ThreePhaseController.cpp

/* 
 * File:   ThreePhaseController.cpp
 * Author: Cameron
 * 
 * Created on October 22, 2015, 2:21 AM
 */

#include <avr/pgmspace.h>
#include <util/atomic.h>
#include <util/delay.h>

#include "ThreePhaseController.h"
#include "MLX90363.h"
#include "ThreePhaseDriver.h"
#include "Debug.h"
#include "Interpreter.h"
#include "Predictor.h"

bool ThreePhaseController::isForwardTorque;
u1 ThreePhaseController::magRoll;
u2 ThreePhaseController::roll;

void TIMER4_OVF_vect() {
	ThreePhaseController::isr();
}

void ThreePhaseController::isr() {
	u1 static mlx = 1;

	// Scale phase to output range
	u2 outputPhase = Predictor::predict();

	// Offset from current angle by 90deg for max torque
	if (isForwardTorque) outputPhase -= ThreePhaseDriver::StepsPerCycle / 4;
	else                 outputPhase += ThreePhaseDriver::StepsPerCycle / 4;
	
	// Fix outputPhase range
	if (outputPhase >= ThreePhaseDriver::StepsPerCycle) {
		// Fix it
		if (isForwardTorque) outputPhase += ThreePhaseDriver::StepsPerCycle;
		else                 outputPhase -= ThreePhaseDriver::StepsPerCycle;
	}
	
	// Update driver outputs
	ThreePhaseDriver::advanceTo(outputPhase);
	
	// Don't continue if we're not done counting down
	if (--mlx)
		return;
	
	MLX90363::startTransmitting();
	
	mlx = cyclesPWMPerMLX;
}

//size of table in program memory
u2 constexpr loop = 4097;

