpeedRef = _IQ(0.3); // For Closed Loop tests
#endif

float32 T = 0.001/ISR_FREQUENCY; // Samping period (sec), see parameter.h

Uint32 IsrTicker = 0;
Uint16 BackTicker = 0;
Uint16 lsw=0;
Uint16 TripFlagDMC=0; //PWM trip status

// Default ADC initialization
int ChSel[16] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
int TrigSel[16] = {5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5};
int ACQPS[16] = {8,8,8,8,8,8,8,8,8,8,8,8,8,8,8,8};

int16 DlogCh1 = 0;
int16 DlogCh2 = 0;
int16 DlogCh3 = 0;
int16 DlogCh4 = 0;


volatile Uint16 EnableFlag = FALSE;
Uint16 LockRotorFlag = FALSE;

Uint16 SpeedLoopPrescaler = 10; // Speed loop prescaler
Uint16 SpeedLoopCount = 1; // Speed loop counter


// Instance a position estimator
SMOPOS smo1 = SMOPOS_DEFAULTS;
// Instance a sliding-mode position observer constant Module
SMOPOS_CONST smo1_const = SMOPOS_CONST_DEFAULTS;

// Instance a QEP interface driver
QEP qep1 = QEP_DEFAULTS;

// Instance a few transform objects
CLARKE clarke1 = CLARKE_DEFAULTS;
PARK park1 = PARK_DEFAULTS;
IPARK ipark1 = IPARK_DEFAULTS;

// Instance PI regulators to regulate the d and q axis currents, and speed
PI_CONTROLLER pi_spd = PI_CONTROLLER_DEFAULTS;
PI_CONTROLLER pi_id = PI_CONTROLLER_DEFAULTS;
PI_CONTROLLER pi_iq = PI_CONTROLLER_DEFAULTS;

// Instance a PWM driver instance
PWMGEN pwm1 = PWMGEN_DEFAULTS;

// Instance a PWM DAC driver instance
PWMDAC pwmdac1 = PWMDAC_DEFAULTS;

// Instance a Space Vector PWM modulator. This modulator generates a, b and c
// phases based on the d and q stationery reference frame inputs
SVGEN svgen1 = SVGEN_DEFAULTS;

// Instance a ramp controller to smoothly ramp the frequency
RMPCNTL rc1 = RMPCNTL_DEFAULTS;

// Instance a ramp generator to simulate an Anglele
RAMPGEN rg1 = RAMPGEN_DEFAULTS;

// Instance a phase voltage calculation
PHASEVOLTAGE volt1 = PHASEVOLTAGE_DEFAULTS;

// Instance a speed calculator based on QEP
SPEED_MEAS_QEP speed1 = SPEED_MEAS_QEP_DEFAULTS;

// Instance a speed calculator based on sliding-mode position observer
SPEED_ESTIMATION speed3 = SPEED_ESTIMATION_DEFAULTS;

// Create an instance of DATALOG Module
DLOG_4CH dlog = DLOG_4CH_DEFAULTS;

void Gpio_setup2(void);

void main(void)
{

DeviceInit(); // Device Life support & GPIO
Gpio_setup2();
// 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);

// Call Flash Initialization to setup flash waitstates
// This function must reside in RAM
InitFlash(); // Call the flash wrapper init function
#endif //(FLASH)

// Waiting for enable flag set
while (EnableFlag==FALSE)
{
if(GpioDataRegs.GPCDAT.bit.GPIO85==1){//12v open
if(GpioDataRegs.GPCDAT.bit.GPIO84==1){//24v open
EnableFlag=1;
lsw=1;

}
}

BackTicker++;
}

// Timing sync for background loops
// Timer period definitions found in device specific PeripheralHeaderIncludes.h
CpuTimer0Regs.PRD.all = mSec1; // A tasks
CpuTimer1Regs.PRD.all = mSec5; // B tasks
CpuTimer2Regs.PRD.all = mSec50; // C tasks

// Tasks State-machine init
Alpha_State_Ptr = &A0;
A_Task_Ptr = &A1;
B_Task_Ptr = &B1;
C_Task_Ptr = &C1;

// Initialize PWM module
pwm1.PeriodMax = SYSTEM_FREQUENCY*1000000*T/2; // Prescaler X1 (T1), ISR period = T x 1
pwm1.HalfPerMax=pwm1.PeriodMax/2;
pwm1.Deadband = 2.0*SYSTEM_FREQUENCY; // 120 counts -> 2.0 usec for TBCLK = SYSCLK/1
PWM_INIT_MACRO(1,2,3,pwm1)

// Initialize PWMDAC module
pwmdac1.PeriodMax=500; // @60Mhz, 1500->20kHz, 1000-> 30kHz, 500->60kHz
pwmdac1.HalfPerMax=pwmdac1.PeriodMax/2;
PWMDAC_INIT_MACRO(6,pwmdac1) // PWM 6A,6B
PWMDAC_INIT_MACRO(7,pwmdac1) // PWM 7A,7B


// 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);


// Initialize ADC for DMC Kit Rev 1.1
ChSel[0]=1; // Dummy meas. avoid 1st sample issue Rev0 Picollo*/
ChSel[1]=1; // ChSelect: ADC A1-> Phase A Current
ChSel[2]=9; // ChSelect: ADC B1-> Phase B Current
ChSel[3]=3; // ChSelect: ADC A3-> Phase C Current
ChSel[4]=15; // ChSelect: ADC B7-> Phase A Voltage
ChSel[5]=14; // ChSelect: ADC B6-> Phase B Voltage
ChSel[6]=12; // ChSelect: ADC B4-> Phase C Voltage
ChSel[7]=7; // ChSelect: ADC A7-> DC Bus Voltage

// Initialize ADC module
ADC_MACRO_INIT(ChSel,TrigSel,ACQPS)

// Initialize QEP module
qep1.LineEncoder = 2500;
qep1.MechScaler = _IQ30(0.25/qep1.LineEncoder);
qep1.PolePairs = POLES/2;
qep1.CalibratedAngle = 0;
QEP_INIT_MACRO(1,qep1)

// Initialize the Speed module for QEP based speed calculation
speed1.K1 = _IQ21(1/(BASE_FREQ*T));
speed1.K2 = _IQ(1/(1+T*2*PI*5)); // Low-pass cut-off frequency
speed1.K3 = _IQ(1)-speed1.K2;
speed1.BaseRpm = 120*(BASE_FREQ/POLES);

// Initialize the SPEED_EST module SMOPOS based speed calculation
speed3.K1 = _IQ21(1/(BASE_FREQ*T));
speed3.K2 = _IQ(1/(1+T*2*PI*5)); // Low-pass cut-off frequency
speed3.K3 = _IQ(1)-speed3.K2;
speed3.BaseRpm = 120*(BASE_FREQ/POLES);

// Initialize the RAMPGEN module
rg1.StepAngleMax = _IQ(BASE_FREQ*T);

// Initialize the SMOPOS constant module
smo1_const.Rs = RS;
smo1_const.Ls = LS;
smo1_const.Ib = BASE_CURRENT;
smo1_const.Vb = BASE_VOLTAGE;
smo1_const.Ts = T;
SMO_CONST_MACRO(smo1_const)

