ACController.h

// AC CONTROL/DRIVER BOARD 21
#ifndef CONTROLLER_H
#define CONTROLLER_H
#include "p30F4011.h"
#include "UART.h"
#include <libpic30.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>


#define PAULS_MOTOR
//#define AC_INDUCTION_MOTOR_CONFIG
//#define DEBUG_MODE

#define I_TRIS_THROTTLE 		_TRISB0
#define I_TRIS_CURRENT1			_TRISB1
#define I_TRIS_CURRENT2			_TRISB2
#define I_TRIS_INDEX			_TRISB3
#define I_TRIS_QEA				_TRISB4
#define I_TRIS_QEB				_TRISB5
#define I_TRIS_BRAKE			_TRISB6
#define I_TRIS_TEMPERATURE		_TRISB7
#define I_TRIS_VOLTAGE			_TRISB8
#define I_TRIS_UNDERVOLTAGE_FAULT	_TRISC13
#define I_TRIS_DESAT_FAULT 		_TRISC14
#define O_TRIS_CLEAR_FLIP_FLOP	_TRISE8
#define I_TRIS_OVERTEMP			_TRISD1 //
#define O_TRIS_PRECHARGE_RELAY	_TRISD3	// HIGH means turn ON the precharge relay.
#define I_TRIS_GLOBAL_FAULT		_TRISD2
#define O_TRIS_CONTACTOR		_TRISD0
#define O_TRIS_CLEAR_DESAT		_TRISF6
#define O_TRIS_PWM_3H			_TRISE5
#define O_TRIS_PWM_3L			_TRISE4
#define O_TRIS_PWM_2H			_TRISE3
#define O_TRIS_PWM_2L			_TRISE2
#define O_TRIS_PWM_1H			_TRISE1
#define O_TRIS_PWM_1L			_TRISE0

#define I_LAT_THROTTLE 			_LATB0
#define I_LAT_CURRENT1			_LATB1
#define I_LAT_CURRENT2			_LATB2
#define I_LAT_INDEX				_LATB3
#define I_LAT_QEA				_LATB4
#define I_LAT_QEB				_LATB5
#define I_LAT_BRAKE				_LATB6
#define I_LAT_TEMPERATURE		_LATB7
#define I_LAT_VOLTAGE			_LATB8
#define I_LAT_UNDERVOLTAGE_FAULT	_LATC13
#define I_LAT_DESAT_FAULT 		_LATC14
#define O_LAT_CLEAR_FLIP_FLOP	_LATE8
#define I_LAT_OVERTEMP			_LATD1 // Low means BAD!  too hot!
#define O_LAT_PRECHARGE_RELAY	_LATD3	// HIGH means turn ON the precharge relay.
#define I_LAT_GLOBAL_FAULT		_LATD2
#define O_LAT_CONTACTOR			_LATD0
#define O_LAT_CLEAR_DESAT		_LATF6
#define O_LAT_PWM_3H			_LATE5
#define O_LAT_PWM_3L			_LATE4
#define O_LAT_PWM_2H			_LATE3
#define O_LAT_PWM_2L			_LATE2
#define O_LAT_PWM_1H			_LATE1
#define O_LAT_PWM_1L			_LATE0

#define I_PORT_THROTTLE 		_RB0
#define I_PORT_CURRENT1			_RB1
#define I_PORT_CURRENT2			_RB2
#define I_PORT_INDEX			_RB3
#define I_PORT_QEA				_RB4
#define I_PORT_QEB				_RB5
#define I_PORT_BRAKE			_RB6
#define I_PORT_TEMPERATURE		_RB7
#define I_PORT_VOLTAGE			_RB8
#define I_PORT_UNDERVOLTAGE_FAULT	_RC13
#define I_PORT_DESAT_FAULT 		_RC14
#define O_PORT_CLEAR_FLIP_FLOP	_RE8
#define I_PORT_OVERTEMP			_RD1 // if it is low, there has been an overtemp.
#define O_PORT_PRECHARGE_RELAY	_RD3	// HIGH means turn ON the precharge relay.
#define I_PORT_GLOBAL_FAULT		_RD2
#define O_PORT_CONTACTOR		_RD0
#define O_PORT_CLEAR_DESAT		_RF6
#define O_PORT_PWM_3H			_RE5
#define O_PORT_PWM_3L			_RE4
#define O_PORT_PWM_2H			_RE3
#define O_PORT_PWM_2L			_RE2
#define O_PORT_PWM_1H			_RE1
#define O_PORT_PWM_1L			_RE0