/**
 * 12-bit lookup table for magnetometer Alpha value to Phase value
 */
static const u2 AlphaToPhaseLookup[loop] PROGMEM = {
	// Table generated with python on calibration branch
 0x615c,0x615c,0x615b,0x6159,0x6158,0x6158,0x6157,0x6156,0x6155,0x6154,0x6153,0x6152,0x6151,0x6150,0x614f,0x614d,0x614b,0x614a,0x6149,0x6147,
 0x6145,0x6143,0x6142,0x613f,0x613d,0x613b,0x6139,0x6137,0x6136,0x6134,0x6132,0x612f,0x612f,0x612d,0x612b,0x6129,0x6128,0x6126,0x6125,0x6123,
 0x6122,0x611f,0x611e,0x611c,0x611a,0x6119,0x6117,0x6115,0x6112,0x6111,0x610e,0x610c,0x610a,0x6107,0x6106,0x6101,0x60ff,0x60f9,0x60f7,0x60f4,
 0x60f2,0x60f0,0x60ed,0x60ec,0x60ea,0x60e8,0x60e6,0x60e5,0x60e4,0x60e3,0x60e2,0x60e1,0x60e0,0x60df,0x60df,0x60dd,0x60dd,0x60dc,0x60db,0x60da,
 0x60da,0x60d9,0x60d8,0x60d8,0x60d7,0x60d6,0x60d5,0x60d4,0x60d3,0x60d1,0x60d0,0x60ce,0x60cc,0x60ca,0x60c8,0x60c6,0x60c4,0x60c1,0x60bf,0x60bc,
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 0x608f,0x608d,0x608a,0x6088,0x6086,0x6084,0x6083,0x6080,0x607e,0x607c,0x607a,0x6078,0x6075,0x6074,0x6072,0x6070,0x606e,0x606c,0x606a,0x6068,
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 0x11db,0x11d9,0x11d9,0x11d7,0x11d7,0x11d6,0x11d5,0x11d4,0x11d3,0x11d3,0x11d2,0x11d2,0x11d1,0x11d0,0x11d0,0x11d0,0x11cf,0x11cf,0x11ce,0x11ce,
 0x11ce,0x11cd,0x11cd,0x11cc,0x11cc,0x11cb,0x11ca,0x11c9,0x11c8,0x11c8,0x11c7,0x11c6,0x11c5,0x11c4,0x11c2,0x11c1,0x11bf,0x11be,0x11bc,0x11ba,
 0x11b9,0x11b7,0x11b5,0x11b4,0x11b2,0x11b0,0x11ae,0x11ad,0x11ab,0x11a9,0x11a7,0x11a6,0x11a4,0x11a2,0x11a0,0x119f,0x119d,0x119b,0x119a,0x1198,
 0x1196,0x1195,0x1193,0x1191,0x118f,0x118e,0x118d,0x118b,0x1189,0x1188,0x1186,0x1185,0x1183,0x1182,0x1180,0x117d,0x117b,0x117a,0x1178,0x1177,
 0x1176,0x1174,0x1172,0x1171,0x1170,0x116f,0x116e,0x116d,0x116c,0x116b,0x116a,0x116a,0x1169,0x1168,0x1168,0x1168,0x1167,0x1167,0x1167,0x1167,
 0x1166,0x1166,0x1166,0x1165,0x1165,0x1165,0x1164,0x1164,0x1163,0x1163,0x1162,0x1161,0x1160,0x115e,0x115e,0x115c,0x115b,0x115a,0x1158,0x1156,
 0x1155,0x1153,0x1151,0x114f,0x114c,0x114a,0x1148,0x1145,0x1142,0x1141,0x113e,0x113c,0x113a,0x1138,0x1136,0x1134,0x1132,0x112f,0x112d,0x112b,
 0x1129,0x1127,0x1125,0x1123,0x1121,0x111f,0x111d,0x111b,0x1119,0x1117,0x1115,0x1113,0x1111,0x110f,0x110d,0x110b,0x1109,0x1107,0x1105,0x1100,
 0x10ff,0x10fa,0x10f8,0x10f7,0x10f4,0x10f3,0x10f1,0x10f0,0x10ee,0x10ed,0x10eb,0x10ea,0x10ea,0x10e8,0x10e7,0x10e6,0x10e5,0x10e4,0x10e3,0x10e3,
 0x10e2,0x10e0,0x10df,0x10dd,0x10dc,0x10db,0x10d9,0x10d7,0x10d6,0x10d4,0x10d2,0x10cf,0x10cd,0x10cb,0x10c8,0x10c6,0x10c4,0x10c1,0x10bf,0x10bc,
 0x10b9,0x10b7,0x10b4,0x10b2,0x10af,0x10ad,0x10aa,0x10a7,0x10a5,0x10a3,0x10a1,0x109e,0x109c,0x109a,0x1098,0x1096,0x1095,0x1093,0x1091,0x108f,
 0x108d,0x108c,0x108a,0x1088,0x1086,0x1084,0x1083,0x1080,0x107e,0x107c,0x107a,0x1078,0x1075,0x1073,0x1071,0x106f,0x106d,0x106a,0x1068,0x1066,
 0x1064,0x1062,0x1060,0x105e,0x105c,0x105a,0x1059,0x1058,0x1056,0x1055,0x1053,0x1052,0x1050,0x1050,0x104e,0x104d,0x104c,0x104a,0x1049,0x1048,
 0x1047,0x1045,0x1043,0x1042,0x1041,0x103f,0x103d,0x103b,0x103a,0x1038,0x1037,0x1035,0x1033,0x1031,0x102f,0x102e,0x102c,0x102a,0x1029,0x1027,
 0x1026,0x1025,0x1024,0x1023,0x1021,0x1020,0x101f,0x101e,0x101d,0x101d,0x101c,0x101b,0x101a,0x101a,0x1019,0x1019,0x1018,0x1016,0x1016,0x1015,