// Initialize the SMOPOS module
smo1.Fsmopos = _IQ(smo1_const.Fsmopos);
smo1.Gsmopos = _IQ(smo1_const.Gsmopos);
smo1.Kslide = _IQ(0.05308703613);
smo1.Kslf = _IQ(0.1057073975);

// Initialize the PI module for Id
pi_spd.Kp=_IQ(1.5);
pi_spd.Ki=_IQ(T*SpeedLoopPrescaler/0.2);
pi_spd.Umax =_IQ(0.95);
pi_spd.Umin =_IQ(-0.95);

// Initialize the PI module for Iq
pi_id.Kp=_IQ(1.0);
pi_id.Ki=_IQ(T/0.04);
pi_id.Umax =_IQ(0.4);
pi_id.Umin =_IQ(-0.4);

// Initialize the PI module for speed
pi_iq.Kp=_IQ(1.0);
pi_iq.Ki=_IQ(T/0.04);
pi_iq.Umax =_IQ(0.8);
pi_iq.Umin =_IQ(-0.8);

// Note that the vectorial sum of d-q PI outputs should be less than 1.0 which refers to maximum duty cycle for SVGEN.
// Another duty cycle limiting factor is current sense through shunt resistors which depends on hardware/software implementation.
// Depending on the application requirements 3,2 or a single shunt resistor can be used for current waveform reconstruction.
// The higher number of shunt resistors allow the higher duty cycle operation and better dc bus utilization.
// The users should adjust the PI saturation levels carefully during open loop tests (i.e pi_id.Umax, pi_iq.Umax and Umins) as in project manuals.
// Violation of this procedure yields distorted current waveforms and unstable closed loop operations which may damage the inverter.

//Call HVDMC Protection function
HVDMC_Protection();

// Reassign ISRs.

EALLOW; // This is needed to write to EALLOW protected registers
PieVectTable.EPWM1_INT = &OffsetISR;
EDIS;

// Enable PIE group 3 interrupt 1 for EPWM1_INT
PieCtrlRegs.PIEIER3.bit.INTx1 = 1;

// Enable CNT_zero interrupt using EPWM1 Time-base
EPwm1Regs.ETSEL.bit.INTEN = 1; // Enable EPWM1INT generation
EPwm1Regs.ETSEL.bit.INTSEL = 1; // Enable interrupt CNT_zero event
EPwm1Regs.ETPS.bit.INTPRD = 1; // Generate interrupt on the 1st event
EPwm1Regs.ETCLR.bit.INT = 1; // Enable more interrupts

// Enable CPU INT3 for EPWM1_INT:
IER |= M_INT3;
// Enable global Interrupts and higher priority real-time debug events:
EINT; // Enable Global interrupt INTM
ERTM; // Enable Global realtime interrupt DBGM

// IDLE loop. Just sit and loop forever:
for(;;) //infinite loop
{
// State machine entry & exit point
//===========================================================
(*Alpha_State_Ptr)(); // jump to an Alpha state (A0,B0,...)
//===========================================================

}
} //END MAIN CODE



//=================================================================================
// STATE-MACHINE SEQUENCING AND SYNCRONIZATION FOR SLOW BACKGROUND TASKS
//=================================================================================

//--------------------------------- FRAMEWORK -------------------------------------
void A0(void)
{
// loop rate synchronizer for A-tasks
if(CpuTimer0Regs.TCR.bit.TIF == 1)
{
CpuTimer0Regs.TCR.bit.TIF = 1; // clear flag

//-----------------------------------------------------------
(*A_Task_Ptr)(); // jump to an A Task (A1,A2,A3,...)
//-----------------------------------------------------------

VTimer0[0]++; // virtual timer 0, instance 0 (spare)
SerialCommsTimer++;
}

Alpha_State_Ptr = &B0; // Comment out to allow only A tasks
}

void B0(void)
{
// loop rate synchronizer for B-tasks
if(CpuTimer1Regs.TCR.bit.TIF == 1)
{
CpuTimer1Regs.TCR.bit.TIF = 1; // clear flag

//-----------------------------------------------------------
(*B_Task_Ptr)(); // jump to a B Task (B1,B2,B3,...)
//-----------------------------------------------------------
VTimer1[0]++; // virtual timer 1, instance 0 (spare)
}

Alpha_State_Ptr = &C0; // Allow C state tasks
}

void C0(void)
{
// loop rate synchronizer for C-tasks
if(CpuTimer2Regs.TCR.bit.TIF == 1)
{
CpuTimer2Regs.TCR.bit.TIF = 1; // clear flag

//-----------------------------------------------------------
(*C_Task_Ptr)(); // jump to a C Task (C1,C2,C3,...)
//-----------------------------------------------------------
VTimer2[0]++; //virtual timer 2, instance 0 (spare)
}

Alpha_State_Ptr = &A0; // Back to State A0
}


//=================================================================================
// A - TASKS (executed in every 1 msec)
//=================================================================================
//--------------------------------------------------------
void A1(void) // SPARE (not used)
//--------------------------------------------------------
{
if(EPwm1Regs.TZFLG.bit.OST==0x1)
TripFlagDMC=1; // Trip on DMC (halt, overcurrent and IPM fault trip )

//-------------------
//the next time CpuTimer0 'counter' reaches Period value go to A2
A_Task_Ptr = &A2;
//-------------------
}

//-----------------------------------------------------------------
void A2(void) // SPARE (not used)
//-----------------------------------------------------------------
{

//-------------------
//the next time CpuTimer0 'counter' reaches Period value go to A3
A_Task_Ptr = &A3;
//-------------------
}

//-----------------------------------------
void A3(void) // SPARE (not used)
//-----------------------------------------
{

//-----------------
//the next time CpuTimer0 'counter' reaches Period value go to A1
A_Task_Ptr = &A1;
//-----------------
}



//=================================================================================
// B - TASKS (executed in every 5 msec)
//=================================================================================

//----------------------------------- USER ----------------------------------------

//----------------------------------------
void B1(void) // Toggle GPIO-00
//----------------------------------------
{

//-----------------
//the next time CpuTimer1 'counter' reaches Period value go to B2
B_Task_Ptr = &B2;
//-----------------
}

//----------------------------------------
void B2(void) // SPARE
//----------------------------------------
{

//-----------------
//the next time CpuTimer1 'counter' reaches Period value go to B3
B_Task_Ptr = &B3;
//-----------------
}

//----------------------------------------
void B3(void) // SPARE
//----------------------------------------
{

//-----------------
//the next time CpuTimer1 'counter' reaches Period value go to B1
B_Task_Ptr = &B1;
//-----------------
}


//=================================================================================
// C - TASKS (executed in every 50 msec)
//=================================================================================

//--------------------------------- USER ------------------------------------------

//----------------------------------------
void C1(void) // Toggle GPIO-34
//----------------------------------------
{

if(EPwm1Regs.TZFLG.bit.OST==0x1) // TripZ for PWMs is low (fault trip)
{ TripFlagDMC=1;
}

GpioDataRegs.GPBTOGGLE.bit.GPIO34 = 1; // Turn on/off LD3 on the controlCARD

//-----------------
//the next time CpuTimer2 'counter' reaches Period value go to C2
C_Task_Ptr = &C2;
//-----------------

