/* ==============================================================================
System Name:  ACI3_2

File Name:	VFMRASTI.C

Description:  Peripheral independent object for implementation of Sensorless Volt/Hertz 
          		control of a Three Phase AC Induction Motor using reactive power
          		MRAS speed estimator.


Originator:		Digital control systems Group - Texas Instruments

Target dependency:	x240/1/2/3/07 
To Select the target device see target.h file.

Note that the PWM/sampling frequency in C system is running at 15 kHz, which 
is different from the PWM/samping frequency in ASM system (i.e., 20 kHz) as 
indicated in the ACI3-2 system documentation. Also, this PWM/samping frequency
in both ASM and C systems are based on x2407 with 40 MHz clock. If the x243 with
20 MHz clock is used, then the PWM/samping frequency may be decreased accordingly.   
			
=====================================================================================
 History:
-------------------------------------------------------------------------------------
 9-15-2000	Release	Rev 1.0
=================================================================================  */

#include <vfmrasti.h>
#include <build.h>

#if (BUILDLEVEL==LEVEL1)
void VFMRAS_TI_Init(VFMRAS_TI_handle v)
{  
/*------------------------------------------------------------------------------
 Notes: 1.  Attributes are conveniently changed here, but this does
            consume cycles twice, 
            (a) in the 'C' boot-up, and then 
            (b) in the execution of this code. Setting up the needed
                constants the declaration of SVGEN svgen = VALUES, 
                rather than the defaults is clearly more effecient.
                This method is more intended for runtime changes.
    2.  There is also a code-size associated with these changes. 
-----------------------------------------------------------------------------*/

/*-----------------------------------------------------------------------------
Setup Volt-Hertz profile parameters.
-----------------------------------------------------------------------------*/
    v->vhzprof.vmin = 6553;        
    v->vhzprof.vmax = 31129;        
    v->vhzprof.fl   = 6553;        
    v->vhzprof.fh   = 16384;        
    v->vhzprof.slope= 10243; 

} /* End: VFMRAS_TI_Init() */
#endif /* (BUILDLEVEL==LEVEL1) */

#if (BUILDLEVEL==LEVEL2)
void VFMRAS_TI_Init(VFMRAS_TI_handle v)
{  
/*------------------------------------------------------------------------------
 Notes: 1.  Attributes are conveniently changed here, but this does
            consume cycles twice, 
            (a) in the 'C' boot-up, and then 
            (b) in the execution of this code. Setting up the needed
                constants the declaration of SVGEN svgen = VALUES, 
                rather than the defaults is clearly more effecient.
                This method is more intended for runtime changes.
    2.  There is also a code-size associated with these changes. 
-----------------------------------------------------------------------------*/

/*------------------------------------------------------------------------------
Configure Attributes for the Space Vector Function Generator
------------------------------------------------------------------------------*/
    v->svgen.freq      = 0x3FFF; 
    v->svgen.freq_max  = 3146;        /* This is based on 15kHz PWM frequency */

/*-----------------------------------------------------------------------------
Setup Volt-Hertz profile parameters.
-----------------------------------------------------------------------------*/
    v->vhzprof.vmin = 6553;        
    v->vhzprof.vmax = 31129;        
    v->vhzprof.fl   = 6553;        
    v->vhzprof.fh   = 16384;        
    v->vhzprof.slope= 10243; 

/*-----------------------------------------------------------------------------
Setup Ramp control parameters.
-----------------------------------------------------------------------------*/
    v->rmpc.rmp_dly_max = 40;        
    v->rmpc.rmp_lo_limit = 0x0000;        
    v->rmpc.rmp_hi_limit = 0x7FFF;   

                                          
}      /* End: VFMRAS_TI_Init() */ 
#endif /* (BUILDLEVEL==LEVEL2) */

#if (BUILDLEVEL==LEVEL3)
void VFMRAS_TI_Init(VFMRAS_TI_handle v)
{  

/*------------------------------------------------------------------------------
 Notes: 1.  Attributes are conveniently changed here, but this does
            consume cycles twice, 
            (a) in the 'C' boot-up, and then 
            (b) in the execution of this code. Setting up the needed
                constants the declaration of SVGEN svgen = VALUES, 
                rather than the defaults is clearly more effecient.
                This method is more intended for runtime changes.
    2.  There is also a code-size associated with these changes. 
-----------------------------------------------------------------------------*/

