From: Martin Prudek <prudemar@fel.cvut.cz>
Date: Sun, 10 May 2015 18:50:31 +0000 (+0200)
Subject: Simplified multiplication in phase duty computation.
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/commitdiff_plain/298f6f1098d231053ed9bb9c11bda570f6be95f6

Simplified multiplication in phase duty computation.
---

diff --git a/pmsm-control/test_sw/main_pmsm.c b/pmsm-control/test_sw/main_pmsm.c
index 26e8308..8706dc9 100644
--- a/pmsm-control/test_sw/main_pmsm.c
+++ b/pmsm-control/test_sw/main_pmsm.c
@@ -37,20 +37,6 @@
 #define INIT_VALUE	1 	/*init value for semaphor*/
 
 
-#define PXMC_SIN_FIX_TAB_BITS 9
-#define PXMC_SIN_FIX_IDX_SLR  23
-#define PXMC_SIN_FIX_XD_MASK  0x007fffff
-#define PXMC_SIN_FIX_XD_SLR   8
-#define PXMC_SIN_FIX_A_MASK   0xffffc000
-#define PXMC_SIN_FIX_B_SLL    19
-#define PXMC_SIN_FIX_B_SAR    16
-#define PXMC_SIN_FIX_B_XD_SAR 6
-#define PXMC_SIN_FIX_ZIC_MASK 0x00002000
-#define PXMC_SIN_FIX_ZIC_BIT  13
-
-#define PXMC_SIN_FIX_PI2      0x40000000
-#define PXMC_SIN_FIX_2PI3     0x55555555
-
 #define NSEC_PER_SEC    (1000000000) /* The number of nsecs per sec. */
 
 
@@ -256,33 +242,50 @@ int sin_commutator(int duty){
 	#define DEGREE_300  	3579139413
 	uint32_t j,pos;
 	int32_t sin;
-	pos=rps.index_dist*4294967;
+	pos=rps.index_dist;
+	int32_t pwm;
+	/*aby prictene uhly mohla byt kulata cisla, musime index posunout*/
+	pos+=38;
+	/*use it as cyclic 32-bit logic*/
+	pos*=4294967;
 	if (duty>=0){ 	/*clockwise rotation*/
 		/* 1st phase */
 		sin = pxmc_sin_fixed_inline(pos+DEGREE_240,10); /*10+1 bity*/ /*-120*/
-                rps.pwm1=mult_cap(sin, duty);
+                pwm=sin*duty/1024;
+                if (pwm<0) pwm=0;
+		rps.pwm1=(uint16_t)pwm;
 
                 /* 2nd phase */
                 sin = pxmc_sin_fixed_inline(pos+DEGREE_120,10); /*10+1 bity*/ /*-240*/
-                rps.pwm2=mult_cap(sin, duty);
+                pwm=sin*duty/1024;
+                if (pwm<0) pwm=0;
+                rps.pwm2=(uint16_t)pwm;
 
                 /* 3rd phase */
                 sin = pxmc_sin_fixed_inline(pos,10); /*10+1 bity*/
-                rps.pwm3=mult_cap(sin, duty);
+                pwm=sin*duty/1024;
+                if (pwm<0) pwm=0;
+                rps.pwm3=(uint16_t)pwm;
         }else{
         	duty=-duty;
 
 		/* 1st phase */
 		sin = pxmc_sin_fixed_inline(pos+DEGREE_60,10); /*10+1 bity*/ /*-300*/
-                rps.pwm1=mult_cap(sin, duty);
+		pwm=sin*duty/1024;
+		if (pwm<0) pwm=0;
+		rps.pwm1=(uint16_t)pwm;
 
                 /* 2nd phase */
                 sin = pxmc_sin_fixed_inline(pos+DEGREE_300,10); /*10+1 bity*/ /*-60-*/
-                rps.pwm2=mult_cap(sin, duty);
+                pwm=sin*duty/1024;
+                if (pwm<0) pwm=0;
+                rps.pwm2=(uint16_t)pwm;
 
                 /* 3rd phase */
                 sin = pxmc_sin_fixed_inline(pos+DEGREE_180,10); /*10+1 bity*/ /*-180*/
-                rps.pwm3=mult_cap(sin, duty);
+                pwm=sin*duty/1024;
+                if (pwm<0) pwm=0;
+                rps.pwm3=(uint16_t)pwm;
         }
         return 0;
 }