#define THROTTLE_RAMP_RATE 1

#define THROTTLE_FAULT (1u << 0)
#define DESAT_FAULT (1u << 1)
#define UART_FAULT (1u << 2)
#define UNDERVOLTAGE_FAULT (1u << 3)
#define OVERCURRENT_FAULT (1u << 4)
#define VREF_FAULT (1u << 5)
#define STARTUP_FAULT (1u << 6)
#define ROTOR_FLUX_ANGLE_FAULT (1u << 7)
#define GLOBAL_FAULT (1u << 8)
#define PI_TEST_FAULT (1u << 9)
#define PDC_FAULT (1u << 10)
#define OVERSPEED_FAULT (1u << 11)
#define MC_OVERFLOW_FAULT (1u << 12)
#define ENCODER_CABLE_UNPLUGGED_FAULT (1u << 13)
#define CONFIG_FAULT (1u << 14)
#define LINE_TO_LINE_CURRENT_FAULT (1u << 15)

//#define DEFAULT_THROTTLE_REGEN_START 344
//#define DEFAULT_THROTTLE_REGEN_END 103
//#define DEFAULT_THROTTLE_START 474
//#define DEFAULT_THROTTLE_END 921
#define ZERO_TO_5K_POT 1
#define THERMAL_CUTBACK_START 670	// 75degC
#define THERMAL_CUTBACK_END 726	// 85degC
// max temperature is 726, which is 85degC.

#define R_MAX 1690u	// 1702 * 2/sqrt(3) * 1.5 = MAX_DUTY-2.  Max duty is 2948. due to scaling of inverse clarke. 2/sqrt(3) I forgot now.  haha.
#define VOLTAGE_RADIUS_TIMES_8192 13844480L // 1690 * 8192
#define R_MAX_TIMES_65536 (1690UL << 16)
#define MAX_VD_VQ 15000L
#define MAX_MAGNETIZING_CURRENT 4096
#define MAX_SLIP_SPEED_RPS_TIMES16 6400
#define MAX_LONG_INT 2147483647L
#define MAX_DUTY 2948 // 

#define MAX_CURRENT_SENSOR_AMPS_PER_VOLT 480  // LEM Hass 300-s is 480.  Hass 50-s is 80.  Hass 600-s is 960.
#define MAX_ROTOR_TIME_CONSTANT_INDEX 145u // valid indices are 0 to 145 inclusive.
#define AC_INDUCTION_MOTOR 1
#define PERMANENT_MAGNET_MOTOR_WITH_ENCODER 2
#define NISSAN_LEAF_MOTOR 3
#define TOYOTA_MGR_MOTOR 4

#define MAX_CURRENT_ANGLE_OFFSET 511  		// the electrical angle is between 0 and 511 "degrees".  The offset between the index pulse and the magnetic north must be <= 511 electrical degrees.  THIS HAS NOTHING TO DO WITH ENCODER RESOLUTION!!!
#define ROTOR_TIME_CONSTANT_ARRAY_SIZE 50

#ifdef PAULS_MOTOR
	#define MAX_BATTERY_AMPS_REGEN 15
	#define MAX_BATTERY_AMPS 15
//	#define DEFAULT_ANGLE_OFFSET 286 		// for Rod Hower's motor.
//	#define DEFAULT_CURRENT_SENSOR_AMPS_PER_VOLT 120 //480 // default is the LEM Hass 300-s with 1 pass through.
	#define DEFAULT_ROTOR_TIME_CONSTANT_INDEX 26
	#define DEFAULT_ANGLE_OFFSET 119  // for leaf motor

//		#define DEFAULT_ANGLE_OFFSET 425 // Id = 500, Iq = 0 makes the motor stay still at this angle, and rotates with negative rpm corresponding to positive throttle with Iq = 500, Id = 0.		// FOR TOYOTA mgr
//		#define DEFAULT_ANGLE_OFFSET 95 // Id = 500, Iq = 0 makes the motor stay still at this angle, and rotates with positive rpm corresponding to positive throttle with Iq = 500, Id = 0.		// FOR TOYOTA mgr

