Changes in natations were made to keep consistency with bachelor thesis.

diff --git a/pmsm-control/test_sw/main_pmsm.c b/pmsm-control/test_sw/main_pmsm.c
index 7f666621db489e1e7e7812289c701685c4b01718..4991443127419726a364cbb1cadae8ba88a6d061 100644 (file)
--- a/pmsm-control/test_sw/main_pmsm.c
+++ b/pmsm-control/test_sw/main_pmsm.c
@@ -124,27 +124,21 @@ void alphabeta2pwm3(int32_t * pwma, int32_t * pwmb, int32_t *pwmc,int32_t alpha,
  *     ktera budou privedena na svorky motoru.
  *     Tedy na A(yel)-pwm1, B(red)-pwm2, C(blk)-pwm3
  */
  *     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;
+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*/
        int32_t t;
 
        /*vypocte napeti tak, aby odpovidaly rozdily*/

-       u1=ua+ub;
-       u2=ua;
-       u3=0;
+       *u1=uc;
+       *u2=uc+ub;
+       *u3=0;

 
        /*najde zaporne napeti*/
 
        /*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;
+       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;
 }
 void inv_trans_comm(int duty){
        uint32_t pos;


@@ -176,24 +170,32 @@ void inv_trans_comm_2(int duty){
        uint32_t pos;
        int32_t sin, cos;
        int32_t alpha, beta;
        uint32_t pos;
        int32_t sin, cos;
        int32_t alpha, beta;

-       int32_t pwma,pwmb,pwmc;
-       int32_t pwm1,pwm2,pwm3;
+       int32_t ua,ub,uc;
+       int32_t ia,ib,ic;
+       int32_t u1,u2,u3;

        pos=rps.index_dist;
        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+=960; /*zarovnani faze 'a' s osou 'alpha'*/
+
+       /*pro výpočet sin a cos je pouzita 32-bit cyklicka logika*/

        pos*=4294967;
        pxmc_sincos_fixed_inline(&sin, &cos, pos, 16);
        pos*=4294967;
        pxmc_sincos_fixed_inline(&sin, &cos, pos, 16);

+

        dq2alphabeta(&alpha, &beta,0,duty, sin, cos);
        alpha>>=16;
        beta>>=16;
        dq2alphabeta(&alpha, &beta,0,duty, sin, cos);
        alpha>>=16;
        beta>>=16;

-       alphabeta2pwm3(&pwma,&pwmb, &pwmc,alpha,beta);

 
 

-       compPhases(&pwm1,&pwm2, &pwm3,pwma,pwmb);
+       alphabeta2pwm3(&ia,&ib, &ic,alpha,beta);
+
+       ua=ia;
+       ub=ib;
+       uc=ic;
+
+       transDelta(&u1,&u2, &u3,ub,uc);

 
 

-       rps.pwm1=(uint16_t)pwm1;
-       rps.pwm2=(uint16_t)pwm2;
-       rps.pwm3=(uint16_t)pwm3;
+       rps.pwm1=(uint16_t)u1;
+       rps.pwm2=(uint16_t)u2;
+       rps.pwm3=(uint16_t)u3;

 }
 void prepare_tx(uint8_t * tx){
 
 }
 void prepare_tx(uint8_t * tx){