}

//----------------------------------------
void C2(void) // SPARE
//----------------------------------------
{

//-----------------
//the next time CpuTimer2 'counter' reaches Period value go to C3
C_Task_Ptr = &C3;
//-----------------
}


//-----------------------------------------
void C3(void) // SPARE
//-----------------------------------------
{

//-----------------
//the next time CpuTimer2 'counter' reaches Period value go to C1
C_Task_Ptr = &C1;
//-----------------
}




// MainISR
interrupt void MainISR(void)
{

// Verifying the ISR
IsrTicker++;

// =============================== LEVEL 1 ======================================
// Checks target independent modules, duty cycle waveforms and PWM update
// Keep the motors disconnected at this level
// ==============================================================================

#if (BUILDLEVEL==LEVEL1)

// ------------------------------------------------------------------------------
// Connect inputs of the RMP module and call the ramp control macro
// ------------------------------------------------------------------------------
rc1.TargetValue = SpeedRef;
RC_MACRO(rc1)

// ------------------------------------------------------------------------------
// Connect inputs of the RAMP GEN module and call the ramp generator macro
// ------------------------------------------------------------------------------
rg1.Freq = rc1.SetpointValue;
RG_MACRO(rg1)

// ------------------------------------------------------------------------------
// Connect inputs of the INV_PARK module and call the inverse park trans. macro
// There are two option for trigonometric functions:
// IQ sin/cos look-up table provides 512 discrete sin and cos points in Q30 format
// IQsin/cos PU functions interpolate the data in the lookup table yielding higher resolution.
// ------------------------------------------------------------------------------
ipark1.Ds = VdTesting;
ipark1.Qs = VqTesting;

//ipark1.Sine =_IQ30toIQ(IQsinTable[_IQtoIQ9(rg1.Out)]);
//ipark1.Cosine=_IQ30toIQ(IQcosTable[_IQtoIQ9(rg1.Out)]);

ipark1.Sine=_IQsinPU(rg1.Out);
ipark1.Cosine=_IQcosPU(rg1.Out);
IPARK_MACRO(ipark1)

// ------------------------------------------------------------------------------
// Connect inputs of the SVGEN_DQ module and call the space-vector gen. macro
// ------------------------------------------------------------------------------
svgen1.Ualpha = ipark1.Alpha;
svgen1.Ubeta = ipark1.Beta;
SVGENDQ_MACRO(svgen1)

// ------------------------------------------------------------------------------
// Connect inputs of the PWM_DRV module and call the PWM signal generation macro
// ------------------------------------------------------------------------------
pwm1.MfuncC1 = svgen1.Ta;
pwm1.MfuncC2 = svgen1.Tb;
pwm1.MfuncC3 = svgen1.Tc;
PWM_MACRO(1,2,3,pwm1) // Calculate the new PWM compare values

// ------------------------------------------------------------------------------
// Connect inputs of the PWMDAC module
// ------------------------------------------------------------------------------
pwmdac1.MfuncC1 = svgen1.Ta;
pwmdac1.MfuncC2 = svgen1.Tb;
PWMDAC_MACRO(6,pwmdac1) // PWMDAC 6A, 6B

pwmdac1.MfuncC1 = svgen1.Tc;
pwmdac1.MfuncC2 = svgen1.Tb-svgen1.Tc;
PWMDAC_MACRO(7,pwmdac1)

// ------------------------------------------------------------------------------
// Connect inputs of the DATALOG module
// ------------------------------------------------------------------------------
DlogCh1 = _IQtoQ15(svgen1.Ta);
DlogCh2 = _IQtoQ15(svgen1.Tb);
DlogCh3 = _IQtoQ15(svgen1.Tc);
DlogCh4 = _IQtoQ15(svgen1.Tb-svgen1.Tc);

#endif // (BUILDLEVEL==LEVEL1)

// =============================== LEVEL 2 ======================================
// Level 2 verifies the analog-to-digital conversion, offset compensation,
// clarke/park transformations (CLARKE/PARK), phase voltage calculations
// ==============================================================================

#if (BUILDLEVEL==LEVEL2)

// ------------------------------------------------------------------------------
// Connect inputs of the RMP module and call the ramp control macro
// ------------------------------------------------------------------------------
rc1.TargetValue = SpeedRef;
RC_MACRO(rc1)

// ------------------------------------------------------------------------------
// Connect inputs of the RAMP GEN module and call the ramp generator macro
// ------------------------------------------------------------------------------
rg1.Freq = rc1.SetpointValue;
RG_MACRO(rg1)

// ------------------------------------------------------------------------------
// Measure phase currents, subtract the offset and normalize from (-0.5,+0.5) to (-1,+1).
// Connect inputs of the CLARKE module and call the clarke transformation macro
// ------------------------------------------------------------------------------
#ifdef DSP2833x_DEVICE_H
clarke1.As=((AdcMirror.ADCRESULT1)*0.00024414-offsetA)*2*0.909; // Phase A curr.
clarke1.Bs=((AdcMirror.ADCRESULT2)*0.00024414-offsetB)*2*0.909; // Phase B curr.
#endif // ((ADCmeas(q12)/2^12)-offset)*2*(3.0/3.3)

#ifdef DSP2803x_DEVICE_H
clarke1.As = _IQmpy2(_IQ12toIQ(AdcResult.ADCRESULT1)-offsetA); // Phase A curr.
clarke1.Bs = _IQmpy2(_IQ12toIQ(AdcResult.ADCRESULT2)-offsetB); // Phase B curr.
#endif // (ADCmeas(q12->q24)-offset)*2

CLARKE_MACRO(clarke1)

// ------------------------------------------------------------------------------
// Connect inputs of the PARK module and call the park trans. macro
// ------------------------------------------------------------------------------
park1.Alpha = clarke1.Alpha;
park1.Beta = clarke1.Beta;
park1.Angle = rg1.Out;
park1.Sine = _IQsinPU(park1.Angle);
park1.Cosine = _IQcosPU(park1.Angle);
PARK_MACRO(park1)

// ------------------------------------------------------------------------------
// Connect inputs of the INV_PARK module and call the inverse park trans. macro
// ------------------------------------------------------------------------------
ipark1.Ds = VdTesting;
ipark1.Qs = VqTesting;
ipark1.Sine=park1.Sine;
ipark1.Cosine=park1.Cosine;
IPARK_MACRO(ipark1)

// ------------------------------------------------------------------------------
// Connect inputs of the VOLT_CALC module and call the phase voltage calc. macro
// ------------------------------------------------------------------------------
#ifdef DSP2833x_DEVICE_H
volt1.DcBusVolt = ((AdcMirror.ADCRESULT7)*0.00024414)*0.909; // DC Bus voltage meas.
#endif // (ADCmeas(q12)/2^12)*(3.0V/3.3V)

