mirror of https://github.com/rene-dev/stmbl.git
103 lines
1.8 KiB
C
103 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(idq);
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HAL_PIN(mode);
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//d,q inputs
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HAL_PIN(d);
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HAL_PIN(q);
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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 output
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HAL_PIN(a);
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HAL_PIN(b);
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//U V W output
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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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static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
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// struct idq_ctx_t * ctx = (struct idq_ctx_t *)ctx_ptr;
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struct idq_pin_ctx_t *pins = (struct idq_pin_ctx_t *)pin_ptr;
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float d = PIN(d);
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float q = PIN(q);
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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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//inverse park transformation
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float a = d * co - q * si;
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float b = d * si + q * co;
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//inverse clarke transformation
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float u, v, w;
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switch((int)PIN(mode)) {
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case PHASE_90_3PH: // 90°
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u = a;
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v = 0.0;
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w = b;
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break;
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case PHASE_120_3PH: // 120°
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u = a;
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v = -a / 2.0 + b / 2.0 * M_SQRT3;
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w = -a / 2.0 - b / 2.0 * M_SQRT3;
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break;
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case PHASE_180_2PH: // 180°
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u = b / 2.0;
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v = 0.0;
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w = -b / 2.0;
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break;
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case PHASE_180_3PH: // 180°
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u = b / 2.0;
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v = a;
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w = -b / 2.0;
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break;
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default:
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u = 0.0;
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v = 0.0;
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w = 0.0;
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}
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PIN(a) = a;
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PIN(b) = b;
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PIN(u) = u;
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PIN(v) = v;
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PIN(w) = w;
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}
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hal_comp_t idq_comp_struct = {
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.name = "idq",
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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 idq_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
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};
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