From 2fb1fa82b48a8f915fce254bfe887b891f476b68 Mon Sep 17 00:00:00 2001
From: Martin Prudek <prudemar@fel.cvut.cz>
Date: Fri, 15 May 2015 15:28:43 +0200
Subject: [PATCH] Changes in natations were made to keep consistency with
 bachelor thesis.

---
 pmsm-control/test_sw/main_pmsm.c | 52 +++++++++++++++++---------------
 1 file changed, 27 insertions(+), 25 deletions(-)

diff --git a/pmsm-control/test_sw/main_pmsm.c b/pmsm-control/test_sw/main_pmsm.c
index 7f66662..4991443 100644
--- 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
  */
-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*/
-	u1=ua+ub;
-	u2=ua;
-	u3=0;
+	*u1=uc;
+	*u2=uc+ub;
+	*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;
+	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;
@@ -176,24 +170,32 @@ 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;
+	int32_t ua,ub,uc;
+	int32_t ia,ib,ic;
+	int32_t u1,u2,u3;
 	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);
+
 	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){
 
-- 
2.39.2