ThreePhaseDriver.h

/* 
 * File:   ThreePhaseDriver.h
 * Author: Cameron
 *
 * Created on December 17, 2014, 3:20 PM
 */

#ifndef THREEPHASEDRIVER_H
#define	THREEPHASEDRIVER_H

#include <AVR++/basicTypes.h>
#include <avr/interrupt.h>
#include "DriverConstants.h"

using namespace AVR;

class ThreePhaseDriver {
	
	/**
	 * Read the sin table
	 * @param phase
	 * @return 
	 */
	static inline u2 getPhasePWM(u1 const phase) __attribute__((const));
	
	static u1 amplitude;
	
// static u1 cacheA;
// static register u1 cacheB asm("r11");
// static register u1 cacheC asm("r12");
public:
	enum class Phase : u1 {A=0, B=1, C=2, INIT};

protected:
	static Phase currentPhase;

public:
	/**
	 * Internal granularity of sin wave for each phase
	 */
	static u2 constexpr StepsPerPhase = DriverConstants::StepsPerPhase;
	
	/**
	 * One for each of A, B, and C.
	 */
	static u1 constexpr PhasesPerCycle = DriverConstants::PhasesPerCycle;
	
	/**
	 * One Cycle is one full commutation "revolution" of the motor. This is almost
	 * certainly not one actual revolution of the motor shaft.
	 */
	static u2 constexpr StepsPerCycle = DriverConstants::StepsPerCycle;
	
	/**
	 * Highest possible timer value
	 */
	static u2 constexpr MAX = 0x7ff;

	static void init();
	
	/**
	 * Convenience function with its own internal step counter
	 */
	static void advance();
	
	/**
	 * Version of advanceTo() that takes a single u2 between 0 and 0x2ff inclusive
	 * @param step
	 */
	inline static void advanceTo(u2 const step) {advanceToFullSine((Phase)(step >> 8), step);}
	
	/**
	 * Advance the pwm outputs to a new commutation
	 * 
	 * @param phase
	 * @param step
	 */
	static void advanceToFullSine(Phase const phase, u1 const step);
	
	/** 
	 * Magic number to ensure we dont miss a tick of a phase
	 */
	static constexpr u1 maxAmplitude = 0xff - 30;
	
	static inline void setAmplitude(u1 const a) {amplitude = a > maxAmplitude ? maxAmplitude : a;}
	static inline u1 getAmplitude(){return amplitude;};

	static inline void setDeadTimes(u1 dt){DT4 = dt;};
	static inline u1 getDeadTimes(){return DT4;};

	static void advanceToBackEMF(Phase const phase, u1 const step);
};

#endif	/* THREEPHASEDRIVER_H */