#ifdef DSP2803x_DEVICE_H
volt1.DcBusVolt = _IQ12toIQ(AdcResult.ADCRESULT7); // DC Bus voltage meas.
#endif

volt1.MfuncV1 = svgen1.Ta;
volt1.MfuncV2 = svgen1.Tb;
volt1.MfuncV3 = svgen1.Tc;
PHASEVOLT_MACRO(volt1)
// ------------------------------------------------------------------------------
// Connect inputs of the SVGEN_DQ module and call the space-vector gen. macro
// ------------------------------------------------------------------------------
svgen1.Ualpha = ipark1.Alpha;
svgen1.Ubeta = ipark1.Beta;
SVGENDQ_MACRO(svgen1)

// ------------------------------------------------------------------------------
// Connect inputs of the PWM_DRV module and call the PWM signal generation macro
// ------------------------------------------------------------------------------
pwm1.MfuncC1 = svgen1.Ta;
pwm1.MfuncC2 = svgen1.Tb;
pwm1.MfuncC3 = svgen1.Tc;
PWM_MACRO(1,2,3,pwm1) // Calculate the new PWM compare values

// ------------------------------------------------------------------------------
// Connect inputs of the PWMDAC module
// ------------------------------------------------------------------------------
pwmdac1.MfuncC1 = svgen1.Ta;
pwmdac1.MfuncC2 = rg1.Out;
PWMDAC_MACRO(6,pwmdac1) // PWMDAC 6A, 6B

pwmdac1.MfuncC1 = clarke1.As;
pwmdac1.MfuncC2 = clarke1.Bs;
PWMDAC_MACRO(7,pwmdac1) // PWMDAC 7A, 7B

// ------------------------------------------------------------------------------
// Connect inputs of the DATALOG module
// ------------------------------------------------------------------------------
DlogCh1 = _IQtoQ15(volt1.VphaseA);
DlogCh2 = _IQtoQ15(clarke1.As);
DlogCh3 = _IQtoQ15(volt1.VphaseB);
DlogCh4 = _IQtoQ15(clarke1.Bs);


#endif // (BUILDLEVEL==LEVEL2)

// =============================== LEVEL 3 ======================================
// Level 3 verifies the dq-axis current regulation performed by PI and speed
// measurement modules
// ==============================================================================
// lsw=0: lock the rotor of the motor
// lsw=1: close the current loop


#if (BUILDLEVEL==LEVEL3)

// ------------------------------------------------------------------------------
// Connect inputs of the RMP module and call the ramp control macro
// ------------------------------------------------------------------------------
if(lsw==0)rc1.TargetValue = 0;
else rc1.TargetValue = SpeedRef;
RC_MACRO(rc1)

// ------------------------------------------------------------------------------
// Connect inputs of the RAMP GEN module and call the ramp generator macro
// ------------------------------------------------------------------------------
rg1.Freq = rc1.SetpointValue;
RG_MACRO(rg1)

// ------------------------------------------------------------------------------
// Measure phase currents, subtract the offset and normalize from (-0.5,+0.5) to (-1,+1).
// Connect inputs of the CLARKE module and call the clarke transformation macro
// ------------------------------------------------------------------------------
#ifdef DSP2833x_DEVICE_H
clarke1.As=((AdcMirror.ADCRESULT1)*0.00024414-offsetA)*2*0.909; // Phase A curr.
clarke1.Bs=((AdcMirror.ADCRESULT2)*0.00024414-offsetB)*2*0.909; // Phase B curr.
#endif // ((ADCmeas(q12)/2^12)-offset)*2*(3.0/3.3)

#ifdef DSP2803x_DEVICE_H
clarke1.As = _IQmpy2(_IQ12toIQ(AdcResult.ADCRESULT1)-offsetA); // Phase A curr.
clarke1.Bs = _IQmpy2(_IQ12toIQ(AdcResult.ADCRESULT2)-offsetB); // Phase B curr.
#endif // (ADCmeas(q12->q24)-offset)*2

CLARKE_MACRO(clarke1)

// ------------------------------------------------------------------------------
// Connect inputs of the PARK module and call the park trans. macro
// ------------------------------------------------------------------------------
park1.Alpha = clarke1.Alpha;
park1.Beta = clarke1.Beta;
if(lsw==0) park1.Angle = 0;
else if(lsw==1) park1.Angle = rg1.Out;

park1.Sine = _IQsinPU(park1.Angle);
park1.Cosine = _IQcosPU(park1.Angle);

PARK_MACRO(park1)

// ------------------------------------------------------------------------------
// Connect inputs of the PI module and call the PI IQ controller macro
// ------------------------------------------------------------------------------
if(lsw==0) pi_iq.Ref = 0;
else if(lsw==1) pi_iq.Ref = IqRef;
pi_iq.Fbk = park1.Qs;
PI_MACRO(pi_iq)

// ------------------------------------------------------------------------------
// Connect inputs of the PI module and call the PI ID controller macro
// ------------------------------------------------------------------------------
if(lsw==0) pi_id.Ref = _IQ(0.05);
else pi_id.Ref = IdRef;
pi_id.Fbk = park1.Ds;
PI_MACRO(pi_id)

// ------------------------------------------------------------------------------
// Connect inputs of the INV_PARK module and call the inverse park trans. macro
// ------------------------------------------------------------------------------
ipark1.Ds = pi_id.Out;
ipark1.Qs = pi_iq.Out ;
ipark1.Sine = park1.Sine;
ipark1.Cosine = park1.Cosine;
IPARK_MACRO(ipark1)

// ------------------------------------------------------------------------------
// Call the QEP calculation module
// ------------------------------------------------------------------------------
QEP_MACRO(1,qep1);

// ------------------------------------------------------------------------------
// Connect inputs of the SPEED_FR module and call the speed calculation macro
// ------------------------------------------------------------------------------
speed1.ElecTheta = qep1.ElecTheta;
speed1.DirectionQep = (int32)(qep1.DirectionQep);
SPEED_FR_MACRO(speed1)

// ------------------------------------------------------------------------------
// Connect inputs of the VOLT_CALC module and call the phase voltage calc. macro
// ------------------------------------------------------------------------------
#ifdef DSP2833x_DEVICE_H
volt1.DcBusVolt = ((AdcMirror.ADCRESULT7)*0.00024414)*0.909; // DC Bus voltage meas.
#endif // (ADCmeas(q12)/2^12)*(3.0V/3.3V)

#ifdef DSP2803x_DEVICE_H
volt1.DcBusVolt = _IQ12toIQ(AdcResult.ADCRESULT7); // DC Bus voltage meas.
#endif

volt1.MfuncV1 = svgen1.Ta;
volt1.MfuncV2 = svgen1.Tb;
volt1.MfuncV3 = svgen1.Tc;
PHASEVOLT_MACRO(volt1)

// ------------------------------------------------------------------------------
// Connect inputs of the SVGEN_DQ module and call the space-vector gen. macro
// ------------------------------------------------------------------------------
svgen1.Ualpha = ipark1.Alpha;
svgen1.Ubeta = ipark1.Beta;
SVGENDQ_MACRO(svgen1)

// ------------------------------------------------------------------------------
// Connect inputs of the PWM_DRV module and call the PWM signal generation macro
// ------------------------------------------------------------------------------
pwm1.MfuncC1 = svgen1.Ta;
pwm1.MfuncC2 = svgen1.Tb;
pwm1.MfuncC3 = svgen1.Tc;
PWM_MACRO(1,2,3,pwm1) // Calculate the new PWM compare values