	#ifdef AC_INDUCTION_MOTOR_CONFIG
		#define DEFAULT_CURRENT_SENSOR_AMPS_PER_VOLT 27 //480 // default is the LEM Hass 300-s with 1 pass through.
		#define MAX_MOTOR_AMPS 10
		#define DEFAULT_MOTOR_TYPE AC_INDUCTION_MOTOR
		#define DEFAULT_ENCODER_TICKS 512
		#define DEFAULT_KP 10000
		#define DEFAULT_KI 161
		#define DEFAULT_NUM_POLE_PAIRS 2
	#else  // LEAF OR mgr, OR, ...??
		#define DEFAULT_CURRENT_SENSOR_AMPS_PER_VOLT 80 //480 // default is the LEM Hass 300-s with 1 pass through.
		#define MAX_MOTOR_AMPS 25
//		#define DEFAULT_MOTOR_TYPE PERMANENT_MAGNET_MOTOR_WITH_ENCODER
//		#define DEFAULT_ENCODER_TICKS 512
//		#define DEFAULT_KP 1000  // ROD HOWER'S MOTOR.
//		#define DEFAULT_KI 16
//		#define DEFAULT_NUM_POLE_PAIRS 4
//			#define DEFAULT_KP 1000		// Rod Hower's motor at 48v.
//			#define DEFAULT_KI 16		// Rod Hower's motor at 48v.
//			#define DEFAULT_KP 4917		// MGR: 27 batteries. So, do 10/27* the 120v Kp and Ki.
//			#define DEFAULT_KI 80		// MGR: "
// FOR LEAF		
		#define DEFAULT_ENCODER_TICKS 256
		#define DEFAULT_MOTOR_TYPE NISSAN_LEAF_MOTOR
		#define DEFAULT_KP 3333 //  THIS IS AT 72V for LEAF motor.
		#define DEFAULT_KI 50   //	THIS IS AT 72V for leaf motor
		#define DEFAULT_NUM_POLE_PAIRS 4

// 		#define DEFAULT_KP 667	// This is at 360v
//		#define DEFAULT_KI 10	// This is at 360v
//		#define DEFAULT_KP 2000 // This is at 120v for Leaf
//		#define DEFAULT_KI 30	// This is at 120v for Leaf
//		#define DEFAULT_KP 11284 // 48v for MGR
//		#define DEFAULT_KI 182	// 48v for MGR.  Had to allow 100 iterations for convergence.
//		#define DEFAULT_KP 17700	// 120v MGR 30 iterations.
//		#define DEFAULT_KI 287		// "
//		#define DEFAULT_KP 13275	// 120v MGR slightly less aggressive.  *3/4.
//		#define DEFAULT_KI 215		// "
//		#define DEFAULT_KP 4917		// 27 batteries. So, do 10/27* the 120v Kp and Ki.
//		#define DEFAULT_KI 80		// "
	#endif
	#define DEFAULT_PRECHARGE_TIME 50
	#define DEFAULT_MAX_RPS_TIMES16 1600
	#define DEFAULT_MAX_MECHANICAL_RPM 6000
	#define DEFAULT_THROTTLE_TYPE 0 // 0 means either hall effect or MAX Ohms to 0 Ohm for zero throttle to max throttle.
	#define DEFAULT_DATA_TO_DISPLAY_SET1 0b0000000000000000
	#define DEFAULT_DATA_TO_DISPLAY_SET2 0b0000000000000000
#else 
	// this is the configuration for thingstodo (my beta tester!!).  He's using a big fat induction motor with an encoder.
	#define DEFAULT_CURRENT_SENSOR_AMPS_PER_VOLT 480//27 //480 //16 // default is the LEM Hass 50-s with 5 wraps at the moment.
	#define MAX_MOTOR_AMPS 200
	#define MAX_BATTERY_AMPS_REGEN 200
	#define MAX_BATTERY_AMPS 200
	#define DEFAULT_ENCODER_TICKS 64
	#define DEFAULT_KP 4000
	#define DEFAULT_KI 64
	#define DEFAULT_PRECHARGE_TIME 50
	#define DEFAULT_ROTOR_TIME_CONSTANT_INDEX 13
	#define DEFAULT_MAX_RPS_TIMES16 1600
	#define DEFAULT_NUM_POLE_PAIRS 2
	#define DEFAULT_MAX_MECHANICAL_RPM 6000
	#define DEFAULT_THROTTLE_TYPE 0 // 0 means either hall effect or MAX Ohms to 0 Ohm for zero throttle to max throttle.
	#define DEFAULT_DATA_TO_DISPLAY_SET1 0b0000000000000000
	#define DEFAULT_DATA_TO_DISPLAY_SET2 0b0000000000000000
#endif


typedef struct {
	int motorType;					// 0.  0 means AC induction motor.  1 means permanent magnet AC.
	int Kp;							// 1.  PI loop proportional gain
	int Ki;							// 2.  PI loop integreal gain
	int currentSensorAmpsPerVolt;	// 3.  				
	int maxRegenPosition;			// 4.  
	int minRegenPosition;			// 5.  
	int minThrottlePosition;		// 6.  
	int maxThrottlePosition;		// 7.  
	int throttleFaultPosition;		// 8.  
	int maxBatteryAmps;				// 9.  
	int maxBatteryAmpsRegen;		// 10. 
	int maxMotorAmps;				// 11. 
	int maxMotorAmpsRegen;			// 12. 
	int prechargeTime;				// 13. precharge time in 0.1 second increments
	int spares[1];					// 14. spare
	unsigned crc;					// 15. crc
} SavedValuesStruct;

