From 0bed16505e1c8bc5de08c08ff05c36607130f218 Mon Sep 17 00:00:00 2001
From: Martin Prudek <prudemar@fel.cvut.cz>
Date: Thu, 14 May 2015 21:52:10 +0200
Subject: [PATCH] Added computation of of phase voltages for delta motor
 connection. There are now no more motor vibrations.

---
 pmsm-control/test_sw/main_pmsm.c | 76 ++++++++++++++++++++++++++++++--
 1 file changed, 73 insertions(+), 3 deletions(-)

diff --git a/pmsm-control/test_sw/main_pmsm.c b/pmsm-control/test_sw/main_pmsm.c
index 4c51f51..7f66662 100644
--- a/pmsm-control/test_sw/main_pmsm.c
+++ b/pmsm-control/test_sw/main_pmsm.c
@@ -69,6 +69,24 @@ 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 Signal handler pro Ctrl+C
@@ -100,6 +118,34 @@ void alphabeta2pwm3(int32_t * pwma, int32_t * pwmb, int32_t *pwmc,int32_t alpha,
 	*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;
@@ -121,11 +167,34 @@ void inv_trans_comm(int duty){
 	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:
@@ -478,6 +547,7 @@ void * read_data(void* param){
 				/*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);
 			}
-- 
2.39.2