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60 lines
1.1 KiB
C
60 lines
1.1 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_sp);
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HAL_PIN(mode);
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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 input
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HAL_PIN(a);
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HAL_PIN(b);
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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_sp_pin_ctx_t *pins = (struct dq_sp_pin_ctx_t *)pin_ptr;
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//clarke transformation
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float a = PIN(a);
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float b = PIN(b);
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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(d) = d;
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PIN(q) = q;
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}
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hal_comp_t dq_sp_comp_struct = {
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.name = "dq_sp",
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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_sp_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
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};
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