/*
 * interrupts.c
 *
 *  Created on: 21 рту. 2023 у.
 *      Author: seklyuts
 */

#include <pwm_init.h>
#include "f28x_project.h"
#include"frm_uart.h"
#include "gpio_init.h"
#include "i2c_init.h"
#include "timer_base.h"
#include "vector.h"
#include "pwm_interrupts.h"

volatile uint16_t AutoChange = 0;
volatile uint16_t PWM_out = 0;
//volatile uint16_t PWM_motor = PERIOD_2;
uint16_t Fault = 0, Fault_fix = 0, Ready = 0, Ready_Fix = 0;
uint16_t counter1s=0, Step = 0;
TMode Mode = OffMode;

typedef struct
{
    int16_t UA;
    int16_t UB;
    int16_t UC;
}strPWMABC;

volatile strPWMABC PWM_motor = {PERIOD_2, PERIOD_2, PERIOD_2};


void pwm_set_volt_3F(float phaseA, float phaseB, float phaseC)
{
    PWM_motor.UA = PERIOD_2 + (int16_t)(phaseA*PERIOD_2/100.0);
    PWM_motor.UB = PERIOD_2 + (int16_t)(phaseB*PERIOD_2/100.0);
    PWM_motor.UC = PERIOD_2 + (int16_t)(phaseC*PERIOD_2/100.0);
}
//
// epwm1_isr - EPWM1 ISR
//
__interrupt void epwm1_isr(void)
{
//    if(AutoChange) pwm_AutoChange(1);
//    else
    EPwm1Regs.CMPA.bit.CMPA = PWM_out;

    //
    // Clear INT flag for this timer
    //
    EPwm1Regs.ETCLR.bit.INT = 1;
    TimerBaseTimeoutInc();
    MainTimerBaseTimeoutInc();

    //
    // Acknowledge this interrupt to receive more interrupts from group 3
    //
    PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;
}

//
// epwm2_isr - EPWM2 ISR
//
__interrupt void epwm2_isr(void)
{
    Gpio20out(1);
//    if(AutoChange) pwm_AutoChange(2);
//    else
    EPwm2Regs.CMPA.bit.CMPA = PERIOD_MOTOR - PWM_motor.UA;
    EPwm3Regs.CMPA.bit.CMPA = PERIOD_MOTOR - PWM_motor.UB;
    EPwm4Regs.CMPA.bit.CMPA = PERIOD_MOTOR - PWM_motor.UC;
//    GpioDataRegs.GPADAT.bit.GPIO0 = 1;
    Step++;
    if(Mode == StepMode) vector_set_angle(Step);
    vector_klark_park(0,0,0,0);
    vector_inversion();
    FMSTR_enable_set();
    Step++;
    //
    // Clear INT flag for this timer
    //
    EPwm2Regs.ETCLR.bit.INT = 1;
    Gpio20out(0);
    //
    // Acknowledge this interrupt to receive more interrupts from group 3
    //
    PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;
//    GpioDataRegs.GPADAT.bit.GPIO0 = 0;

}

//
// epwm3_isr - EPWM3 ISR
//
__interrupt void epwm3_isr(void)
{
//    if(AutoChange) pwm_AutoChange(3);
//    else
    EPwm3Regs.CMPA.bit.CMPA = PERIOD_MOTOR - PWM_motor.UB;

    //
    // Clear INT flag for this timer
    //
    EPwm3Regs.ETCLR.bit.INT = 1;

    //
    // Acknowledge this interrupt to receive more interrupts from group 3
    //
    PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;

}

__interrupt void epwm4_isr(void)
{
//    if(AutoChange) pwm_AutoChange(4);
//    else
    EPwm4Regs.CMPA.bit.CMPA = PERIOD_MOTOR - PWM_motor.UC;
    //
    // Clear INT flag for this timer
    //
    EPwm4Regs.ETCLR.bit.INT = 1;

    //
    // Acknowledge this interrupt to receive more interrupts from group 3
    //
    PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;
}

__interrupt void epwm5_isr(void)
{
    Ready = GpioDataRegs.GPADAT.bit.GPIO19;
    if(Ready == 0)
    {
        Ready_Fix = 0;
    }
    Fault = !GpioDataRegs.GPADAT.bit.GPIO18;
    if(Fault || Fault_fix)
    {
        EPwm5Regs.CMPA.bit.CMPA = PERIOD_BRAKE;
        PWM_out = 0;
        if(Fault)Fault_fix = 1;
    }
    else
    {
        EPwm5Regs.CMPA.bit.CMPA = PERIOD_BRAKE - PWM_out;
    }

    //
    // Clear INT flag for this timer
    //
    EPwm5Regs.ETCLR.bit.INT = 1;

    //
    // Acknowledge this interrupt to receive more interrupts from group 3
    //
    PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;
}

__interrupt void epwm6_isr(void)
{

//    if(AutoChange) pwm_AutoChange(6);
//    else
    EPwm6Regs.CMPA.bit.CMPA = PERIOD_BRAKE - PWM_out;
    //
    // Clear INT flag for this timer
    //
    EPwm6Regs.ETCLR.bit.INT = 1;

    //
    // Acknowledge this interrupt to receive more interrupts from group 3
    //
    PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;
}




//
// InitEPwm1Example - Initialize EPWM1 configuration
//