// ------------------------------------------------------------------------------
// Connect inputs of the PWMDAC module
// ------------------------------------------------------------------------------
pwmdac1.MfuncC1 = clarke1.As;
pwmdac1.MfuncC2 = clarke1.Bs;
PWMDAC_MACRO(6,pwmdac1) // PWMDAC 6A, 6B

pwmdac1.MfuncC1 = qep1.ElecTheta;
pwmdac1.MfuncC2 = svgen1.Tb-svgen1.Tc;
PWMDAC_MACRO(7,pwmdac1) // PWMDAC 7A, 7B

// ------------------------------------------------------------------------------
// Connect inputs of the DATALOG module
// ------------------------------------------------------------------------------
DlogCh1 = _IQtoQ15(clarke1.As );
DlogCh2 = _IQtoQ15(clarke1.Bs);
DlogCh3 = _IQtoQ15(qep1.ElecTheta);
DlogCh4 = _IQtoQ15(rg1.Out);

#endif // (BUILDLEVEL==LEVEL3)


// =============================== LEVEL 4 ======================================
// Level 4 verifies the estimated rotor position and speed estimation
// performed by SMOPOS and SPEED_EST modules, respectively.
// ==============================================================================
// lsw=0: lock the rotor of the motor
// lsw=1: close the current loop

#if (BUILDLEVEL==LEVEL4)

// ------------------------------------------------------------------------------
// Connect inputs of the RMP module and call the ramp control macro
// ------------------------------------------------------------------------------
if(lsw==0)rc1.TargetValue = 0;
else rc1.TargetValue = SpeedRef;
RC_MACRO(rc1)

// ------------------------------------------------------------------------------
// Connect inputs of the RAMP GEN module and call the ramp generator macro
// ------------------------------------------------------------------------------
rg1.Freq = rc1.SetpointValue;
RG_MACRO(rg1)

// ------------------------------------------------------------------------------
// Measure phase currents, subtract the offset and normalize from (-0.5,+0.5) to (-1,+1).
// Connect inputs of the CLARKE module and call the clarke transformation macro
// ------------------------------------------------------------------------------
#ifdef DSP2833x_DEVICE_H
clarke1.As=((AdcMirror.ADCRESULT1)*0.00024414-offsetA)*2*0.909; // Phase A curr.
clarke1.Bs=((AdcMirror.ADCRESULT2)*0.00024414-offsetB)*2*0.909; // Phase B curr.
#endif // ((ADCmeas(q12)/2^12)-offset)*2*(3.0/3.3)

#ifdef DSP2803x_DEVICE_H
clarke1.As = _IQmpy2(_IQ12toIQ(AdcResult.ADCRESULT1)-offsetA); // Phase A curr.
clarke1.Bs = _IQmpy2(_IQ12toIQ(AdcResult.ADCRESULT2)-offsetB); // Phase B curr.
#endif // (ADCmeas(q12->q24)-offset)*2

CLARKE_MACRO(clarke1)

// ------------------------------------------------------------------------------
// Connect inputs of the PARK module and call the park trans. macro
// ------------------------------------------------------------------------------
park1.Alpha = clarke1.Alpha;
park1.Beta = clarke1.Beta;
if(lsw==0) park1.Angle = 0;
else if(lsw==1) park1.Angle = rg1.Out;

park1.Sine = _IQsinPU(park1.Angle);
park1.Cosine = _IQcosPU(park1.Angle);

PARK_MACRO(park1)

// ------------------------------------------------------------------------------
// Connect inputs of the PI module and call the PI IQ controller macro
// ------------------------------------------------------------------------------
if(lsw==0) pi_iq.Ref = 0;
else if(lsw==1) pi_iq.Ref = IqRef;
pi_iq.Fbk = park1.Qs;
PI_MACRO(pi_iq)

// ------------------------------------------------------------------------------
// Connect inputs of the PI module and call the PI ID controller macro
// ------------------------------------------------------------------------------
if(lsw==0) pi_id.Ref = _IQ(0.05);
else pi_id.Ref = 0;
pi_id.Fbk = park1.Ds;
PI_MACRO(pi_id)

// ------------------------------------------------------------------------------
// Connect inputs of the INV_PARK module and call the inverse park trans. macro
// ------------------------------------------------------------------------------
ipark1.Ds = pi_id.Out;
ipark1.Qs = pi_iq.Out;
ipark1.Sine=park1.Sine;
ipark1.Cosine=park1.Cosine;
IPARK_MACRO(ipark1)

// ------------------------------------------------------------------------------
// Call the QEP calculation module
// ------------------------------------------------------------------------------
QEP_MACRO(1,qep1);

// ------------------------------------------------------------------------------
// Connect inputs of the SPEED_FR module and call the speed calculation macro
// ------------------------------------------------------------------------------
speed1.ElecTheta = qep1.ElecTheta;
speed1.DirectionQep = (int32)(qep1.DirectionQep);
SPEED_FR_MACRO(speed1)

// ------------------------------------------------------------------------------
// Connect inputs of the VOLT_CALC module and call the phase voltage calc. macro
// ------------------------------------------------------------------------------
#ifdef DSP2833x_DEVICE_H
volt1.DcBusVolt = ((AdcMirror.ADCRESULT7)*0.00024414)*0.909; // DC Bus voltage meas.
#endif // (ADCmeas(q12)/2^12)*(3.0V/3.3V)

#ifdef DSP2803x_DEVICE_H
volt1.DcBusVolt = _IQ12toIQ(AdcResult.ADCRESULT7); // DC Bus voltage meas.
#endif

volt1.MfuncV1 = svgen1.Ta;
volt1.MfuncV2 = svgen1.Tb;
volt1.MfuncV3 = svgen1.Tc;
PHASEVOLT_MACRO(volt1)

// ------------------------------------------------------------------------------
// Connect inputs of the SMO_POS module and call the sliding-mode observer macro
// ------------------------------------------------------------------------------
smo1.Ialpha = clarke1.Alpha;
smo1.Ibeta = clarke1.Beta;
smo1.Valpha = volt1.Valpha;
smo1.Vbeta = volt1.Vbeta;
SMO_MACRO(smo1)

// ------------------------------------------------------------------------------
// Connect inputs of the SPEED_EST module and call the estimated speed macro
// ------------------------------------------------------------------------------
speed3.EstimatedTheta = smo1.Theta;
SE_MACRO(speed3)

// ------------------------------------------------------------------------------
// Connect inputs of the SVGEN_DQ module and call the space-vector gen. macro
// ------------------------------------------------------------------------------
svgen1.Ualpha = ipark1.Alpha;
svgen1.Ubeta = ipark1.Beta;
SVGENDQ_MACRO(svgen1)

// ------------------------------------------------------------------------------
// Connect inputs of the PWM_DRV module and call the PWM signal generation macro
// ------------------------------------------------------------------------------
pwm1.MfuncC1 = svgen1.Ta;
pwm1.MfuncC2 = svgen1.Tb;
pwm1.MfuncC3 = svgen1.Tc;
PWM_MACRO(1,2,3,pwm1) // Calculate the new PWM compare values