typedef struct {
	unsigned int angleOffset;	// the normalized offset between the permanent magnet's "north" and the angle that the encoder index pulse happens.  in [0, 511].
	int rotorTimeConstantIndex;  	// 31 and 32 is the best for my motor. 0 corresponds to rotor time constant of 0.005 seconds.  145 corresponds to 0.150 seconds.
	int numberOfPolePairs;			// number of pole pairs.  If the nameplate says around 1700RPM on a 60Hz 3 phase, then it's 2 pole pairs.  3400RPM (or so) means 1 pole pair.
	int maxRPM;
	int throttleType;				// 0 = hall effect or "Max Ohms to Min Ohms" if using Pot.  1 = MIN OHMS to MAX OHMS.
	int encoderTicks;				// The number of ticks per revolution from the encoder.  MAXCNT will actually be 4 times this value.
	unsigned int dataToDisplaySet1;	
	// 0b0000 0000 0000 0000
	// bit 15 set: display counter1ms
	// Bit 14 set: display Id
	// bit 13 set: display Iq
	// Bit 12 set: display IdRef
	// bit 11 set: display IqRef
	// Bit 10 set: display Vd
	// bit 9 set: display Vq
	// Bit 8 set: display Ia
	// bit 7 set: display Ib
	// bit 6 set: display Ic
	// Bit 5 set: display Va
	// bit 4 set: display Vb
	// bit 3 set: display Vc
	// bit 2 set: display % of voltage being used.  Ratio of radius of <Vd,Vq> to total voltage.
	// bit 1-0 set: future use

	unsigned int dataToDisplaySet2;
	// Bit 15 set: display rawThrottle
	// bit 14 set: display normalizedThrottle
	// Bit 13 set: display temperature
	// bit 12 set: display slipSpeedRPM
	// Bit 11 set: display electricalSpeedRPM
	// bit 10 set: display mechanicalSpeedRPM
	// Bit  9 set: display batteryCurrent
	// Bit  8-0 set: future use. 
	
	int KArrayIndex;		// from 0 to 1023.  A measure of the motor's saliency.  Near zero means almost no reluctance torque.  Near 1023 would be a pure switched reluctance motor I guess...?
	int swapAB;
	int spares[5];
	unsigned crc;
} SavedValuesStruct2;

typedef struct {
	long Kp;
	long Ki;
	long error_d;
	long errorSum_d;
	long pwm_d;
	long error_q;
	long errorSum_q;
	long pwm_q;
	int testFinished;
	int testFailed;
	int testRunning;
	int testRunning2;
	int ratioKpKi;
	int zeroCrossingIndex; // initialize to -1.
	int iteration; // how many times have you run the PI loop with the same Kp and Ki?  This is used in the PI auto loop tuning.
	int maxIterationsBeforeZeroCrossing; // the default is 20.  The PI loop test converges in like 12 iterations on my tests.
	int previousTestCompletionTime;		// You don't want to run another PI test with new Kp and Ki values too soon.  Make sure the current has gone back to zero before restarting a test.
	int clampErrorVd;
	int clampErrorVq;
} piType;

typedef struct {
	unsigned int startTime;
	int maxTestSpeed;
	int bestTimeConstantIndex;
	int timeConstantIndex;
	int testRunning;
	int testFinished;
} rotorTestType;

// angleOffsetTestType, motorSaliencyTestType, and firstEncoderIndexPulseTestType are all for permanent magnet motors.
typedef struct {
	unsigned int startTime;
	int maxTestSpeed;
	int bestAngleOffset;
	int currentAngleOffset;
	int testRunning;
	int testFinished;
	int testFailed;
} angleOffsetTestType;

typedef struct {
	unsigned int startTime;
//	int minTestTime;  // time until it runs out of voltage.  You start at zero RPM, and with an unloaded motor, you see what value of Id makes you get to max rpm as quickly as possible.  
	int elapsedTime;
	int bestIndex;
	int KArrayIndex;
	int testRunning;
	int testFinished;
	int testFailed;
} motorSaliencyTestType;

typedef struct {
	unsigned int startTime;
	int currentAngleOffset;
	int testRunning;
} firstEncoderIndexPulseTestType;

#endif