From: Martin Prudek <prudemar@fel.cvut.cz>
Date: Wed, 20 May 2015 16:19:41 +0000 (+0200)
Subject: Commutators moved to separate file.
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/commitdiff_plain/f747a68dd84aab260a8553829ae5da1ee4bf321a

Commutators moved to separate file.
---

diff --git a/pmsm-control/test_sw/Makefile b/pmsm-control/test_sw/Makefile
index d2e19af..24d2ea5 100644
--- a/pmsm-control/test_sw/Makefile
+++ b/pmsm-control/test_sw/Makefile
@@ -49,5 +49,5 @@ blikej: howto_gpio.o rpi_hw.o
 spi: rp_spi.o
 	gcc -o spi rp_spi.c
 #pro rpi
-pmsm: main_pmsm.o rp_spi.o rpi_hw.o misc.o pxmc_sin_fixtab.o cmd_proc.o controllers.o
-	gcc -o pmsm_controll main_pmsm.o rp_spi.o rpi_hw.o  misc.o pxmc_sin_fixtab.o cmd_proc.o controllers.o -lpthread -lrt
+pmsm: main_pmsm.o rp_spi.o rpi_hw.o misc.o pxmc_sin_fixtab.o cmd_proc.o controllers.o commutators.o
+	gcc -o pmsm_controll main_pmsm.o rp_spi.o rpi_hw.o  misc.o pxmc_sin_fixtab.o cmd_proc.o controllers.o commutators.o -lpthread -lrt
diff --git a/pmsm-control/test_sw/commutators.c b/pmsm-control/test_sw/commutators.c
new file mode 100644
index 0000000..1a63724
--- /dev/null
+++ b/pmsm-control/test_sw/commutators.c
@@ -0,0 +1,297 @@
+/**
+ * \brief
+ * Implementation of commutators and transformations.
+ */
+
+#include "commutators.h"
+#include "pxmc_sin_fixed.h"	/*sinus function*/
+
+/*
+ * \brief
+ * Computes minimum value of three numbers.
+ * Input values must be in range <-2^28;2^28>.
+ */
+static 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
+ * Transformace pro uhel pocitany po smeru hodinovych rucicek
+ */
+static 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;
+}
+
+/**
+ * \brief
+ * Zpetna Clarkova transformace
+ */
+static void alphabeta2pwm3(int32_t * ia, int32_t * ib, int32_t *ic,int32_t alpha, int32_t beta){
+	*ia=alpha;
+	*ib=-alpha/2+beta*887/1024;
+	*ic=-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
+ */
+static 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;
+}
+
+/**
+ * \brief
+ * Simple vector-control commutator without delta-transformation.
+ * Nearly same as sin_commuatator.
+ */
+void inv_trans_comm(struct rpi_state* this){
+	uint32_t pos;
+	int32_t sin, cos;
+	int32_t alpha, beta;
+	int32_t pwma,pwmb,pwmc;
+	pos=this->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,this->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;
+
+	/*debugovaci vystupy - pouze vypisy hodnot*/
+	this->t_pwm1=(uint16_t)pwma;
+	this->t_pwm3=(uint16_t)pwmb;
+	this->t_pwm2=(uint16_t)pwmc;
+}
+
+/*
+ * \brief
+ * Robust vector-control commuator with Delta-transformation.
+ */
+void inv_trans_comm_2(struct rpi_state* this){
+	uint32_t pos;
+	int32_t sin, cos;
+	int32_t alpha, beta;
+	int32_t ua,ub,uc;
+	int32_t ia,ib,ic;
+	int32_t u1,u2,u3;
+	pos=this->index_dist;
+
+	pos+=this->alpha_offset; /*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);
+
+	dq2alphabeta(&alpha, &beta,0,this->duty, sin, cos);
+	alpha>>=16;
+	beta>>=16;
+
+	alphabeta2pwm3(&ia,&ib, &ic,alpha,beta);
+
+	ua=ia;
+	ub=ib;
+	uc=ic;
+
+	transDelta(&u1,&u2, &u3,ub,uc);
+
+	this->pwm1=(uint16_t)u1;
+	this->pwm2=(uint16_t)u2;
+	this->pwm3=(uint16_t)u3;
+}
+
+/**
+ * \brief
+ * Simple voltage commutation, takes use of sin finction.
+ */
+void sin_commutator(struct rpi_state* this){
+	#define DEGREE_60  	 715827883
+	#define DEGREE_120  	1431655765
+	#define DEGREE_180  	2147483648
+	#define DEGREE_240  	2863311531
+	#define DEGREE_300  	3579139413
+	uint32_t j,pos;
+	int32_t sin;
+	int32_t pwm;
+	int duty=this->duty;
+	pos=this->index_dist;
+	/*aby prictene uhly mohla byt kulata cisla, musime index posunout*/
+	pos+=38;
+	/*use it as cyclic 32-bit logic*/
+	pos*=4294967;
+	if (this->duty>=0){ 	/*clockwise rotation*/
+		/* 1st phase */
+		sin = pxmc_sin_fixed_inline(pos+DEGREE_240,10); /*10+1 bity*/ /*-120*/
+                pwm=sin*duty/1024;
+                if (pwm<0) pwm=0;
+                this->pwm1=(uint16_t)pwm;
+
+                /* 2nd phase */
+                sin = pxmc_sin_fixed_inline(pos+DEGREE_120,10); /*10+1 bity*/ /*-240*/
+                pwm=sin*duty/1024;
+                if (pwm<0) pwm=0;
+                this->pwm2=(uint16_t)pwm;
+
+                /* 3rd phase */
+                sin = pxmc_sin_fixed_inline(pos,10); /*10+1 bity*/
+                pwm=sin*duty/1024;
+                if (pwm<0) pwm=0;
+                this->pwm3=(uint16_t)pwm;
+        }else{
+        	duty=-duty;
+
+		/* 1st phase */
+		sin = pxmc_sin_fixed_inline(pos+DEGREE_60,10); /*10+1 bity*/ /*-300*/
+		pwm=sin*duty/1024;
+		if (pwm<0) pwm=0;
+		this->pwm1=(uint16_t)pwm;
+
+                /* 2nd phase */
