/**
* @file main.c
*
* Copyright © 2004 Atmel.
*
* @brief This module provide services to show a simple program for AT90PWM3 Only
* @version 1.0 (CVS revision : 1.7)
* @date 2006/03/08 17:02:35
* @author raubree
*****************************************************************************/

#include "D:\ó÷¸áêà\Ìèêðîêîíòðîëëåðû è ïðîãðàììèðîâàíèå\ÌÊ è ïðèâîä\Íà AVR\AVR APP NOTES\avr494_avr495 íå èçìåíÿòü\Atmel\pwm3-ac-ctrl-motor-0_0_6\config.h"
#include "D:\ó÷¸áêà\Ìèêðîêîíòðîëëåðû è ïðîãðàììèðîâàíèå\ÌÊ è ïðèâîä\Íà AVR\AVR APP NOTES\avr494_avr495 íå èçìåíÿòü\Atmel\pwm3-ac-ctrl-motor-0_0_6\lib_mcu\compiler.h"
#include "D:\ó÷¸áêà\Ìèêðîêîíòðîëëåðû è ïðîãðàììèðîâàíèå\ÌÊ è ïðèâîä\Íà AVR\AVR APP NOTES\avr494_avr495 íå èçìåíÿòü\Atmel\pwm3-ac-ctrl-motor-0_0_6\lib_mcu\mcu.h"
#include "C:\Program Files (x86)\IAR Systems\Embedded Workbench 6.0\avr\inc\inavr.h"
#include <stdio.h>


#pragma vector = TIMER0_COMPA_vect
__interrupt void Tech(void);

#pragma vector = ADC_vect
__interrupt void Read_Measure(void);

#define MAX_PWM 2666
// 64MHz (PLL frequency) / 2666 / 2 = 12 kHz (PWM frequency)

#define MAX_THETA 80 // one sixth of the circle
#define K_scal 16 // used for the angle integrator


volatile U8 Flag_IT_timer0=0, Flag_IT_ADC=0 ;
U16 Softcounter = 0 ;

S16 Omega_meas;
S16 Omega_ref = 100;
S16 Command = 0;

U16 amplitude , OmegaTe = 64 ;
U8 direction = 0 ;
U16 PWM0, PWM1, PWM2;

#define DeadTime 32 // 32 => temps mort = 0.5 µs
#define MAX_AMPLITUDE ((MAX_PWM / 2) - DeadTime)


void init(void);
void ADC_Init(void);
void ADC_start_conv(void);
void DAC_Init(void);
void PSC_Init(unsigned int ot0, unsigned int ot1);
void PSC0_Load (unsigned int dt0, unsigned int dt1);
void PSC1_Load (unsigned int dt0, unsigned int dt1);
void PSC2_Load (unsigned int dt0, unsigned int dt1);
void PSC_Load (unsigned int dt0a, unsigned int dt1a,
unsigned int dt0b, unsigned int dt1b,
unsigned int dt0c, unsigned int dt1c);
S16 mc_control_speed_16b(S16 speed_ref , S16 speed_measure);
U16 controlVF(U16 Omega);
void SVPWM(U16 amp, U16 Omega);
S16 read_acquisition(void) ;


void main(void)
{

/* remove CKDIV8 fuse effect */
CLKPR = 0x80;
CLKPR = 0x00;

init();
// DAC_Init(); /* do not init DAC if you want to use PC7 as /IO */
ADC_Init();

PSC_Init(0x00, MAX_PWM);

while(1)
{
if (Flag_IT_timer0)
{

ADC_start_conv();
Flag_IT_timer0=0;
// generates speed reference steps in the software
/* Softcounter += 1 ;
if (Softcounter == 2500) {
Omega_ref = -400 ;
} //-128; }
if (Softcounter == 5000)
{
Omega_ref= -200 ;
}
if (Softcounter == 7500)
{
Omega_ref= 200 ;
}
if (Softcounter == 10000)
{
Omega_ref= 400 ;
Softcounter = 0 ;
}*/

}
if (Flag_IT_ADC)
{

// get the measured speed from the ADC
Omega_meas = ((U32)63 * Omega_meas + read_acquisition() )/ 64;
// Omega_meas = read_acquisition();

// compute the stator frequency (PI controller)
// Command = mc_control_speed_16b(Omega_ref,Omega_meas); // for use in closed loop
// Command = Omega_ref ; // // command with the generated steps
Command = ((512 - Omega_meas)*20) / 10; // command with the on board pot
// Command = (25 * (256 + 18 - Omega_meas))/8; // command with a pot on the 0-10V input


// direction management : extract sign and absolute value
if (Command > (S16)(0) ) {
direction = 0 ;
OmegaTe = Command;
}
else {
direction = 1 ;
OmegaTe = (~Command) + 1;
}


// ------------------------ V/f law --------------------------
amplitude = controlVF(OmegaTe);
if (amplitude > MAX_AMPLITUDE) { amplitude = MAX_AMPLITUDE ; }


// ------------ - space vector PWN algorithm -----------------
SVPWM(amplitude, OmegaTe) ;

// -------- load the PSCs with the new duty cycles -----------
if (direction==0)
{
PSC_Load (PWM0, PWM0+DeadTime, PWM1, PWM1+DeadTime, PWM2, PWM2+DeadTime);
}
else
{
PSC_Load (PWM0, PWM0+DeadTime, PWM2, PWM2+DeadTime, PWM1, PWM1+DeadTime);
}


Flag_IT_ADC=0;
} /* end of Flag_IT_ADC */
/* test the overcurrent input */
if (( PIFR0 & (1<<PEV0A)) !=0 )
{
/* fault on overcurrent */
Set_PC7();
Set_PC3();
Clear_PE1();
while (1) ; /* infinite loop */
}

} /* end of while(1) */
} /* end of main */

// interrupt vector for the sampling period (Ts=1 ms)
__interrupt void Tech(void) {
Flag_IT_timer0=1;
}


//interrupt vector for the ADC (end of conversion)
__interrupt void Read_Measure(void) {
Flag_IT_ADC=1;
}