mirror of
https://github.com/rene-dev/stmbl.git
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104 lines
1.8 KiB
C
104 lines
1.8 KiB
C
#include "commands.h"
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#include "common.h"
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#include "hal.h"
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#include "math.h"
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#include "defines.h"
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#include "angle.h"
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HAL_COMP(dq);
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HAL_PIN(mode);
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//U V W inputs
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HAL_PIN(u);
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HAL_PIN(v);
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HAL_PIN(w);
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//rotor position
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HAL_PIN(pos);
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HAL_PIN(polecount); //1
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//a,b,gamma output
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HAL_PIN(a);
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HAL_PIN(b);
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HAL_PIN(y);
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//d,q output
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HAL_PIN(d);
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HAL_PIN(q);
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static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
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// struct dq_ctx_t * ctx = (struct dq_ctx_t *)ctx_ptr;
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struct dq_pin_ctx_t *pins = (struct dq_pin_ctx_t *)pin_ptr;
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float u = PIN(u);
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float v = PIN(v);
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float w = PIN(w);
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//clarke transformation
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float a, b, y;
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switch((int)PIN(mode)) {
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case PHASE_90_3PH: // 90°
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a = u - v;
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b = w - v;
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y = u / 3.0 + v / 3.0 + w / 3.0;
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break;
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case PHASE_120_3PH: // 120°
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a = u * 2.0 / 3.0 - v / 3.0 - w / 3.0;
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b = v / M_SQRT3 - w / M_SQRT3;
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y = u / 3.0 + v / 3.0 + w / 3.0;
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break;
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case PHASE_180_2PH: // 180°
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a = 0;
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b = (u - w) / 2.0;
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y = (u + w) / 2.0;
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break;
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case PHASE_180_3PH: // 180°
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a = v;
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b = (u - w) / 2.0;
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y = (u + w) / 2.0;
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break;
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default:
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a = 0.0;
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b = 0.0;
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y = 0.0;
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}
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float p = (int)MAX(PIN(polecount), 1.0);
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float pos = PIN(pos) * p;
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float si = 0.0;
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float co = 0.0;
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sincos_fast(pos, &si, &co);
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//park transformation
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float d = a * co + b * si;
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float q = -a * si + b * co;
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PIN(a) = a;
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PIN(b) = b;
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PIN(y) = y;
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PIN(d) = d;
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PIN(q) = q;
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}
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hal_comp_t dq_comp_struct = {
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.name = "dq",
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.nrt = 0,
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.rt = rt_func,
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.frt = 0,
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.nrt_init = 0,
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.rt_start = 0,
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.frt_start = 0,
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.rt_stop = 0,
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.frt_stop = 0,
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.ctx_size = 0,
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.pin_count = sizeof(struct dq_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
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};
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