+                sin = pxmc_sin_fixed_inline(pos+DEGREE_300,10); /*10+1 bity*/ /*-60-*/
+                pwm=sin*duty/1024;
+                if (pwm<0) pwm=0;
+                this->pwm2=(uint16_t)pwm;
+
+                /* 3rd phase */
+                sin = pxmc_sin_fixed_inline(pos+DEGREE_180,10); /*10+1 bity*/ /*-180*/
+                pwm=sin*duty/1024;
+                if (pwm<0) pwm=0;
+                this->pwm3=(uint16_t)pwm;
+        }
+}
+
+/*
+ * \brief
+ * Test function to be placed in controll loop.
+ * Switches PWM's at point where they produce same force.
+ * This points are found thanks to IRC position,
+ */
+void simple_ind_dist_commutator(struct rpi_state* this){
+	int duty=this->duty;
+	uint16_t index_dist=this->index_dist;
+	if (duty>=0){ /* clockwise - so that position increase */
+		/* pwm3 */
+		if ((index_dist>=45 && index_dist<=373) ||
+		(index_dist>=1048 && index_dist<=1377)){
+			this->pwm1=0;
+			this->pwm2=0;
+			this->pwm3=duty;
+			/* pwm1 */
+		}else if ((index_dist>=373 && index_dist<=711) ||
+		(index_dist>=1377 && index_dist<=1711)){
+			this->pwm1=duty;
+			this->pwm2=0;
+			this->pwm3=0;
+			/* pwm2 */
+		}else if ((index_dist>=0 && index_dist<=45) ||
+		(index_dist>=711 && index_dist<=1048) ||
+		(index_dist>=1711 && index_dist<=1999)){
+			this->pwm1=0;
+			this->pwm2=duty;
+			this->pwm3=0;
+		}
+	}else{	/*counter-clockwise - position decrease */
+		/* pwm3 */
+		if ((index_dist>=544 && index_dist<=881) ||
+		(index_dist>=1544 && index_dist<=1878)){
+			this->pwm1=0;
+			this->pwm2=0;
+			this->pwm3=-duty;
+			/* pwm1 */
+		}else if ((index_dist>=0 && index_dist<=211) ||
+		(index_dist>=881 && index_dist<=1210) ||
+		(index_dist>=1878 && index_dist<=1999)){
+			this->pwm1=-duty;
+			this->pwm2=0;
+			this->pwm3=0;
+			/* pwm2 */
+		}else if ((index_dist>=211 && index_dist<=544) ||
+		(index_dist>=1210 && index_dist<=1544)){
+			this->pwm1=0;
+			this->pwm2=-duty;
+			this->pwm3=0;
+		}
+	}
+}
+
+/*
+ * \brief
+ * Test function to be placed in controll loop.
+ * Switches PWM's at point where they produce same force
+ */
+void simple_hall_commutator(struct rpi_state* this){
+	int duty=this->duty;
+	int8_t hal1=this->spi_dat->hal1;
+	int8_t hal2=this->spi_dat->hal2;
+	int8_t hal3=this->spi_dat->hal3;
+	if (duty>=0){ /* clockwise - so that position increase */
+		/* pwm3 */
+		if (hal2 && !hal3){
+			this->pwm1=0;
+			this->pwm2=0;
+			this->pwm3=duty;
+			/* pwm1 */
+		}else if (hal1 && !hal2){
+			this->pwm1=duty;
+			this->pwm2=0;
+			this->pwm3=0;
+			/* pwm2 */
+		}else if (!hal1 && hal3){
+			this->pwm1=0;
+			this->pwm2=duty;
+			this->pwm3=0;
+		}
+	}else{	/*counter-clockwise - position decrease */
+		/* pwm3 */
+		if (!hal2 && hal3){
+			this->pwm1=0;
+			this->pwm2=0;
+			this->pwm3=-duty;
+			/* pwm1 */
+		}else if (!hal1 && hal2){
+			this->pwm1=-duty;
+			this->pwm2=0;
+			this->pwm3=0;
+			/* pwm2 */
+		}else if (hal1 && !hal3){
+			this->pwm1=0;
+			this->pwm2=-duty;
+			this->pwm3=0;
+		}
+	}
+}
diff --git a/pmsm-control/test_sw/commutators.h b/pmsm-control/test_sw/commutators.h
new file mode 100644
index 0000000..59905d3
--- /dev/null
+++ b/pmsm-control/test_sw/commutators.h
@@ -0,0 +1,47 @@
+/**
+ * \brief
+ * Duty cycle commutation.
+ * \author Martin Prudek
+ * \file commutators.h
+ *
+ */
+#ifndef COMMUTATORS
+#define COMMUTATORS
+
+#include "pmsm_state.h"
+#include "rp_spi.h"
+
+/**
+ * \brief
+ * Simple vector-control commutator without delta-transformation.
+ * Nearly same as sin_commuatator.
+ */
+void inv_trans_comm(struct rpi_state*);
+
+/*
+ * \brief
+ * Robust vector-control commuator with Delta-transformation.
+ */
+void inv_trans_comm_2(struct rpi_state*);
+
+/**
+ * \brief
+ * Simple voltage commutation, takes use of sin function.
+ */
+void sin_commutator(struct rpi_state*);
+
+/*
+ * \brief
+ * Switches PWM's at point where they produce same force.
+ * This points are found from IRC position,
+ */
+void simple_ind_dist_commutator(struct rpi_state*);
+
+/*
+ * \brief
+ * Switches PWM's at point where they produce same force
+ */
+void simple_hall_commutator(struct rpi_state*);
+
+
+#endif /*COMMUTATORS*/
diff --git a/pmsm-control/test_sw/main_pmsm.c b/pmsm-control/test_sw/main_pmsm.c
index 84b1cdd..a9c6329 100644
--- a/pmsm-control/test_sw/main_pmsm.c
+++ b/pmsm-control/test_sw/main_pmsm.c
@@ -21,10 +21,10 @@
 #include "rpin.h"	/*gpclk*/
 #include "rp_spi.h"	/*spi*/
 #include "misc.h" 	/*structure for priorities*/
-#include "pxmc_sin_fixed.h"	/*to test sin commutation */
 #include "pmsm_state.h"
 #include "cmd_proc.h"
 #include "controllers.h"
+#include "commutators.h"
 
