//###########################################################################
//
// FILE:   Example_281xEvSVPWM.c
//
// TITLE:  DSP281x Event Manager SVPWM Generation.
//
//###########################################################################


#include "DSP281x_Device.h"     // DSP281x Headerfile Include File
#include "DSP281x_Examples.h"   // DSP281x Examples Include 
#include <stdio.h>
#include <math.h>
float Ualfa,Ubeta;
int sector;
#define PI2 3.1415926*2
#define Tsvpwm 0.0001          //Selected the Tsvpwm:100us
#define INIA  PI2/360
int TP; 
float KP;
extern Uint16 Frequence;
extern Uint16 Voltage;
extern float theta=INIA;
// Prototype statements for functions found within this file.
void init_eva(void);

// Global counts used in this example


void main(void)
{
   float T;

// Step 1. Initialize System Control:
// PLL, WatchDog, enable Peripheral Clocks ?
// This example function is found in the DSP281x_SysCtrl.c file.
   InitSysCtrl();

// Step 2. Initalize GPIO: 
// This example function is found in the DSP281x_Gpio.c file and
// illustrates how to set the GPIO to it's default state.
// InitGpio();  // Skipped for this example  

// Initialize only GPAMUX and GPBMUX for this test
   EALLOW;
   // Enable PWM pins
   GpioMuxRegs.GPAMUX.all = 0x00FF; // EVA PWM 1-6  pins
  
   EDIS;
    
// Step 3. Clear all interrupts and initialize PIE vector table:
// Disable CPU interrupts 
   DINT;

// Initialize PIE control registers to their default state.
// The default state is all PIE interrupts disabled and flags
// are cleared.  
// This function is found in the DSP281x_PieCtrl.c file.
   InitPieCtrl();

// Disable CPU interrupts and clear all CPU interrupt flags:
   IER = 0x0000;
   IFR = 0x0000;//not 0xFFFF?

// Initialize the PIE vector table with pointers to the shell Interrupt 
// Service Routines (ISR).  
// This will populate the entire table, even if the interrupt
// is not used in this example.  This is useful for debug purposes.
// The shell ISR routines are found in DSP281x_DefaultIsr.c.
// This function is found in DSP281x_PieVect.c.
   InitPieVectTable();
   PieVectTable.ADCINT = &adc_isr;
   //ADC InterruptVector entery
   PieVectTable.T1OFINT =&SVPWM;  
   //SVPWM Interrupt  
// Step 4. Initialize all the Device Peripherals:
// This function is found in DSP281x_InitPeripherals.c
// InitPeripherals(); // Not required for this example
   init_eva();
   

// Step 5. User specific code, enable interrupts:

   DSP281x_ADCIO();
   
  // Just sit and loop forever:
  // PWM pins can be observed with a scope.	
  for(;;);
  {   T=(float)(Tpwm*(EvaRegs.T1CNT)/65536);
	  theta+=PI2*Frequnce*T;
      if (theta>=PI2) theta-=PI2;
}

void init_eva()
{

// EVA Configure T1PWM, T2PWM, PWM1-PWM6 
// Initalize the timers
   // Initalize EVA Timer1 
   EvaRegs.T1PR = 0x1D4C;   // Timer1 period:7500
   EvaRegs.T1CMPR = 0x0000; // Timer1 compare:0
   EvaRegs.T1CNT = 0x0000;  // Timer1 counter:0
   // TMODE = continuous up/down仿真掛起立即停止
   // Timer enable，輸入時鐘不分頻，使用內部時鐘6.67ns/150MHz
   // Timer compare enable定時器計數器為0比較寄存器重裝載
   EvaRegs.T1CON.all = 0x1042;   


  


  // Setup T1PWM and T2PWM
  // Drive T1/T2 PWM by compare logic
  EvaRegs.GPTCONA.bit.TCMPOE = 1;
  // Polarity of GP Timer 1 Compare = Active low
  EvaRegs.GPTCONA.bit.T1PIN = 1;
  // Polarity of GP Timer 2 Compare = Active high
  EvaRegs.GPTCONA.bit.T2PIN = 2;

  // Enable compare for PWM1-PWM6:給出初始角度時的對應值
  EvaRegs.CMPR1 = 0x0C00;//3072
  EvaRegs.CMPR2 = 0x3C00;//15360
  EvaRegs.CMPR3 = 0xFC00;//64512
    