 0x1013,0x1013,0x1012,0x1011,0x100f,0x100e,0x100c,0x100a,0x1008,0x1007,0x1005,0x02ff,0x02fe,0x02fb,0x02f8,0x02f5,0x02f3,0x02f1,0x02f0,0x02ed,
 0x02ec,0x02e9,0x02e8,0x02e6,0x02e5,0x02e3,0x02e2,0x02e1,0x02df,0x02de,0x02dc,0x02db,0x02da,0x02d9,0x02d7,0x02d6,0x02d5,0x02d4,0x02d3,0x02d1,
 0x02d0,0x02cf,0x02ce,0x02cc,0x02cb,0x02ca,0x02c8,0x02c7,0x02c6,0x02c5,0x02c3,0x02c2,0x02c1,0x02bf,0x02be,0x02bc,0x02bb,0x02ba,0x02b8,0x02b7,
 0x02b6,0x02b5,0x02b4,0x02b4,0x02b2,0x02b1,0x02b0,0x02b0,0x02b0,0x02af,0x02ae,0x02ad,0x02ad,0x02ad,0x02ac,0x02ab,0x02aa,0x02a9,0x02a8,0x02a7,
 0x02a6,0x02a6,0x02a5,0x02a4,0x02a3,0x02a1,0x02a0,0x029f,0x029d,0x029c,0x029a,0x0298,0x0297,0x0295,0x0293,0x0291,0x028f,0x028d,0x028b,0x0289,
 0x0286,0x0284,0x0283,0x0280,0x027d,0x027b,0x0279,0x0278,0x0275,0x0273,0x0271,0x0270,0x026e,0x026c,0x026a,0x0269,0x0267,0x0266,0x0264,0x0263,
 0x0262,0x0260,0x025e,0x025d,0x025c,0x025a,0x0259,0x0258,0x0257,0x0255,0x0254,0x0252,0x0251,0x024f,0x024f,0x024d,0x024b,0x024a,0x0248,0x0247,
 0x0245,0x0243,0x0242,0x0240,0x023f,0x023d,0x023b,0x023a,0x0239,0x0237,0x0236,0x0235,0x0234,0x0232,0x0231,0x0230,0x022f,0x022e,0x022c,0x022c,
 0x022a,0x0229,0x0228,0x0227,0x0227,0x0226,0x0225,0x0225,0x0223,0x0222,0x0221,0x0220,0x021f,0x021e,0x021d,0x021c,0x021b,0x021a,0x0218,0x0217,
 0x0215,0x0214,0x0213,0x0211,0x020f,0x020e,0x020c,0x020a,0x0208,0x0206,0x0205,0x0201,0x01ff,0x01fa,0x01f9,0x01f7,0x01f4,0x01f3,0x01f0,0x01ef,
 0x01ed,0x01eb,0x01e9,0x01e7,0x01e6,0x01e4,0x01e2,0x01e1,0x01df,0x01dd,0x01dc,0x01da,0x01d9,0x01d7,0x01d6,0x01d5,0x01d4,0x01d3,0x01d2,0x01d1,
 0x01d0,0x01cf,0x01cf,0x01cd,0x01cd,0x01cc,0x01cc,0x01ca,0x01c9,0x01c9,0x01c8,0x01c7,0x01c7,0x01c6,0x01c5,0x01c4,0x01c4,0x01c3,0x01c2,0x01c1,
 0x01c1,0x01c0,0x01bf,0x01be,0x01bd,0x01bc,0x01bb,0x01ba,0x01b9,0x01b8,0x01b7,0x01b6,0x01b4,0x01b4,0x01b2,0x01b1,0x01b0,0x01af,0x01ae,0x01ad,
 0x01ac,0x01ab,0x01aa,0x01a8,0x01a7,0x01a6,0x01a6,0x01a5,0x01a4,0x01a3,0x01a2,0x01a0,0x019f,0x019e,0x019e,0x019c,0x019b,0x019a,0x0199,0x0198,
 0x0198,0x0197,0x0196,0x0195,0x0194,0x0193,0x0192,0x0191,0x018f,0x018f,0x018e,0x018d,0x018c,0x018b,0x018a,0x0188,0x0187,0x0186,0x0185,0x0183,
 0x0183,0x0181,0x0180,0x017e,0x017d,0x017b,0x017a,0x0178,0x0177,0x0176,0x0175,0x0173,0x0171,0x0171,0x016f,0x016e,0x016d,0x016c,0x016a,0x016a,
 0x0168,0x0168,0x0167,0x0166,0x0165,0x0164,0x0164,0x0163,0x0163,0x0162,0x0161,0x0161,0x0160,0x0160,0x015f,0x015f,0x015e,0x015e,0x015d,0x015d,
 0x015d,0x015d,0x015d,0x015d,0x015c,0x015c,0x015c,0x015c,0x015b,0x015b,0x015b,0x015a,0x015a,0x015a,0x015a,0x0159,0x0159,0x0158,0x0158,0x0158,
 0x0158,0x0157,0x0156,0x0156,0x0156,0x0155,0x0154,0x0153,0x0152,0x0151,0x0150,0x014f,0x014e,0x014d,0x014c,0x014a,0x0149,0x0148,0x0147,0x0145,
 0x0143,0x0142,0x0141,0x013f,0x013e,0x013d,0x013b,0x013a,0x0139,0x0137,0x0137,0x0135,0x0134,0x0133,0x0132,0x0130,0x012f,0x012e,0x012d,0x012c,
 0x012b,0x012a,0x0128,0x0127,0x0127,0x0125,0x0124,0x0123,0x0122,0x0121,0x011f,0x011f,0x011c,0x011c,0x011a,0x0119,0x0118,0x0117,0x0116,0x0115,
 0x0113,0x0113,0x0111,0x0111,0x010f,0x010e,0x010d,0x010c,0x010b,0x010a,0x0108,0x0107,0x0106,0x0105,0x0105,0x0104,0x00ff,0x00ff,0x00fa,0x00f9,
 0x00f9,0x00f7,0x00f6,0x00f5,0x00f4,0x00f3,0x00f2,0x00f2,0x00f0,0x00f0,0x00ef,0x00ee,0x00ed,0x00ec,0x00ec,0x00eb,0x00eb,0x00ea,0x00ea,0x00ea,
 0x00e9,0x00e9,0x00e8,0x00e8,0x00e7,0x00e7,0x00e7,0x00e6,0x00e6,0x00e6,0x00e5,0x00e5,0x00e4,0x00e4,0x00e3,0x00e3,0x00e3,0x00e3,0x00e2,0x00e1,
