/************************************************************************
*               C-EMERALD code for ACCORDO  ( 15 - 05 - 2003 )
*               Ver:  ver0.2
*
*               File: Mainfile.c (main)
*
*   Author: A. Di Carlo
************************************************************************/

#include "emerald.h"
#include "dspadd.h"
#include "map.h"
#include "accordo.h"


#define CONST const


#define NLC_LOG2_MAXGAIN    3       /* Maximum nonlinear gain is 2^NLC_LOG2_MAXGAIN. */


/* Reserved memory locations */
/* --------------------------*/
memoryY CONST reserved[2];          /* Locations 0x0A and 0x0B of YMEM should not be used, alway 0 is read back. */


/* Parameter variables accessed by both the ARM and the DSP */
/* -------------------------------------------------------- */
#define MAX_DIM_COEFF_FOCUS 16
memoryY coeff_focus[MAX_DIM_COEFF_FOCUS];         /* Coefficients for the focus PID in focus(): 0..10, Not used: 11..15 */
#define MAX_DIM_COEFF_TRACKING 16
memoryY coeff_tracking[MAX_DIM_COEFF_TRACKING];   /* Coefficients for the tracking PID in track(): 0...10, Nonlinear control: 11..15 */
#define MAX_DIM_COEFF_ERROR 11
memoryY CONST coeff_error[MAX_DIM_COEFF_ERROR];   /* Coefficients used for the generation of the error signals in err_gen() */
#define MAX_DIM_COEFF_SLEDGE 3
memoryY CONST coeff_sledge[MAX_DIM_COEFF_SLEDGE]; /* Coefficients for controlling the sledge in track() */
#define MAX_DIM_COEFF_CLV 10
memoryY CONST coeff_clv[MAX_DIM_COEFF_CLV];       /* Coefficients of the TTM controller in misc() */
#define MAX_DIM_COEFF_MISC 12
memoryY CONST coeff_misc[MAX_DIM_COEFF_MISC];     /* Coefficients used in misc() other than the TTM controller */

memoryX       fcs_off;              /* Focus offset */
memoryX       fok_thr;              /* Focus ok threshold */
memoryX       fok_tdn;              /* Focus ok -- TO DO: describe */
memoryX       fok_tup;              /* Focus ok -- TO DO: describe */
memoryX       trk_off;              /* Tracking offset */
memoryX       te_thr;               /* Tracking ok threshold */
integer       adjust_flags;         /* Flags used for min/max measurement in adjust(), ARM sets ADJ_FLG_RESET bit to reset and start new min/max measurement, ADJ_FLG_NOSTAT bit cleared by DSP after first valid measurement. */
memoryX       temin;                /* Min value of TE, determined in min/max measurement of adjust() */
memoryX       temax;                /* Max value of TE, determined in min/max measurement of adjust() */
memoryX       femin;                /* Min value of FE, determined in min/max measurement of adjust() */
memoryX       femax;                /* Max value of FE, determined in min/max measurement of adjust() */
integer       ramp_mode;            /* Ramp mode flags, containing switch (on = 1 / off = 0), direction (up = 2 / down = 0), counting (single = 4 / continuous = 0) */
integer       ramp_step;            /* Ramp step, determines the speed/slope of the ramp */
integer       ramp_max;             /* Ramp max value */
integer       ramp_min;             /* Ramp min value */
memoryX       fe_cmp;               /* Value of FE around which the focus close condition is generated */
memoryX       hyst;                 /* Hysteresis for focus close condition */
memoryX       vib_gain;             /* Injection gain for the AGC */
integer       gainadj;              /* Specifiy AGC: 0x0000/0x0001/0x0003 = No AGC/Focus AGC/Radial AGC */  /* TO DO: Use common defines or both ARM and DSP. */
memoryX       tawin;                /* A sledge microstep is made when DC value radial PID output is outside -tawin..tawin window. */
integer       sledtime;             /* Check for above mircostep performed every sledtime*16/fs seconds */
integer       disc_mode;            /* Set TTM controller mode: KICK/CLV/CAV/HOLD = 0x80/0x81/0x82/0x83 */
memoryX       spindle_kick;         /* TTM output when TTM controller in kick mode */
integer       target_p1T;           /* Setpoint PLL-freq/FG-period of the TTM controller in CLV/CAV mode. TO DO: add formulas */
integer       clv_ds;               /* Additional decimation factor for the TTM controller */
memoryX       sledpulse_fwd_amp;    /* Sledge pulse amplitude for forward direction */
memoryX       sledpulse_bwd_amp;    /* Sledge pulse amplitude for backward direction */
memoryX       sledpulse_fwd_time;   /* Sledge pulse duration for forward direction */
memoryX       sledpulse_bwd_time;   /* Sledge pulse duration for backward direction */
integer       jump_mode;            /* Disable/enable jump mode -> 0x0000/0x0001 */
integer       jmp_dir;              /* Jump forward/backward -> 0x0000/0x0001 */
integer       def_ena;              /* Disable/enable defect detector -> 0x0000/0x0001 */
integer       wd_cnt_max;           /* Maximum length of a white dot defect in number of full sampling rate sampling periods. */
integer       int_mode;             /* Operations mode, discerns between tracking and adjust mode */
memoryX       cav_period_err_max;   /* Maximum limit on error in TTM FG period, determines ttm_speed_ok signal in CAV mode */
memoryX       clv_freq_err_max;     /* Maximum limit on PLL frequency error, determines ttm_speed_ok signal in CLV mode */
memoryX       clv_phase_err_max;    /* Maximum limit on error in CLV fullness, determines ttm_speed_ok signal in CLV mode */
memoryX       spdl_limit_min;       /* Positive maximum limit of TTM controller output */   /* MR20050523c */
memoryX       spdl_limit_max;       /* Negative maximum limit of TTM controller output */   /* MR20050523c */
integer       ttm_recov_ic;         /* Initial value of the TTM controller I-action, I-action set to this value after detecting HF FG pulses from TTM driver IC */  /* MR20050523b */
memoryX       nlc_alpha;            /* Gain (slope) of deadzone */
memoryX       nlc_delta;            /* Threshold of deadzone */
integer       agc_minmax_nr_cycles; /* Number of min/max cycles (i.e. disc revolutions) in row during which the AGC is performed */
integer       agc_minmax_threshold; /* Number of fs/4 samples after which the last found min/max in the stima signal is declared to a real minimum/maximum. */
integer       proc_enable;          /* Enables (0x0001) processing of all control loops, if disabled (0x0000) then only dpsio16() is executed */
integer       def_tup;              /* The time DEFACQ must be active before hfok is reset to 0x0000, i.e. hf not okay */
integer       def_tdn;              /* The time DEFACQ must be deactivated before hfok is set to 0x0001, i.e. hf okay */
memoryX       bw_switch;            /* Controls loopgain of both radial and focus controller, used to switch bandwidth for different TTM speeds. */
memoryX       clv_buffer_ok_thres;  /* Threshold for the evaluation of the CLV buffer condition */