// ------------------------------------------------------------------------------
// Connect inputs of the PWMDAC module
// ------------------------------------------------------------------------------
pwmdac1.MfuncC1 = clarke1.As;
pwmdac1.MfuncC2 = clarke1.Bs;
PWMDAC_MACRO(6,pwmdac1) // PWMDAC 6A, 6B

pwmdac1.MfuncC1 = qep1.ElecTheta;
pwmdac1.MfuncC2 = smo1.Theta;
PWMDAC_MACRO(7,pwmdac1) // PWMDAC 7A, 7B

// ------------------------------------------------------------------------------
// Connect inputs of the DATALOG module
// ------------------------------------------------------------------------------
DlogCh1 = _IQtoQ15(clarke1.As);
DlogCh2 = _IQtoQ15(smo1.Theta);
DlogCh3 = _IQtoQ15(qep1.ElecTheta);
DlogCh4 = _IQtoQ15(rg1.Out);


#endif // (BUILDLEVEL==LEVEL4)


// =============================== LEVEL 5 ======================================
// Level 5 verifies the speed regulator performed by PI module.
// The system speed loop is closed by using the measured speed as a feedback.
// ==============================================================================
// lsw=0: lock the rotor of the motor
// lsw=1: close the current loop


#if (BUILDLEVEL==LEVEL5)

// ------------------------------------------------------------------------------
// Connect inputs of the RMP module and call the ramp control macro
// ------------------------------------------------------------------------------
if(lsw==0)rc1.TargetValue = 0;
else rc1.TargetValue = SpeedRef;
RC_MACRO(rc1)

// ------------------------------------------------------------------------------
// Connect inputs of the RAMP GEN module and call the ramp generator macro
// ------------------------------------------------------------------------------
rg1.Freq = rc1.SetpointValue;
RG_MACRO(rg1)

// ------------------------------------------------------------------------------
// Measure phase currents, subtract the offset and normalize from (-0.5,+0.5) to (-1,+1).
// Connect inputs of the CLARKE module and call the clarke transformation macro
// ------------------------------------------------------------------------------
#ifdef DSP2833x_DEVICE_H
clarke1.As=((AdcMirror.ADCRESULT1)*0.00024414-offsetA)*2*0.909; // Phase A curr.
clarke1.Bs=((AdcMirror.ADCRESULT2)*0.00024414-offsetB)*2*0.909; // Phase B curr.
#endif // ((ADCmeas(q12)/2^12)-offset)*2*(3.0/3.3)

#ifdef DSP2803x_DEVICE_H
clarke1.As = _IQmpy2(_IQ12toIQ(AdcResult.ADCRESULT1)-offsetA); // Phase A curr.
clarke1.Bs = _IQmpy2(_IQ12toIQ(AdcResult.ADCRESULT2)-offsetB); // Phase B curr.
#endif // (ADCmeas(q12->q24)-offset)*2

CLARKE_MACRO(clarke1)

// ------------------------------------------------------------------------------
// Connect inputs of the PARK module and call the park trans. macro
// ------------------------------------------------------------------------------
park1.Alpha = clarke1.Alpha;
park1.Beta = clarke1.Beta;

if(lsw==0) park1.Angle = 0;
else if(lsw==1) park1.Angle = rg1.Out;
else park1.Angle = smo1.Theta;

park1.Sine = _IQsinPU(park1.Angle);
park1.Cosine = _IQcosPU(park1.Angle);

PARK_MACRO(park1)

// ------------------------------------------------------------------------------
// Connect inputs of the PI module and call the PI speed controller macro
// ------------------------------------------------------------------------------
if (SpeedLoopCount==SpeedLoopPrescaler)
{
pi_spd.Ref = rc1.SetpointValue;
pi_spd.Fbk = speed1.Speed;
PI_MACRO(pi_spd);
SpeedLoopCount=1;
}
else SpeedLoopCount++;

if(lsw==0 || lsw==1) {pi_spd.ui=0; pi_spd.i1=0;}

// ------------------------------------------------------------------------------
// Connect inputs of the PI module and call the PI IQ controller macro
// ------------------------------------------------------------------------------
if(lsw==0) pi_iq.Ref = 0;
else if(lsw==1) pi_iq.Ref = IqRef;
else pi_iq.Ref = pi_spd.Out;
pi_iq.Fbk = park1.Qs;
PI_MACRO(pi_iq)

// ------------------------------------------------------------------------------
// Connect inputs of the PI module and call the PI ID controller macro
// ------------------------------------------------------------------------------
if(lsw==0) pi_id.Ref = _IQ(0.05);
else pi_id.Ref = 0;
pi_id.Fbk = park1.Ds;
PI_MACRO(pi_id)

// ------------------------------------------------------------------------------
// Connect inputs of the INV_PARK module and call the inverse park trans. macro
// ------------------------------------------------------------------------------
ipark1.Ds = pi_id.Out;
ipark1.Qs = pi_iq.Out;
ipark1.Sine=park1.Sine;
ipark1.Cosine=park1.Cosine;
IPARK_MACRO(ipark1)

// ------------------------------------------------------------------------------
// Call the QEP calculation module
// ------------------------------------------------------------------------------
QEP_MACRO(1,qep1);

// ------------------------------------------------------------------------------
// Connect inputs of the SPEED_FR module and call the speed calculation macro
// ------------------------------------------------------------------------------
speed1.ElecTheta = qep1.ElecTheta;
speed1.DirectionQep = (int32)(qep1.DirectionQep);
SPEED_FR_MACRO(speed1)

// ------------------------------------------------------------------------------
// Connect inputs of the VOLT_CALC module and call the phase voltage macro
// ------------------------------------------------------------------------------
#ifdef DSP2833x_DEVICE_H
volt1.DcBusVolt = ((AdcMirror.ADCRESULT7)*0.00024414)*0.909; // DC Bus voltage meas.
#endif // (ADCmeas(q12)/2^12)*(3.0V/3.3V)

#ifdef DSP2803x_DEVICE_H
volt1.DcBusVolt = _IQ12toIQ(AdcResult.ADCRESULT7); // DC Bus voltage meas.
#endif

volt1.MfuncV1 = svgen1.Ta;
volt1.MfuncV2 = svgen1.Tb;
volt1.MfuncV3 = svgen1.Tc;
PHASEVOLT_MACRO(volt1)

// ------------------------------------------------------------------------------
// Connect inputs of the SMO_POS module and call the sliding-mode observer macro
// ------------------------------------------------------------------------------
smo1.Ialpha = clarke1.Alpha;
smo1.Ibeta = clarke1.Beta;
smo1.Valpha = volt1.Valpha;
smo1.Vbeta = volt1.Vbeta;
SMO_MACRO(smo1)

// ------------------------------------------------------------------------------
// Connect inputs of the SPEED_EST module and call the estimated speed macro
// ------------------------------------------------------------------------------
speed3.EstimatedTheta = smo1.Theta;
SE_MACRO(speed3)

// ------------------------------------------------------------------------------
// Connect inputs of the SVGEN_DQ module and call the space-vector gen. macro
// ------------------------------------------------------------------------------
svgen1.Ualpha = ipark1.Alpha;
svgen1.Ubeta = ipark1.Beta;
SVGENDQ_MACRO(svgen1)