  // Compare action control.  Action that takes place
  // on a cmpare event
  // output pin 1 CMPR1 - active high
  // output pin 2 CMPR1 - active low
  // output pin 3 CMPR2 - active high
  // output pin 4 CMPR2 - active low
  // output pin 5 CMPR3 - active high
  // output pin 6 CMPR3 - active low
  EvaRegs.ACTRA.all = 0x0666;
  EvaRegs.DBTCONA.all = 0x0000; // Disable deadband
  EvaRegs.COMCONA.all = 0xA600; // Disable SVPWM mode,enable PWM output,下益/比較中斷
 

} 
// function SVPWM(Uint16 Frequnce[i],Uint16 Voltage[i],int i)

interrupt void SVPWM() //實時計算各扇區矢量作用時間
{ int m=1,cmp1,cmp2,cmp3;
  int i,k=0;
  
  SECTOR();
  KP=(float)(Volatge/220);//Normalize the Volatge
  Ualfa=KP*cos(theta);
  Ubeta=KP*sin(theta);

 
  
     switch(sector)
         {case 1:t1=sqrt(3)*Ualfa*TP/2;
                 t2=(-sqrt(0.5)*Ualfa+sqrt(2)*Ubeta)*TP;
                 t0=(TP-t1-t2)/2;
                 cmp1=(int)t0;
				 cmp2=(int)(t0+t1);
				 cmp3=(int)(t0+t1+t2);
                 break;
         case 2:t1=(-sqrt(6)*Ualfa+sqrt(6)*Ubeta)*TP/2;
                t2=(sqrt(0.5)*Ualfa+sqrt(0.5)*Ubeta)*TP;
				t0=(TP-t1-t2)/2;
                cmp1=(int)(t0+t2);
				cmp2=(int)(t0);
				cmp3=(int)(t0+t1+t2);
                break;
        case 3:t1=-sqrt(1.5)*Ubeta*TP;
			   t2=(sqrt(2)*Ualfa-sqrt(0.5)*Ubeta)*TP;
               t0=(TP-t1-t2)/2;
               cmp1=(int)(t0+t1+t2);
			   cmp2=(int)(t0);
			   cmp3=(int)(t0+t1);
               break;
        case 4:t1=(-sqrt(1.5)*Ubeta)*TP;
			   t2=(-sqrt(2)*Ualfa+sqrt(0.5)*Ubeta)*TP;
               t0=(TP-t1-t2)/2;
               cmp1=(int)(t0+t1+t2);
			   cmp2=(int)(t0+t2);
			   cmp3=(int)(t0);
               break;
       case 5:t1=(-sqrt(1.5)*Ualfa+sqrt(1.5)*Ubeta)*TP;
              t2=(-sqrt(0.5)*Ualfa-sqrt(0.5)*Ubeta)*TP;
		      t0=(TP-t1-t2)/2;
              cmp1=(int)(t0+t1);
			  cmp2=(int)(t1+t2+t0);
			  cmp3=(int)(t0);
              break;
       case 6:t1=sqrt(0.75)*Ualfa*TP;
		      t2=(sqrt(0.5)*Ualfa-sqrt(2)*Ubeta)*TP;
              t0=(TP-t1-t2)/2;
              cmp1=(int)(t0);
			  cmp2=(int)(t0+t1+t2);
			  cmp3=(int)(t0+t2);
              break;
  }
  
    EvaRegs.CMPR1=cmp1;//Reload CMPR1/2/3
	EvaRegs.CMPR2=cmp2;
	EvaRegs.CMPR3=cmp3;
    if((i+k)==0) EvaRegs.T1CON.all=EvaRegs.T1CON.all&0x0200;//start Timer1,only one
	while(m==1)
	{ k=EvaRegs.EVAIFRA.all&0x0200;
	  if(k==0x0200) break; //if Timer1 build InterrupFlag,stop waiting
	}
}
void SECTOR()  //實時確定Uout扇區
{  float theta2;
   theta2=(float)(theta*360/(PI2));  //Use angle degree

		if(theta2>=0&&theta2<60) sector=1;
		else if(theta2>=60&&theta2<120) sector=2;
		else if (theta2>=120&&theta2<180) sector=3;
		else if(theta2>=180&&theta2>240) sector=4;
		else if (theta2>=240&&theta2>300) sector=5;
		else if (theta2>=300&&theta2<360) sector=6;
        else break;
}