 0x00e1,0x00e0,0x00df,0x00df,0x00de,0x00dd,0x00dc,0x00db,0x00da,0x00d9,0x00d8,0x00d7,0x00d6,0x00d5,0x00d4,0x00d2,0x00d1,0x00d0,0x00cf,0x00cd,
 0x00cc,0x00ca,0x00c8,0x00c7,0x00c5,0x00c4,0x00c3,0x00c1,0x00bf,0x00be,0x00bc,0x00ba,0x00b9,0x00b7,0x00b5,0x00b3,0x00b2,0x00af,0x00ae,0x00ad,
 0x00ab,0x00a9,0x00a7,0x00a6,0x00a5,0x00a4,0x00a2,0x00a1,0x009f,0x009e,0x009c,0x009b,0x009a,0x0098,0x0097,0x0096,0x0094,0x0094,0x0092,0x0090,
 0x008f,0x008e,0x008d,0x008b,0x008a,0x0088,0x0088,0x0086,0x0085,0x0083,0x0083,0x0080,0x007f,0x007d,0x007b,0x007a,0x0078,0x0077,0x0076,0x0074,
 0x0072,0x0071,0x0070,0x006f,0x006d,0x006c,0x006a,0x0069,0x0068,0x0067,0x0066,0x0065,0x0064,0x0064,0x0063,0x0062,0x0061,0x0060,0x005f,0x005e,
 0x005d,0x005d,0x005c,0x005c,0x005b,0x005a,0x005a,0x0059,0x0059,0x0058,0x0058,0x0058,0x0058,0x0057,0x0057,0x0056,0x0055,0x0055,0x0054,0x0053,
 0x0052,0x0051,0x0050,0x004f,0x004e,0x004d,0x004c,0x004b,0x004a,0x0049,0x0047,0x0046,0x0045,0x0043,0x0042,0x0040,0x003f,0x003d,0x003c,0x003a,
 0x0039,0x0037,0x0036,0x0034,0x0032,0x0031,0x002f,0x002e,0x002c,0x002b,0x0029,0x0028,0x0027,0x0025,0x0024,0x0022,0x0021,0x0020,0x001f,0x001e,
 0x001c,0x001b,0x001a,0x0019,0x0018,0x0017,0x0016,0x0015,0x0014,0x0013,0x0013,0x0011,0x0011,0x000f,0x000e,0x000d,0x000c,0x000b,0x000a,0x0008,
 0x0007,0x0006,0x0005,0x0004,0x0000,0x62ff,0x62fa,0x62f9,0x62f8,0x62f6,0x62f4,0x62f3,0x62f2,0x62f0,0x62ef,0x62ed,0x62ec,0x62eb,0x62e9,0x62e8,
 0x62e6,0x62e6,0x62e4,0x62e3,0x62e2,0x62e2,0x62e1,0x62df,0x62de,0x62dd,0x62dc,0x62dc,0x62db,0x62da,0x62d9,0x62d8,0x62d8,0x62d7,0x62d7,0x62d6,
 0x62d5,0x62d5,0x62d3,0x62d3,0x62d2,0x62d1,0x62d0,0x62cf,0x62ce,0x62cd,0x62cc,0x62ca,0x62c9,0x62c8,0x62c7,0x62c5,0x62c4,0x62c3,0x62c1,0x62c0,
 0x62be,0x62bc,0x62bb,0x62b9,0x62b8,0x62b6,0x62b4,0x62b3,0x62b1,0x62b0,0x62af,0x62ae,0x62ac,0x62ab,0x62aa,0x62a9,0x62a8,0x62a7,0x62a7,0x62a6,
 0x62a5,0x62a5,0x62a4,0x62a3,0x62a2,0x62a2,0x62a1,0x62a0,0x62a0,0x629f,0x629e,0x629d,0x629c,0x629b,0x629a,0x6299,0x6298,0x6297,0x6296,0x6294,
 0x6293,0x6291,0x628f,0x628d,0x628c,0x628a,0x6287,0x6286,0x6283,0x6281,0x627f,0x627d,0x627b,0x6278,0x6276,0x6274,0x6272,0x6271,0x626f,0x626d,
 0x626b,0x626a,0x6268,0x6267,0x6265,0x6264,0x6262,0x6260,0x625e,0x625d,0x625b,0x625a,0x6258,0x6257,0x6255,0x6253,0x6252,0x6250,0x624f,0x624d,
 0x624c,0x624a,0x6248,0x6246,0x6244,0x6243,0x6242,0x623f,0x623d,0x623c,0x623a,0x6238,0x6237,0x6235,0x6233,0x6232,0x6230,0x622f,0x622e,0x622c,
 0x622b,0x622a,0x6229,0x6228,0x6227,0x6227,0x6226,0x6225,0x6224,0x6223,0x6222,0x6221,0x6220,0x621f,0x621e,0x621c,0x621b,0x621a,0x6218,0x6216,
 0x6215,0x6213,0x6210,0x620e,0x620b,0x6209,0x6207,0x6205,0x61ff,0x61fd,0x61f8,0x61f5,0x61f2,0x61f0,0x61ed,0x61ea,0x61e8,0x61e5,0x61e2,0x61e0,
 0x61de,0x61dc,0x61d9,0x61d8,0x61d6,0x61d5,0x61d3,0x61d2,0x61d0,0x61ce,0x61cd,0x61cb,0x61ca,0x61c8,0x61c7,0x61c5,0x61c4,0x61c3,0x61c1,0x61c0,
 0x61bf,0x61bc,0x61bb,0x61b9,0x61b7,0x61b5,0x61b3,0x61b1,0x61b0,0x61ae,0x61ad,0x61ab,0x61aa,0x61a8,0x61a7,0x61a6,0x61a6,0x61a4,0x61a4,0x61a2,
 0x61a2,0x61a0,0x61a0,0x619f,0x619d,0x619c,0x619b,0x619a,0x6198,0x6197,0x6195,0x6194,0x6192,0x6190,0x618d,0x618c,0x6189,0x6186,0x6184,0x6181,
 0x617f,0x617b,0x6179,0x6176,0x6174,0x6171,0x616f,0x616d,0x616a,0x6168,0x6166,0x6165,0x6163,0x6161,0x615f,0x615e,0x615d,
};