// ------------------------------------------------------------------------------
// Connect inputs of the PWM_DRV module and call the PWM signal generation macro
// ------------------------------------------------------------------------------
pwm1.MfuncC1 = svgen1.Ta;
pwm1.MfuncC2 = svgen1.Tb;
pwm1.MfuncC3 = svgen1.Tc;
PWM_MACRO(1,2,3,pwm1) // Calculate the new PWM compare values

// ------------------------------------------------------------------------------
// Connect inputs of the PWMDAC module
// ------------------------------------------------------------------------------
pwmdac1.MfuncC1 = clarke1.As;
pwmdac1.MfuncC2 = clarke1.Bs;
PWMDAC_MACRO(6,pwmdac1) // PWMDAC 6A, 6B

pwmdac1.MfuncC1 = qep1.ElecTheta;
pwmdac1.MfuncC2 = smo1.Theta;
PWMDAC_MACRO(7,pwmdac1) // PWMDAC 7A, 7B

// ------------------------------------------------------------------------------
// Connect inputs of the DATALOG module
// ------------------------------------------------------------------------------
DlogCh1 = _IQtoQ15(clarke1.As);
DlogCh2 = _IQtoQ15(smo1.Theta);
DlogCh3 = _IQtoQ15(qep1.ElecTheta);
DlogCh4 = _IQtoQ15(rg1.Out);

#endif // (BUILDLEVEL==LEVEL5)

// =============================== LEVEL 6 ======================================
// Level 6 verifies the speed regulator performed by PI module.
// The system speed loop is closed by using the estimated speed as a feedback.
// ==============================================================================
// lsw=0: lock the rotor of the motor
// lsw=1: close the current loop
// lsw=2: close the speed loop

#if (BUILDLEVEL==LEVEL6)

// ------------------------------------------------------------------------------
// Connect inputs of the RMP module and call the ramp control macro
// ------------------------------------------------------------------------------
if(lsw==0)rc1.TargetValue = 0;
else rc1.TargetValue = SpeedRef;
RC_MACRO(rc1)

// ------------------------------------------------------------------------------
// Connect inputs of the RAMP GEN module and call the ramp generator macro
// ------------------------------------------------------------------------------
rg1.Freq = rc1.SetpointValue;
RG_MACRO(rg1)

// ------------------------------------------------------------------------------
// Measure phase currents, subtract the offset and normalize from (-0.5,+0.5) to (-1,+1).
// Connect inputs of the CLARKE module and call the clarke transformation macro
// ------------------------------------------------------------------------------
#ifdef DSP2833x_DEVICE_H
clarke1.As=((AdcMirror.ADCRESULT1)*0.00024414-offsetA)*2*0.909; // Phase A curr.
clarke1.Bs=((AdcMirror.ADCRESULT2)*0.00024414-offsetB)*2*0.909; // Phase B curr.
#endif // ((ADCmeas(q12)/2^12)-offset)*2*(3.0/3.3)

#ifdef DSP2803x_DEVICE_H
clarke1.As = _IQmpy2(_IQ12toIQ(AdcResult.ADCRESULT1)-offsetA); // Phase A curr.
clarke1.Bs = _IQmpy2(_IQ12toIQ(AdcResult.ADCRESULT2)-offsetB); // Phase B curr.
#endif // (ADCmeas(q12->q24)-offset)*2

CLARKE_MACRO(clarke1)

// ------------------------------------------------------------------------------
// Connect inputs of the PARK module and call the park trans. macro
// ------------------------------------------------------------------------------
park1.Alpha = clarke1.Alpha;
park1.Beta = clarke1.Beta;

if(lsw==0) park1.Angle = 0;
else if(lsw==1) park1.Angle = rg1.Out;
else park1.Angle = smo1.Theta;

park1.Sine = _IQsinPU(park1.Angle);
park1.Cosine = _IQcosPU(park1.Angle);

PARK_MACRO(park1)

// ------------------------------------------------------------------------------
// Connect inputs of the PI module and call the PI speed controller macro
// ------------------------------------------------------------------------------
if (SpeedLoopCount==SpeedLoopPrescaler)
{
pi_spd.Ref = rc1.SetpointValue;
pi_spd.Fbk = speed3.EstimatedSpeed;
PI_MACRO(pi_spd);
SpeedLoopCount=1;
}
else SpeedLoopCount++;

if(lsw==0 || lsw==1) {pi_spd.ui=0; pi_spd.i1=0;}

// ------------------------------------------------------------------------------
// Connect inputs of the PI module and call the PI IQ controller macro
// ------------------------------------------------------------------------------
if(lsw==0) pi_iq.Ref = 0;
else if(lsw==1) pi_iq.Ref = IqRef;
else pi_iq.Ref = pi_spd.Out;
pi_iq.Fbk = park1.Qs;
PI_MACRO(pi_iq)

// ------------------------------------------------------------------------------
// Connect inputs of the PI module and call the PI ID controller macro
// ------------------------------------------------------------------------------
if(lsw==0) pi_id.Ref = _IQ(0.05);
else pi_id.Ref = 0;
pi_id.Fbk = park1.Ds;
PI_MACRO(pi_id)

// ------------------------------------------------------------------------------
// Connect inputs of the INV_PARK module and call the inverse park trans. macro
// ------------------------------------------------------------------------------
ipark1.Ds = pi_id.Out;
ipark1.Qs = pi_iq.Out;
ipark1.Sine=park1.Sine;
ipark1.Cosine=park1.Cosine;
IPARK_MACRO(ipark1)

// ------------------------------------------------------------------------------
// Call the QEP calculation module
// ------------------------------------------------------------------------------
QEP_MACRO(1,qep1);

// ------------------------------------------------------------------------------
// Connect inputs of the SPEED_FR module and call the speed calculation macro
// ------------------------------------------------------------------------------
speed1.ElecTheta = qep1.ElecTheta;
speed1.DirectionQep = (int32)(qep1.DirectionQep);
SPEED_FR_MACRO(speed1)

// ------------------------------------------------------------------------------
// Connect inputs of the VOLT_CALC module and call the phase voltage macro
// ------------------------------------------------------------------------------
#ifdef DSP2833x_DEVICE_H
volt1.DcBusVolt = ((AdcMirror.ADCRESULT7)*0.00024414)*0.909; // DC Bus voltage meas.
#endif // (ADCmeas(q12)/2^12)*(3.0V/3.3V)

#ifdef DSP2803x_DEVICE_H
volt1.DcBusVolt = _IQ12toIQ(AdcResult.ADCRESULT7); // DC Bus voltage meas.
#endif

volt1.MfuncV1 = svgen1.Ta;
volt1.MfuncV2 = svgen1.Tb;
volt1.MfuncV3 = svgen1.Tc;
PHASEVOLT_MACRO(volt1)

// ------------------------------------------------------------------------------
// Connect inputs of the SMO_POS module and call the sliding-mode observer macro
// ------------------------------------------------------------------------------
if (lsw==2 && smo1.Kslide<_IQ(0.25)) smo1.Kslide=smo1.Kslide+_IQ(0.00001);
// Increase Kslide for better torque response after closing the speed loop
// Low Kslide responds better to loop transients

smo1.Ialpha = clarke1.Alpha;
smo1.Ibeta = clarke1.Beta;
smo1.Valpha = volt1.Valpha;
smo1.Vbeta = volt1.Vbeta;
SMO_MACRO(smo1)

