/*
 *  Copyright (C) 2023 Texas Instruments Incorporated
 *
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 *  modification, are permitted provided that the following conditions
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 *    notice, this list of conditions and the following disclaimer.
 *
 *    Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the
 *    distribution.
 *
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 *    its contributors may be used to endorse or promote products derived
 *    from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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 */
 
#ifndef _SVGEN_H_
#define _SVGEN_H_

#ifdef __cplusplus
extern "C"
{
#endif

/**
 *  \addtogroup TRANSFORMS_API_MODULE APIs for motor transformations
 *  \@{
 *
 *  \file       svgen.h
 *  \brief      Contains svpwm generation implementation
 */

#include <stdint.h>

typedef float float32_t;

#define SQRT_THREE_OVER_TWO 0.8660254037844f
#define TWO_OVER_SQRT_THREE 1.15470053837926f


//! \brief  Implements a SVM that subtracts common-mode term to achieve SV modulation.
//! \param[in] oneOverDcBUS_invV    The inverse dc bus voltage scale factor, used to convert inputs to pu, use 1 if units are already in pu.
//! \param[in] inValpha             Input voltage value in alpha-axis, V or pu
//! \param[in] inVbeta              Input voltage value in beta-axis, V or pu
//! \param[in] pVa                  Output pointer to voltage value in a-axis, pu
//! \param[in] pVb                  Output pointer to voltage value in b-axis, pu
//! \param[in] pVc                  Output pointer to voltage value in c-axis, pu
//!
static __attribute__((always_inline)) 
void SVGEN_runCom(const float32_t oneOverDcBus_invV, const float32_t inValpha, const float32_t inVbeta, \
                float32_t* pVa, float32_t* pVb, float32_t* pVc)
{
    float32_t vmax_pu, vmin_pu, vcom_pu = 0;
    
    float32_t va_pu = inValpha * oneOverDcBus_invV;
    float32_t vbeta_pu = inVbeta * oneOverDcBus_invV;

    float32_t va_tmp = -0.5f * va_pu;
    float32_t vb_tmp = SQRT_THREE_OVER_TWO * vbeta_pu;

    //
    // -0.5*Valpha + sqrt(3)/2 * Vbeta
    //
    float32_t vb_pu = va_tmp + vb_tmp;

    //
    // -0.5*Valpha - sqrt(3)/2 * Vbeta
    //
    float32_t vc_pu = va_tmp - vb_tmp;

    //
    // Find Vmax and Vmin
    //
    if(va_pu > vb_pu)
    {
        vmax_pu = va_pu;
        vmin_pu = vb_pu;
    }
    else
    {
        vmax_pu = vb_pu;
        vmin_pu = va_pu;
    }
    if(vc_pu > vmax_pu)
    {
        vmax_pu = vc_pu;
    }
    else if(vc_pu < vmin_pu)
    {
        vmin_pu = vc_pu;
    }

    //
    // Compute Vcom = 0.5*(Vmax+Vmin)
    //
    vcom_pu = 0.5f * (vmax_pu + vmin_pu);

    //
    // Subtract common-mode term to achieve SV modulation
    //
    *pVa = (va_pu - vcom_pu);
    *pVb = (vb_pu - vcom_pu);
    *pVc = (vc_pu - vcom_pu);

}

//! \brief  Implements a DPWM that uses maximum modulation.
//! \param[in] oneOverDcBUS_invV    The inverse dc bus voltage scale factor, used to convert inputs to pu, use 1 if units are already in pu.
//! \param[in] inValpha             Input voltage value in alpha-axis, V or pu
//! \param[in] inVbeta              Input voltage value in beta-axis, V or pu
//! \param[in] pVa                  Output pointer to voltage value in a-axis, pu
//! \param[in] pVb                  Output pointer to voltage value in b-axis, pu
//! \param[in] pVc                  Output pointer to voltage value in c-axis, pu
//!
static __attribute__((always_inline)) 
void SVGEN_runMax(const float32_t oneOverDcBus_invV, const float32_t inValpha, const float32_t inVbeta, \
                float32_t* pVa, float32_t* pVb, float32_t* pVc)
{
    float32_t vmax_pu = 0;
    
    float32_t va_pu = inValpha * oneOverDcBus_invV;
    float32_t vbeta_pu = inVbeta * oneOverDcBus_invV;

    float32_t va_tmp = -0.5f * va_pu;
    float32_t vb_tmp = SQRT_THREE_OVER_TWO * vbeta_pu;