 
 
@@ -81,24 +81,7 @@ int clk_init()
 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
@@ -248,99 +231,8 @@ void substractOffset(struct rpi_in* data, struct rpi_in* offset){
 	data->pozice=data->pozice_raw-offset->pozice_raw;
 	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 * ia, int32_t * ib, int32_t *ic,int32_t alpha, int32_t beta){
-	*ia=alpha;
-	*ib=-alpha/2+beta*887/1024;
-	*ic=-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;
-}
-
-void inv_trans_comm_2(int duty){
-	uint32_t pos;
-	int32_t sin, cos;
-	int32_t alpha, beta;
-	int32_t ua,ub,uc;
-	int32_t ia,ib,ic;
-	int32_t u1,u2,u3;
-	pos=rps.index_dist;
-
-	pos+=rps.alpha_offset; /*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);
 
-	dq2alphabeta(&alpha, &beta,0,duty, sin, cos);
-	alpha>>=16;
-	beta>>=16;
-
-	alphabeta2pwm3(&ia,&ib, &ic,alpha,beta);
-
-	ua=ia;
-	ub=ib;
-	uc=ic;
-
-	transDelta(&u1,&u2, &u3,ub,uc);
-
-	rps.pwm1=(uint16_t)u1;
-	rps.pwm2=(uint16_t)u2;
-	rps.pwm3=(uint16_t)u3;
-}
 
 /**
  * Funkce pravidelne vypisuje posledni zjistenou pozici lokalniho motoru
@@ -367,156 +259,7 @@ inline uint16_t mult_cap(int32_t s,int d){
 	return res;
 }
 