// ------------------------------------------------------------------------------
// Connect inputs of the SPEED_EST module and call the estimated speed macro
// ------------------------------------------------------------------------------
speed3.EstimatedTheta = smo1.Theta;
SE_MACRO(speed3)

// ------------------------------------------------------------------------------
// Connect inputs of the SVGEN_DQ module and call the space-vector gen. macro
// ------------------------------------------------------------------------------
svgen1.Ualpha = ipark1.Alpha;
svgen1.Ubeta = ipark1.Beta;
SVGENDQ_MACRO(svgen1)

// ------------------------------------------------------------------------------
// Connect inputs of the PWM_DRV module and call the PWM signal generation macro
// ------------------------------------------------------------------------------
pwm1.MfuncC1 = svgen1.Ta;
pwm1.MfuncC2 = svgen1.Tb;
pwm1.MfuncC3 = svgen1.Tc;
PWM_MACRO(1,2,3,pwm1) // Calculate the new PWM compare values

// ------------------------------------------------------------------------------
// Connect inputs of the PWMDAC module
// ------------------------------------------------------------------------------
pwmdac1.MfuncC1 = clarke1.As;
pwmdac1.MfuncC2 = clarke1.Bs;
PWMDAC_MACRO(6,pwmdac1) // PWMDAC 6A, 6B

pwmdac1.MfuncC1 = qep1.ElecTheta;
pwmdac1.MfuncC2 = smo1.Theta;
PWMDAC_MACRO(7,pwmdac1) // PWMDAC 7A, 7B

// ------------------------------------------------------------------------------
// Connect inputs of the DATALOG module
// ------------------------------------------------------------------------------
DlogCh1 = _IQtoQ15(clarke1.As);
DlogCh2 = _IQtoQ15(smo1.Theta);
DlogCh3 = _IQtoQ15(volt1.Vbeta);
DlogCh4 = _IQtoQ15(volt1.Valpha);

#endif // (BUILDLEVEL==LEVEL6)


// ------------------------------------------------------------------------------
// Call the DATALOG update function.
// ------------------------------------------------------------------------------
dlog.update(&dlog);

// Enable more interrupts from this timer
EPwm1Regs.ETCLR.bit.INT = 1;

// Acknowledge interrupt to recieve more interrupts from PIE group 3
PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;


}// MainISR Ends Here


/**********************************************************/
/********************Offset Compensation*******************/
/**********************************************************/

interrupt void OffsetISR(void)
{
// Verifying the ISR
IsrTicker++;

// DC offset measurement for ADC

if (IsrTicker>=5000)
{

#ifdef DSP2833x_DEVICE_H
offsetA= K1*offsetA + K2*(AdcMirror.ADCRESULT1)*0.00024414; //Phase A offset
offsetB= K1*offsetB + K2*(AdcMirror.ADCRESULT2)*0.00024414; //Phase B offset
offsetC= K1*offsetC + K2*(AdcMirror.ADCRESULT3)*0.00024414; ; //Phase C offset
#endif

#ifdef DSP2803x_DEVICE_H
offsetA= _IQmpy(K1,offsetA)+_IQmpy(K2,_IQ12toIQ(AdcResult.ADCRESULT1)); //Phase A offset
offsetB= _IQmpy(K1,offsetB)+_IQmpy(K2,_IQ12toIQ(AdcResult.ADCRESULT2)); //Phase B offset
offsetC= _IQmpy(K1,offsetC)+_IQmpy(K2,_IQ12toIQ(AdcResult.ADCRESULT3)); //Phase C offset
#endif
}

if (IsrTicker > 20000)
{
EALLOW;
PieVectTable.EPWM1_INT = &MainISR;
EDIS;
}


// Enable more interrupts from this timer
EPwm1Regs.ETCLR.bit.INT = 1;

// Acknowledge interrupt to recieve more interrupts from PIE group 3
PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;

}

//*************** End of Offset Comp. ********************//


/**********************************************************/
/***************Protection Configuration*******************/
/**********************************************************/

void HVDMC_Protection(void)
{

EALLOW;

// Configure Trip Mechanism for the Motor control software
// -Cycle by cycle trip on CPU halt
// -One shot IPM trip zone trip
// These trips need to be repeated for EPWM1 ,2 & 3

//===========================================================================
//Motor Control Trip Config, EPwm1,2,3
//===========================================================================

// CPU Halt Trip
EPwm1Regs.TZSEL.bit.CBC6=0x1;
EPwm2Regs.TZSEL.bit.CBC6=0x1;
EPwm3Regs.TZSEL.bit.CBC6=0x1;

EPwm1Regs.TZSEL.bit.OSHT1 = 1; //enable TZ1 for OSHT
EPwm2Regs.TZSEL.bit.OSHT1 = 1; //enable TZ1 for OSHT
EPwm3Regs.TZSEL.bit.OSHT1 = 1; //enable TZ1 for OSHT

// What do we want the OST/CBC events to do?
// TZA events can force EPWMxA
// TZB events can force EPWMxB

EPwm1Regs.TZCTL.bit.TZA = TZ_FORCE_LO; // EPWMxA will go low
EPwm1Regs.TZCTL.bit.TZB = TZ_FORCE_LO; // EPWMxB will go low

EPwm2Regs.TZCTL.bit.TZA = TZ_FORCE_LO; // EPWMxA will go low
EPwm2Regs.TZCTL.bit.TZB = TZ_FORCE_LO; // EPWMxB will go low

EPwm3Regs.TZCTL.bit.TZA = TZ_FORCE_LO; // EPWMxA will go low
EPwm3Regs.TZCTL.bit.TZB = TZ_FORCE_LO; // EPWMxB will go low


EDIS;

// Clear any spurious OV trip
EPwm1Regs.TZCLR.bit.OST = 1;
EPwm2Regs.TZCLR.bit.OST = 1;
EPwm3Regs.TZCLR.bit.OST = 1;

//************************** End of Prot. Conf. ***************************//
}
void Gpio_setup2(void){
EALLOW;
GpioCtrlRegs.GPCMUX2.bit.GPIO84 = 0; // GPIO25 = GPIO25
GpioCtrlRegs.GPCDIR.bit.GPIO84 = 1; // GPIO25 = input
GpioIntRegs.GPIOXINT4SEL.all = 84; // Xint1 connected to GPIO25
GpioCtrlRegs.GPCMUX2.bit.GPIO84 = 0; // GPIO25 = GPIO25
GpioCtrlRegs.GPCDIR.bit.GPIO84 = 1; // GPIO25 = input
GpioIntRegs.GPIOXINT4SEL.all = 84; // Xint1 connected to GPIO25
EDIS;
}

//===========================================================================
// No more.
//===========================================================================


我寫進 flash之後 再用程式 gpio85 84做處發 但是 斷電後 重新打開usb (sw1)的開關 gpio85 84的觸發就無效了 紅燈(led3)沒有閃爍