    //
    // -0.5*Valpha + sqrt(3)/2 * Vbeta
    //
    float32_t vb_pu = va_tmp + vb_tmp;

    //
    // -0.5*Valpha - sqrt(3)/2 * Vbeta
    //
    float32_t vc_pu = va_tmp - vb_tmp;

    //
    // Find Vmax
    //
    if(va_pu > vb_pu)
    {
        vmax_pu = va_pu;
    }
    else
    {
        vmax_pu = vb_pu;
    }

    if(vc_pu > vmax_pu)
    {
        vmax_pu = vc_pu;
    }

    //
    // DPWM maximum modulation
    //
    *pVa = (va_pu - vmax_pu) + 0.5f;
    *pVb = (vb_pu - vmax_pu) + 0.5f;
    *pVc = (vc_pu - vmax_pu) + 0.5f;
}

//! \brief  Implements a DPWM that uses minimum modulation.
//! \param[in] oneOverDcBUS_invV    The inverse dc bus voltage scale factor, used to convert inputs to pu, use 1 if units are already in pu.
//! \param[in] inValpha             Input voltage value in alpha-axis, V or pu
//! \param[in] inVbeta              Input voltage value in beta-axis, V or pu
//! \param[in] pVa                  Output pointer to voltage value in a-axis, pu
//! \param[in] pVb                  Output pointer to voltage value in b-axis, pu
//! \param[in] pVc                  Output pointer to voltage value in c-axis, pu
//!
static __attribute__((always_inline)) 
void SVGEN_runMin(const float32_t oneOverDcBus_invV, const float32_t inValpha, const float32_t inVbeta, \
                float32_t* pVa, float32_t* pVb, float32_t* pVc)
{
    float32_t vmin_pu = 0;
    
    float32_t va_pu = inValpha * oneOverDcBus_invV;
    float32_t vbeta_pu = inVbeta * oneOverDcBus_invV;

    float32_t va_tmp = -0.5f * va_pu;
    float32_t vb_tmp = SQRT_THREE_OVER_TWO * vbeta_pu;

    //
    // -0.5*Valpha + sqrt(3)/2 * Vbeta
    //
    float32_t vb_pu = va_tmp + vb_tmp;

    //
    // -0.5*Valpha - sqrt(3)/2 * Vbeta
    //
    float32_t vc_pu = va_tmp - vb_tmp;

    //
    // Find Vmin
    //
    if(va_pu < vb_pu)
    {
        vmin_pu = va_pu;
    }
    else
    {
        vmin_pu = vb_pu;
    }

    if(vc_pu < vmin_pu)
    {
        vmin_pu = vc_pu;
    }

    //
    // DPWM minimum modulation
    //
    *pVa = (va_pu - vmin_pu) - 0.5f;
    *pVb = (vb_pu - vmin_pu) - 0.5f;
    *pVc = (vc_pu - vmin_pu) - 0.5f;
}

//! \brief  Saturates the SVM variable base on modulation limits
//! \param[in] Umax     Maximum modulation limit
//! \param[in] Umin     Minimum modulation limit
//! \param[in] pVa      pointer to voltage value in a-axis
//! \param[in] pVb      pointer to voltage value in b-axis
//! \param[in] pVc      pointer to voltage value in c-axis
//!
static __attribute__((always_inline)) 
void SVGEN_clamp(const float32_t Umax, const float32_t Umin, \
                float32_t* pVa, float32_t* pVb, float32_t* pVc)
{
    *pVa = (*pVa > Umax) ? Umax : (*pVa < Umin) ? Umin : *pVa;
    *pVb = (*pVb > Umax) ? Umax : (*pVb < Umin) ? Umin : *pVb;
    *pVc = (*pVc > Umax) ? Umax : (*pVc < Umin) ? Umin : *pVc;
}

/** @} */

#ifdef __cplusplus
}
#endif

#endif // _SVGEN_H_