/*------------------------------------------------------------------------------
Configure Attributes for the Space Vector Function Generator
------------------------------------------------------------------------------*/
    v->svgen.freq      = 0x3FFF; 
    v->svgen.freq_max  = 3146;        /* This is based on 15kHz PWM frequency */

/*-----------------------------------------------------------------------------
Setup Volt-Hertz profile parameters.
-----------------------------------------------------------------------------*/
    v->vhzprof.vmin = 6553;        
    v->vhzprof.vmax = 31129;        
    v->vhzprof.fl   = 6553;        
    v->vhzprof.fh   = 16384;        
    v->vhzprof.slope= 10243; 

/*-----------------------------------------------------------------------------
Setup Ramp control parameters.
-----------------------------------------------------------------------------*/
    v->rmpc.rmp_dly_max = 40;        
    v->rmpc.rmp_lo_limit = 0x0000;        
    v->rmpc.rmp_hi_limit = 0x7FFF;        

                  
}      /* End: VFMRAS_TI_Init() */
#endif /* (BUILDLEVEL==LEVEL3) */

#if (BUILDLEVEL==LEVEL4)
void VFMRAS_TI_Init(VFMRAS_TI_handle v)
{  
/*------------------------------------------------------------------------------
 Notes: 1.  Attributes are conveniently changed here, but this does
            consume cycles twice, 
            (a) in the 'C' boot-up, and then 
            (b) in the execution of this code. Setting up the needed
                constants the declaration of SVGEN svgen = VALUES, 
                rather than the defaults is clearly more effecient.
                This method is more intended for runtime changes.
    2.  There is also a code-size associated with these changes. 
-----------------------------------------------------------------------------*/

/*------------------------------------------------------------------------------
Configure Attributes for the Space Vector Function Generator
------------------------------------------------------------------------------*/
    v->svgen.freq      = 0x3FFF; 
    v->svgen.freq_max  = 3146;        /* This is based on 15kHz PWM frequency */

/*-----------------------------------------------------------------------------
Setup Volt-Hertz profile parameters.
-----------------------------------------------------------------------------*/
    v->vhzprof.vmin = 6553;        
    v->vhzprof.vmax = 31129;        
    v->vhzprof.fl   = 6553;        
    v->vhzprof.fh   = 16384;        
    v->vhzprof.slope= 10243; 

/*-----------------------------------------------------------------------------
Setup Ramp control parameters.
-----------------------------------------------------------------------------*/
    v->rmpc.rmp_dly_max = 40;        
    v->rmpc.rmp_lo_limit = 0x0000;        
    v->rmpc.rmp_hi_limit = 0x7FFF;     

/*-----------------------------------------------------------------------------
Setup Box-car parameters.
-----------------------------------------------------------------------------*/
    v->bc.bc_scaler = 0x7FFF;        

/*-----------------------------------------------------------------------------
Setup ACI MRAS speed estimator parameters.  (based on 15kHz sampling freq)
-----------------------------------------------------------------------------*/
/* 1-Hp WEG  motor */
   	v->mras.K1 = 13113; 		/* Q10 */
   	v->mras.K2 = 1672;			/* Q15 */  
   	v->mras.K3 = 22811;     	/* Q8 */
   	v->mras.K4 = 41;        	/* Q15 */
   	v->mras.K5 = 32750;     	/* Q15 */
   	v->mras.K6 = 1646;      	/* Q15 */
   	v->mras.K7 = 18;        	/* Q15 */
   	v->mras.base_rpm = 28800;   /* Q3 */
   	v->mras.Kp = 0x0050;        /* Q15 */
   	v->mras.Ki_high = 0x001D;   /* Q31 */
   	v->mras.Ki_low = 0xDEAD;    /* Q31 */   	