/**
 * Converts the magnetometer to a phase value
 * @param alpha 14-bit value from magnetometer
 * @return phase value (0 - 0x2ff inclusive)
 */
inline static u2 lookupAlphaToPhase(u2 alpha) {
	// Make sure we're working with a 14-bit number
	alpha &= 0x3fff;
	
	//divide alpha by 4 to get a feasible table size
	alpha >>= 2;

	//if somehow we get a magnetomiter reading larger then in calibration
	//circle around to begining
	if (alpha > loop){
		alpha -= loop;
	}

	// Read the phase number word from the calculated place in the lookup table
	return pgm_read_word(&AlphaToPhaseLookup[alpha]);
}

void ThreePhaseController::init() {
	MLX90363::init();
	ThreePhaseDriver::init();
	ThreePhaseDriver::setAmplitude(0);
	
	MLX90363::prepareGET1Message(MLX90363::MessageType::Alpha);

	// Enable Timer4 Overflow Interrupt
	TIMSK4 = 1 << TOIE4;
	
	magRoll = MLX90363::getRoll();

	// Get two new readings to get started
	while (!MLX90363::hasNewData(magRoll));
	while (!MLX90363::hasNewData(magRoll));
	
	roll = 0;
	Predictor::init(lookupAlphaToPhase(MLX90363::getAlpha()));
	roll = 1;
}

void ThreePhaseController::setTorque(const Torque t) {
	ATOMIC_BLOCK(ATOMIC_FORCEON) {
		isForwardTorque = t.forward;
		ThreePhaseDriver::setAmplitude(t.amplitude);
	}
}

bool ThreePhaseController::updateDriver() {
	if (!MLX90363::hasNewData(magRoll)) return false;
	
	// We can always grab the latest Alpha value safely here
	auto const alpha = MLX90363::getAlpha();
	auto const magPha = lookupAlphaToPhase(alpha);
	
	roll++;

	Predictor::freshPhase(magPha);

	return true;
}