/*********************************************************************************
*  Embedded Studio 2007                                   
*                                                                                
*  File: ES_FOC.c
*  Desc: Field Oriented Control (FOC) functions
*
**********************************************************************************/

#ifndef __ES_FOC_H__
#define __ES_FOC_H__

/*********************************************************************************
*  Constant Definition
**********************************************************************************/
// Normal Coeff
#define FOC_C1    	40.4208597  	// FOC First order filter C1 coefficient
#define FOC_C2    	-37.8130623 	// FOC First order filter C2 coefficient
#define FOC_C3    	0.9993336   	// FOC First order filter C3 coefficient

#define DEG2RAD    	0.017453  	// PI / 180
#define SQRT3    	1.73205  	// sqrt(3) = 1.73205
#define HALF_SQRT3  0.866025  	// sqrt(3) / 2 = 0.866025
#define INV_SQRT3   0.57735  	// 1/sqrt(3) = 0.57735

/*********************************************************************************
*  Data Type Definition
**********************************************************************************/
typedef struct tFocThreePhaseCurrent
{
    FLOAT32 Ia;
    FLOAT32 Ib;
    FLOAT32 Ic;
} FocThreePhaseCurrent;

typedef struct tFocTwoPhaseCurrent
{
    FLOAT32 Isalpha;
    FLOAT32 Isbeta;
} FocTwoPhaseCurrent;

typedef struct tFocTwoPhaseVoltage
{
    FLOAT32 Vsalpha;
    FLOAT32 Vsbeta;
} FocTwoPhaseVoltage;

typedef struct tFocDQCurrent
{
    FLOAT32 Isd;
    FLOAT32 Isq;
} FocDQCurrent;

typedef struct tFocDQVoltage
{
    FLOAT32 Vsd;
    FLOAT32 Vsq;
} FocDQVoltage;

typedef struct tFocDQNormVoltage
{
    FLOAT32 Vsd;
    FLOAT32 Vsq;
} FocDQNormVoltage;

typedef struct tSineCosineData
{
    FLOAT32 Sine;
    FLOAT32 Cosine;
} SineCosineData;

typedef enum tSvmSectorEnum 
{
  	SECTOR0 = 0,  	/* SVM Sector 0 (All LO) */
  	SECTOR1,  		/* SVM Sector 1, 011-010 */
  	SECTOR2,  		/* SVM Sector 2, 101-001 */
  	SECTOR3,  		/* SVM Sector 3, 001-011 */
  	SECTOR4,  		/* SVM Sector 4, 110-100 */
  	SECTOR5,  		/* SVM Sector 5, 010-110 */
  	SECTOR6,  		/* SVM Sector 6, 100-101 */
  	SECTOR7   		/* SVM Sector 7 (All HI) */
} SvmSectorEnum;


typedef struct tInvClarkeData
{
    INT32 Sector;
    FLOAT32 Va;
    FLOAT32 Vb;
    FLOAT32 Vc;
} InvClarkeData;

/*********************************************************************************
*  Function Prototypes
**********************************************************************************/
bool FOC_Init(void);
FocTwoPhaseCurrent FOC_ClarkeTransform(AdcCurrDataStruct currents);
FocDQCurrent FOC_ParkTransform(FocTwoPhaseCurrent currents, float theta);
FocTwoPhaseVoltage FOC_InvParkTransform(RdcDataStruct rdcData, FocDQVoltage dqVolts);
InvClarkeData FOC_InvClarkeTransform(FocTwoPhaseVoltage twoPhVolts);

#endif