inline void clk_disable(){
termClock(0);
}
+/*
+ * \brief
+ * Count minimum value of three numbers.
+ * Input values must be in range <-2^28;2^28>.
+ */
+int32_t min(int32_t x, int32_t y, int32_t z){
+ int32_t diff,sign;
+
+ diff=x-y; /*rozdil*/
+ sign=(*((uint32_t*)&diff))>>31; /*znamenko -> detekuje, ze y je vetsi*/
+ x=y+sign*diff; /*ulozime mensi cislo, pokud sign>0, pak diff<0 */
+
+ diff=x-z; /*rozdil*/
+ sign=(*((uint32_t*)&diff))>>31; /*znamenko -> detekuje, ze z je vetsi*/
+ x=z+sign*diff; /*ulozime mensi cislo, pokud sign>0, pak diff<0 */
+
+ return x;
+}
/**
* \brief Signal handler pro Ctrl+C
*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 compPhases(int32_t * pwm1, int32_t * pwm2, int32_t *pwm3, int32_t ua , int32_t ub){
+ int32_t u1,u2,u3;
+ int32_t t;
+
+ /*vypocte napeti tak, aby odpovidaly rozdily*/
+ u1=ua+ub;
+ u2=ua;
+ u3=0;
+
+ /*najde zaporne napeti*/
+ t=min(u1,u2,u3);
+
+ /*dorovna zaporna napeti napeti na nulu*/
+ u1-=t;
+ u2-=t;
+ u3-=t;
+
+ *pwm1=u1;
+ *pwm2=u2;
+ *pwm3=u3;
+
+}
void inv_trans_comm(int duty){
uint32_t pos;
int32_t sin, cos;
if (pwmc<0) pwmc=0;
- rps.pwm1=(uint16_t)pwma;
- rps.pwm3=(uint16_t)pwmb;
- rps.pwm2=(uint16_t)pwmc;
+ rps.t_pwm1=(uint16_t)pwma;
+ rps.t_pwm3=(uint16_t)pwmb;
+ rps.t_pwm2=(uint16_t)pwmc;
}
+void inv_trans_comm_2(int duty){
+ uint32_t pos;
+ int32_t sin, cos;
+ int32_t alpha, beta;
+ int32_t pwma,pwmb,pwmc;
+ int32_t pwm1,pwm2,pwm3;
+ pos=rps.index_dist;
+ /*melo by byt urceno co nejpresneji, aby faze 'a' splyvala s osou 'alpha'*/
+ pos+=460;
+ /*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);
+
+ compPhases(&pwm1,&pwm2, &pwm3,pwma,pwmb);
+
+ rps.pwm1=(uint16_t)pwm1;
+ rps.pwm2=(uint16_t)pwm2;
+ rps.pwm3=(uint16_t)pwm3;
+}
void prepare_tx(uint8_t * tx){
/*Data format:
/*simple_ind_dist_commutator(rps.duty);*/
/*sin_commutator(rps.duty);*/
inv_trans_comm(rps.duty);
+ inv_trans_comm_2(rps.duty);
}else if(!rps.index_ok && rps.commutate){
simple_hall_commutator(rps.duty);
}