-inline
-int sin_commutator(int duty){
-	#define DEGREE_60  	 715827883
-	#define DEGREE_120  	1431655765
-	#define DEGREE_180  	2147483648
-	#define DEGREE_240  	2863311531
-	#define DEGREE_300  	3579139413
-	uint32_t j,pos;
-	int32_t sin;
-	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*/
-                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*/
-                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*/
-                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*/
-		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-*/
-                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*/
-                pwm=sin*duty/1024;
-                if (pwm<0) pwm=0;
-                rps.pwm3=(uint16_t)pwm;
-        }
-        return 0;
-}
-/*
- * \brief
- * Test function to be placed in controll loop.
- * Switches PWM's at point where they produce same force.
- * This points are found thanks to IRC position,
- */
-inline
-void simple_ind_dist_commutator(int duty){
-	if (duty>=0){ /* clockwise - so that position increase */
-		/* pwm3 */
-		if ((rps.index_dist>=45 && rps.index_dist<=373) ||
-		(rps.index_dist>=1048 && rps.index_dist<=1377)){
-			rps.pwm1=0;
-			rps.pwm2=0;
-			rps.pwm3=duty;
-			/* pwm1 */
-		}else if ((rps.index_dist>=373 && rps.index_dist<=711) ||
-		(rps.index_dist>=1377 && rps.index_dist<=1711)){
-			rps.pwm1=duty;
-			rps.pwm2=0;
-			rps.pwm3=0;
-			/* pwm2 */
-		}else if ((rps.index_dist>=0 && rps.index_dist<=45) ||
-		(rps.index_dist>=711 && rps.index_dist<=1048) ||
-		(rps.index_dist>=1711 && rps.index_dist<=1999)){
-			rps.pwm1=0;
-			rps.pwm2=duty;
-			rps.pwm3=0;
-		}
-	}else{	/*counter-clockwise - position decrease */
-		/* pwm3 */
-		if ((rps.index_dist>=544 && rps.index_dist<=881) ||
-		(rps.index_dist>=1544 && rps.index_dist<=1878)){
-			rps.pwm1=0;
-			rps.pwm2=0;
-			rps.pwm3=-duty;
-			/* pwm1 */
-		}else if ((rps.index_dist>=0 && rps.index_dist<=211) ||
-		(rps.index_dist>=881 && rps.index_dist<=1210) ||
-		(rps.index_dist>=1878 && rps.index_dist<=1999)){
-			rps.pwm1=-duty;
-			rps.pwm2=0;
-			rps.pwm3=0;
-			/* pwm2 */
-		}else if ((rps.index_dist>=211 && rps.index_dist<=544) ||
-		(rps.index_dist>=1210 && rps.index_dist<=1544)){
-			rps.pwm1=0;
-			rps.pwm2=-duty;
-			rps.pwm3=0;
-		}
-	}
-}
-/*
- * \brief
- * Test function to be placed in controll loop.
- * Switches PWM's at point where they produce same force
- */
-inline void simple_hall_commutator(int duty){
-	if (duty>=0){ /* clockwise - so that position increase */
-		/* pwm3 */
-		if (data.hal2 && !data.hal3){
-			rps.pwm1=0;
-			rps.pwm2=0;
-			rps.pwm3=duty;
-			/* pwm1 */
-		}else if (data.hal1 && !data.hal2){
-			rps.pwm1=duty;
-			rps.pwm2=0;
-			rps.pwm3=0;
-			/* pwm2 */
-		}else if (!data.hal1 && data.hal3){
-			rps.pwm1=0;
-			rps.pwm2=duty;
-			rps.pwm3=0;
-		}
-	}else{	/*counter-clockwise - position decrease */
-		/* pwm3 */
-		if (!data.hal2 && data.hal3){
-			rps.pwm1=0;
-			rps.pwm2=0;
-			rps.pwm3=-duty;
-			/* pwm1 */
-		}else if (!data.hal1 && data.hal2){
-			rps.pwm1=-duty;
-			rps.pwm2=0;
-			rps.pwm3=0;
-			/* pwm2 */
-		}else if (data.hal1 && !data.hal3){
-			rps.pwm1=0;
-			rps.pwm2=-duty;
-			rps.pwm3=0;
-		}
-	}
-}
+
 /**
  * \brief
  * Computation of distance to index.
@@ -645,10 +388,10 @@ void * read_data(void* param){
 			if (rps.index_ok && rps.commutate){
 				/*simple_ind_dist_commutator(rps.duty);*/
 				/*sin_commutator(rps.duty);*/
-				inv_trans_comm(rps.duty);
-				inv_trans_comm_2(rps.duty);
+				inv_trans_comm(&rps);
+				inv_trans_comm_2(&rps);
 			}else if(!rps.index_ok && rps.commutate){
-				simple_hall_commutator(rps.duty);
+				simple_hall_commutator(&rps);
 			}
 
 			/*zalogujeme hodnoty*/