/* ==============================================================================
System Name:  BLDC3_2

File Name:	BLDC_TI.H

Description:  Header file for Peripheral independent object for the 
              implementation of current controller for a three phase 
              brushless DC Motor.	

Originator:		Digital control systems Group - Texas Instruments

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

=====================================================================================
 History:
-------------------------------------------------------------------------------------
 9-15-2000	Release	Rev 1.0
=================================================================================  */


#ifndef __BLDC_TI_H__
#define __BLDC_TI_H__

#include <TARGET.H>
#include <mod6.h>
#include <pid2.h>
#include <impl.h>
#include <rmp2.h>
#include <rmp3.h>
#include <cmtn.h>



#ifndef TRUE
#define FALSE 0
#define TRUE  1
#endif

/*------------------------------------------------------------------------------
 Define the structure of the BLDC Object. This object has all the data necessary
 for one instance of a BLDC_TI algorithm.
------------------------------------------------------------------------------*/

typedef struct {

/*------------------------------------------------------------------------------
 Declarations for the 'terminal variables' for the BLDC Algorithm. The framework
 should communicate such quantities as current_set etc to the algorithm by
 modifying these terminal variables. It is not recommended that the framework
 directly modify the internal varibles of the algorithm.
 ------------------------------------------------------------------------------*/

        int cmtn_period_target;
        int cmtn_period_setpt;
        int ramp_delay;
        int I_loop_flg;
        int D_func_desired;
        int sp_up_done_flg;
        int current_set;
        int align_flag;

/*------------------------------------------------------------------------------
    Declaration of Periodic Impulse Generator module The defaults are set in
    IMPULSE.H
------------------------------------------------------------------------------*/
        IMPULSE  impl;
/*------------------------------------------------------------------------------
    Declaration of Modulo 6 counter module The defaults are set in
    MOD6.H
------------------------------------------------------------------------------*/
        MOD6CNT  mod6;
/*------------------------------------------------------------------------------
    Declaration of Ramp3 control module The defaults are set in
    RMP3.H
------------------------------------------------------------------------------*/
        RMP3     rmp3;

/*------------------------------------------------------------------------------
    Declaration of Commutation trigger module The defaults are set in
    CMTN.H
------------------------------------------------------------------------------*/
        CMTN   cmtn;
/*------------------------------------------------------------------------------

    Declaration of pid regulator2 module The defaults are set in
    PID2.H
------------------------------------------------------------------------------*/
        PID2     pid2;
/*------------------------------------------------------------------------------
    Declaration of Ramp2 control module The defaults are set in
    RMP2.H
------------------------------------------------------------------------------*/
        RMP2     rmp2;
} BLDC_TI;

typedef BLDC_TI  *BLDC_TI_handle;


/*------------------------------------------------------------------------------
    Motor types
------------------------------------------------------------------------------*/

#define WJW  0x0001
#define KVB  0x0002
#define AUB  0x0003
#define ADS  0x0004


#define MOTOR KVB

/*------------------------------------------------------------------------------
    Motor dependent parameters
------------------------------------------------------------------------------*/

#if (MOTOR == WJW )

#define ALIGN_DUTY               0X1500

/* For open loop speed ramp control */
#define CMTN_PERIOD_TARGET_VALUE 0x0300 /* Final ramp speed */
#define CMTN_PERIOD_SETPT_VALUE  0x0500 /* Initialize ramp starting point */
#define RAMP_DELAY_VALUE         0x0190 /* Set ramp rate */

/* For open loop D_func control */
#define I_LOOP_FLG_VALUE         0x0000 /* Start with open loop current */
#define D_FUNC_DESIRED_VALUE     ALIGN_DUTY /* Set PWM duty cycle */

#endif /*( MOTOR == WJW */


#if (MOTOR == KVB )

#define ALIGN_DUTY               0X0C00

/* For open loop speed ramp control */
#define CMTN_PERIOD_TARGET_VALUE 0x0200 /* Final ramp speed */
#define CMTN_PERIOD_SETPT_VALUE  0x0500 /* Initialize ramp starting point */
#define RAMP_DELAY_VALUE         0x0190 /* Set ramp rate */

/* For open loop D_func control */
#define I_LOOP_FLG_VALUE         0x0000 /* Start with open loop current */
#define D_FUNC_DESIRED_VALUE     ALIGN_DUTY /* Set PWM duty cycle */

#endif /*( MOTOR == KVB */


#if (MOTOR == AUB )

#define ALIGN_DUTY               0X0F00

/* For open loop speed ramp control */
#define CMTN_PERIOD_TARGET_VALUE 0x0200 /* Final ramp speed */
#define CMTN_PERIOD_SETPT_VALUE  0x0500 /* Initialize ramp starting point */
#define RAMP_DELAY_VALUE         0x0190 /* Set ramp rate */

/* For open loop D_func control */
#define I_LOOP_FLG_VALUE         0x0000 /* Start with open loop current */
#define D_FUNC_DESIRED_VALUE     ALIGN_DUTY /* Set PWM duty cycle */

#endif /*( MOTOR == AUB */


#if (MOTOR == ADS )

#define ALIGN_DUTY               0X0F00

/* For open loop speed ramp control */
#define CMTN_PERIOD_TARGET_VALUE 0x0300 /* Final commutation period */
#define CMTN_PERIOD_SETPT_VALUE  0x0500 /* Initial commutation period */

#if (TARGET == F243)
#define RAMP_DELAY_VALUE         0x00C8 /* Set ramp rate */
#endif

#if (TARGET == F2407)
#define RAMP_DELAY_VALUE         0x03E8 /* Set ramp rate */
#endif

/* For open loop D_func control */
#define I_LOOP_FLG_VALUE         0x0000 /* Start with open loop current */
#define D_FUNC_DESIRED_VALUE     ALIGN_DUTY

#endif /*( MOTOR == ADS */


/*------------------------------------------------------------------------------
    Other parameters
------------------------------------------------------------------------------*/

#define SP_UP_DONE_FLG_VALUE     0x0000
#define CURRENT_SET_VALUE        0x0065
#define ALIGN_FLAG_VALUE         0x000F

#define BLDC_TI_INITVALS                        \
                {                               \
                 CMTN_PERIOD_TARGET_VALUE,       \
                 CMTN_PERIOD_SETPT_VALUE,        \
                 RAMP_DELAY_VALUE,               \
                 I_LOOP_FLG_VALUE,               \
                 D_FUNC_DESIRED_VALUE,           \
                 SP_UP_DONE_FLG_VALUE,           \
                 CURRENT_SET_VALUE,              \
                 ALIGN_FLAG_VALUE,               \
                 IMPULSE_DEFAULTS,               \
                 MOD6CNT_DEFAULTS,               \
                 RMP3_DEFAULTS,                  \
                 CMTN_DEFAULTS,                  \
                 PID2_DEFAULTS,                  \
                 RMP2_DEFAULTS                  \
                }

/*------------------------------------------------------------------------------
 Prototypes for functions implemented in BLDC_TI.C
------------------------------------------------------------------------------*/

void BLDC_TI_Init(BLDC_TI_handle);
void BLDC_TI_Run(BLDC_TI_handle);


#endif /* __BLDC_TI_H__ */