/* State of the DSP accessed by both the ARM and DSP */
/* ------------------------------------------------- */
int      dsp_state;            /* Current state of the DSP, changes are reported to the ARM via mailbox. */



/* Local variables and signals, accessed by the DSP only */
/* ------------------------------------------------------*/
  #define MAX_DIM_DELAY_FOCUS 7
  memoryX delay_focus[MAX_DIM_DELAY_FOCUS];
  #define MAX_DIM_DELAY_TRACKING 14
  memoryX delay_tracking[MAX_DIM_DELAY_TRACKING];
  #define MAX_DIM_DELAY_ERROR 2
  memoryX delay_error[MAX_DIM_DELAY_ERROR];
  #define MAX_DIM_DELAY_MISC 8
  memoryX delay_misc[MAX_DIM_DELAY_MISC];
  #define MAX_DIM_DELAY_CLV 8
  memoryX delay_clv[MAX_DIM_DELAY_CLV];

/* These variables are located in the same order as listed here and */
/* are in some parts of the code treated as an array. */
memoryY       fe;                   /* Focus error */
memoryY       fa;                   /* Focus actuator signal after AGC injection and offset addition, output on FACT */
memoryY       fa2;                  /* Focus actuator signal before AGC injection, but after offset addition */
memoryY       te;                   /* Tracking error */
memoryY       ta;                   /* Tracking actuator signal after AGC injection and offset addition, output on TACT */
memoryY       ta2;                  /* Tracking actuator signal before AGC injection, but after offset addition */
memoryY       hfl;                  /* Sum of AC and BD signals from OPU. */

/* These variables are located in the same order as listed here and */
/* are in some parts of the code treated as an array. */
memoryY       fedec;                /* Downsampled version of fe, see above  */
memoryY       fadec;                /* Downsampled version of fa, see above  */
memoryY       fa2dec;               /* Downsampled version of fa2, see above */
memoryY       tedec;                /* Downsampled version of te, see above  */
memoryY       tadec;                /* Downsampled version of ta, see above  */
memoryY       ta2dec;               /* Downsampled version of ta2, see above */
memoryY       hfldec;               /* Downsampled version of hf, see above  */
memoryY       hfdc;

/* These variables are located in the same order as listed here and */
/* are in some parts of the code treated as an array. */
memoryX       fedec_var;            /* Temporary value used to computer fedec, see above  */
memoryX       fadec_var;            /* Temporary value used to computer fadec, see above  */
memoryX       fa2dec_var;           /* Temporary value used to computer fa2dec, see above */
memoryX       tedec_var;            /* Temporary value used to computer tedec, see above  */
memoryX       tadec_var;            /* Temporary value used to computer tadec, see above  */
memoryX       ta2dec_var;           /* Temporary value used to computer ta2dec, see above */
memoryX       hfldec_var;           /* Temporary value used to computer hfldec, see above */


#if (1 == ALTERNATIVE_TEOK)
  memoryX       ntracks;            /* Value of NRTRACKS register in RATE block during previous (fs/4) sample period. */
#else
  memoryX       telpf;              /* Low pass filtered version of te */
#endif
memoryX       hflpf;                /* Low pass filtered version of hf */
memoryX       tajump;               /* Decimated values of the radial PID controller output (before adding offset and AGC oscillator) */
memoryY       ta_filt;              /* Filtered version of tajump */
memoryX       oscout;               /* Output of AGC oscillator */
memoryX       osc;                  /* Output of AGC oscillator (osc) time vib_gain */
memoryX       fosc;                 /* AGC oscillator signal for the focus loop */
memoryX       tosc;                 /* AGC oscillator signal for the radial loop */
memoryY       amp1;                 /* Amplitude of injected AGC oscillator signal before injection point */
memoryY       amp2;                 /* Amplitude of injected AGC oscillator signal after injection point */
memoryY       stima;                /* Estimated quotient amp1 and amp2 */
integer       close;                /* Close flag */
integer       fcrint;               /* Internal flag for focus close */
integer       count16;              /* Counter modulo 16 */
integer       sledcnt;              /* Timer, when it expires (i.e. equals sledtime) a sledge step is made when necessary */
integer       sledpulse_cnt;        /* Counter for sledge pulse implementation */
integer       disc_mode_int;        /* Internal TTM controller mode: KICK/CLV/CAV/HOLD = 0x00/0x01/0x02/0x03 */
integer       sw_time;              /* TTM controller decimation timer, TTM controller is executed only every clv_ds fs/16 sample periods */