X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/blobdiff_plain/48ea46a3aa50a315a71fb142a1e65b942e113be9..0db7b4491e1b1a1621cd35255aa4ad91652e1e85:/pmsm-control/test_sw/main_pmsm.c

diff --git a/pmsm-control/test_sw/main_pmsm.c b/pmsm-control/test_sw/main_pmsm.c
index da278cc..4c51f51 100644
--- a/pmsm-control/test_sw/main_pmsm.c
+++ b/pmsm-control/test_sw/main_pmsm.c
@@ -41,7 +41,6 @@
 struct rpi_in data;
 struct rpi_state rps={
 	.spi_dat=&data,
-	.thd_par_sem=NULL,
 	.test=0,
 	.pwm1=0,.pwm2=0, .pwm3=0,
 	.pwm1=0, .t_pwm2=0, .t_pwm3=0,
@@ -87,7 +86,45 @@ void substractOffset(struct rpi_in* data, struct rpi_in* offset){
 	data->pozice-=offset->pozice;
 	return;
 }
+/*
+ * \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;
+}
+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.pwm1=(uint16_t)pwma;
+	rps.pwm3=(uint16_t)pwmb;
+	rps.pwm2=(uint16_t)pwmc;
+}
 
 void prepare_tx(uint8_t * tx){
 
@@ -439,7 +476,8 @@ void * read_data(void* param){
 			pid();
 			if (rps.index_ok && rps.commutate){
 				/*simple_ind_dist_commutator(rps.duty);*/
-				sin_commutator(rps.duty);
+				/*sin_commutator(rps.duty);*/
+				inv_trans_comm(rps.duty);
 			}else if(!rps.index_ok && rps.commutate){
 				simple_hall_commutator(rps.duty);
 			}