+/*
+ * \brief
+ * Transformace pro uhel pocitany po smeru hodinovych rucicek
+ */
+void dq2alphabeta(int32_t *alpha, int32_t *beta, int d, int q, int32_t sin, int32_t cos){
+ *alpha=cos*d+sin*q;
+ *beta=-sin*d+cos*q;
+ return;
+}
+void alphabeta2pwm3(int32_t * pwma, int32_t * pwmb, int32_t *pwmc,int32_t alpha, int32_t beta){
+ *pwma=alpha;
+ *pwmb=-alpha/2+beta*887/1024;
+ *pwmc=-alpha/2-beta*887/1024;
+}
+/*
+ * \brief
+ * Preocita napeti na jednotlivych civkach na napeti,
+ * ktera budou privedena na svorky motoru.
+ * Tedy na A(yel)-pwm1, B(red)-pwm2, C(blk)-pwm3
+ */
+void transDelta(int32_t * u1, int32_t * u2, int32_t *u3, int32_t ub , int32_t uc){
+ int32_t t;
+
+ /*vypocte napeti tak, aby odpovidaly rozdily*/
+ *u1=uc;
+ *u2=uc+ub;
+ *u3=0;
+
+ /*najde zaporne napeti*/
+ t=min(*u1,*u2,*u3);
+
+ /*dorovna zaporna napeti na nulu*/
+ *u1-=t;
+ *u2-=t;
+ *u3-=t;
+}
+void inv_trans_comm(int duty){
+ uint32_t pos;
+ int32_t sin, cos;
+ int32_t alpha, beta;
+ int32_t pwma,pwmb,pwmc;
+ pos=rps.index_dist;
+ /*melo by byt urceno co nejpresneji, aby faze 'a' splyvala s osou 'alpha'*/
+ pos+=717;
+ /*use it as cyclic 32-bit logic*/
+ pos*=4294967;
+ pxmc_sincos_fixed_inline(&sin, &cos, pos, 16);
+ dq2alphabeta(&alpha, &beta,0,duty, sin, cos);
+ alpha>>=16;
+ beta>>=16;
+ alphabeta2pwm3(&pwma,&pwmb, &pwmc,alpha,beta);
+
+ if (pwma<0) pwma=0;
+ if (pwmb<0) pwmb=0;
+ if (pwmc<0) pwmc=0;
+
+
+ rps.t_pwm1=(uint16_t)pwma;
+ rps.t_pwm3=(uint16_t)pwmb;
+ rps.t_pwm2=(uint16_t)pwmc;
+}