   
}      /* End: VFMRAS_TI_Init() */
#endif /* (BUILDLEVEL==LEVEL4) */

#if (BUILDLEVEL==LEVEL5)
void VFMRAS_TI_Init(VFMRAS_TI_handle v)
{  

/*------------------------------------------------------------------------------
 Notes: 1.  Attributes are conveniently changed here, but this does
            consume cycles twice, 
            (a) in the 'C' boot-up, and then 
            (b) in the execution of this code. Setting up the needed
                constants the declaration of SVGEN svgen = VALUES, 
                rather than the defaults is clearly more effecient.
                This method is more intended for runtime changes.
    2.  There is also a code-size associated with these changes. 
-----------------------------------------------------------------------------*/

/*------------------------------------------------------------------------------
Configure Attributes for the Space Vector Function Generator
------------------------------------------------------------------------------*/
    v->svgen.freq      = 0x3FFF; 
    v->svgen.freq_max  = 3146;       /* This is based on 15 kHz PWM frequency */

/*-----------------------------------------------------------------------------
Setup Volt-Hertz profile parameters.
-----------------------------------------------------------------------------*/
    v->vhzprof.vmin = 6553;        
    v->vhzprof.vmax = 31129;        
    v->vhzprof.fl   = 6553;        
    v->vhzprof.fh   = 16384;        
    v->vhzprof.slope= 10243; 

/*-----------------------------------------------------------------------------
Setup Ramp control parameters.
-----------------------------------------------------------------------------*/
    v->rmpc.rmp_dly_max = 40;        
    v->rmpc.rmp_lo_limit = 0x0000;        
    v->rmpc.rmp_hi_limit = 0x7FFF;     

/*-----------------------------------------------------------------------------
Setup Box-car parameters.
-----------------------------------------------------------------------------*/
    v->bc.bc_scaler = 0x7FFF;  

/*-----------------------------------------------------------------------------
Setup ACI MRAS speed estimator parameters.   (based on 15kHz sampling freq)
-----------------------------------------------------------------------------*/
/* 1-Hp WEG  motor */
   	v->mras.K1 = 13113; 		/* Q10 */
   	v->mras.K2 = 1672;			/* Q15 */  
   	v->mras.K3 = 22811;     	/* Q8 */
   	v->mras.K4 = 41;        	/* Q15 */
   	v->mras.K5 = 32750;     	/* Q15 */
   	v->mras.K6 = 1646;      	/* Q15 */
   	v->mras.K7 = 18;        	/* Q15 */
   	v->mras.base_rpm = 28800;   /* Q3 */
   	v->mras.Kp = 0x0050;        /* Q15 */
   	v->mras.Ki_high = 0x001D;   /* Q31 */
   	v->mras.Ki_low = 0xDEAD;    /* Q31 */   	


/*-----------------------------------------------------------------------------
Set up PID Controller parameters.
-----------------------------------------------------------------------------*/
    v->pid.Kp_reg1 = 0x2000;                                                      
    v->pid.Ki_high_reg1 = 0x0010;
    v->pid.Ki_low_reg1 = 0xBEEF;
    v->pid.Kd_reg1 = 0x0000;
    v->pid.pid_out_max = 0x0666;
    v->pid.pid_out_min = 0x0000;
            
}      /* End: VFMRAS_TI_Init() */
#endif /* (BUILDLEVEL==LEVEL5) */

/* ************************************************************************** */
/* ************************************************************************** */
 
#if (BUILDLEVEL==LEVEL1)
void VFMRAS_TI_Run(VFMRAS_TI_handle v)
{

/*-----------------------------------------------------------------------------
Connect freq_testing inputs to the VHZPROFILE 
-----------------------------------------------------------------------------*/
    v->vhzprof.freq = v->freq_testing;  

/*-----------------------------------------------------------------------------
Call the compute function for the VHZPROF
-----------------------------------------------------------------------------*/
    v->vhzprof.calc((void *)&v->vhzprof); 	/* Call VHZPROFILE compute function */

}   /* End: VFMRAS_TI_Run() */
#endif /* (BUILDLEVEL==LEVEL1) */

#if (BUILDLEVEL==LEVEL2)         
void VFMRAS_TI_Run(VFMRAS_TI_handle v)
{  

/*-----------------------------------------------------------------------------
Connect freq_testing to the RAMPCNTL input