256 lines
7.6 KiB
C
256 lines
7.6 KiB
C
/*
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* Copyright (C) 2023 Texas Instruments Incorporated
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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*
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* Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the
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* distribution.
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*
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* Neither the name of Texas Instruments Incorporated nor the names of
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* its contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef _SVGEN_H_
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#define _SVGEN_H_
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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/**
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* \addtogroup TRANSFORMS_API_MODULE APIs for motor transformations
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* \@{
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*
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* \file svgen.h
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* \brief Contains svpwm generation implementation
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*/
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#include <stdint.h>
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typedef float float32_t;
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#define SQRT_THREE_OVER_TWO 0.8660254037844f
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#define TWO_OVER_SQRT_THREE 1.15470053837926f
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//! \brief Implements a SVM that subtracts common-mode term to achieve SV modulation.
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//! \param[in] oneOverDcBUS_invV The inverse dc bus voltage scale factor, used to convert inputs to pu, use 1 if units are already in pu.
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//! \param[in] inValpha Input voltage value in alpha-axis, V or pu
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//! \param[in] inVbeta Input voltage value in beta-axis, V or pu
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//! \param[in] pVa Output pointer to voltage value in a-axis, pu
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//! \param[in] pVb Output pointer to voltage value in b-axis, pu
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//! \param[in] pVc Output pointer to voltage value in c-axis, pu
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//!
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static __attribute__((always_inline))
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void SVGEN_runCom(const float32_t oneOverDcBus_invV, const float32_t inValpha, const float32_t inVbeta, \
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float32_t* pVa, float32_t* pVb, float32_t* pVc)
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{
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float32_t vmax_pu, vmin_pu, vcom_pu = 0;
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float32_t va_pu = inValpha * oneOverDcBus_invV;
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float32_t vbeta_pu = inVbeta * oneOverDcBus_invV;
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float32_t va_tmp = -0.5f * va_pu;
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float32_t vb_tmp = SQRT_THREE_OVER_TWO * vbeta_pu;
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//
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// -0.5*Valpha + sqrt(3)/2 * Vbeta
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//
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float32_t vb_pu = va_tmp + vb_tmp;
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//
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// -0.5*Valpha - sqrt(3)/2 * Vbeta
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//
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float32_t vc_pu = va_tmp - vb_tmp;
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//
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// Find Vmax and Vmin
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//
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if(va_pu > vb_pu)
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{
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vmax_pu = va_pu;
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vmin_pu = vb_pu;
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}
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else
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{
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vmax_pu = vb_pu;
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vmin_pu = va_pu;
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}
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if(vc_pu > vmax_pu)
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{
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vmax_pu = vc_pu;
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}
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else if(vc_pu < vmin_pu)
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{
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vmin_pu = vc_pu;
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}
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//
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// Compute Vcom = 0.5*(Vmax+Vmin)
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//
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vcom_pu = 0.5f * (vmax_pu + vmin_pu);
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//
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// Subtract common-mode term to achieve SV modulation
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//
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*pVa = (va_pu - vcom_pu);
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*pVb = (vb_pu - vcom_pu);
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*pVc = (vc_pu - vcom_pu);
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}
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//! \brief Implements a DPWM that uses maximum modulation.
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//! \param[in] oneOverDcBUS_invV The inverse dc bus voltage scale factor, used to convert inputs to pu, use 1 if units are already in pu.
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//! \param[in] inValpha Input voltage value in alpha-axis, V or pu
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//! \param[in] inVbeta Input voltage value in beta-axis, V or pu
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//! \param[in] pVa Output pointer to voltage value in a-axis, pu
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//! \param[in] pVb Output pointer to voltage value in b-axis, pu
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//! \param[in] pVc Output pointer to voltage value in c-axis, pu
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//!
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static __attribute__((always_inline))
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void SVGEN_runMax(const float32_t oneOverDcBus_invV, const float32_t inValpha, const float32_t inVbeta, \
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float32_t* pVa, float32_t* pVb, float32_t* pVc)
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{
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float32_t vmax_pu = 0;
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float32_t va_pu = inValpha * oneOverDcBus_invV;
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float32_t vbeta_pu = inVbeta * oneOverDcBus_invV;
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float32_t va_tmp = -0.5f * va_pu;
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float32_t vb_tmp = SQRT_THREE_OVER_TWO * vbeta_pu;
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//
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// -0.5*Valpha + sqrt(3)/2 * Vbeta
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//
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float32_t vb_pu = va_tmp + vb_tmp;
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//
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// -0.5*Valpha - sqrt(3)/2 * Vbeta
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//
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float32_t vc_pu = va_tmp - vb_tmp;
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//
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// Find Vmax
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//
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if(va_pu > vb_pu)
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{
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vmax_pu = va_pu;
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}
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else
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{
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vmax_pu = vb_pu;
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}
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if(vc_pu > vmax_pu)
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{
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vmax_pu = vc_pu;
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}
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//
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// DPWM maximum modulation
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//
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*pVa = (va_pu - vmax_pu) + 0.5f;
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*pVb = (vb_pu - vmax_pu) + 0.5f;
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*pVc = (vc_pu - vmax_pu) + 0.5f;
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}
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//! \brief Implements a DPWM that uses minimum modulation.
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//! \param[in] oneOverDcBUS_invV The inverse dc bus voltage scale factor, used to convert inputs to pu, use 1 if units are already in pu.
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//! \param[in] inValpha Input voltage value in alpha-axis, V or pu
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//! \param[in] inVbeta Input voltage value in beta-axis, V or pu
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//! \param[in] pVa Output pointer to voltage value in a-axis, pu
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//! \param[in] pVb Output pointer to voltage value in b-axis, pu
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//! \param[in] pVc Output pointer to voltage value in c-axis, pu
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//!
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static __attribute__((always_inline))
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void SVGEN_runMin(const float32_t oneOverDcBus_invV, const float32_t inValpha, const float32_t inVbeta, \
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float32_t* pVa, float32_t* pVb, float32_t* pVc)
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{
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float32_t vmin_pu = 0;
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float32_t va_pu = inValpha * oneOverDcBus_invV;
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float32_t vbeta_pu = inVbeta * oneOverDcBus_invV;
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float32_t va_tmp = -0.5f * va_pu;
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float32_t vb_tmp = SQRT_THREE_OVER_TWO * vbeta_pu;
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//
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// -0.5*Valpha + sqrt(3)/2 * Vbeta
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//
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float32_t vb_pu = va_tmp + vb_tmp;
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//
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// -0.5*Valpha - sqrt(3)/2 * Vbeta
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//
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float32_t vc_pu = va_tmp - vb_tmp;
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//
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// Find Vmin
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//
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if(va_pu < vb_pu)
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{
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vmin_pu = va_pu;
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}
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else
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{
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vmin_pu = vb_pu;
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}
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if(vc_pu < vmin_pu)
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{
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vmin_pu = vc_pu;
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}
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//
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// DPWM minimum modulation
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//
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*pVa = (va_pu - vmin_pu) - 0.5f;
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*pVb = (vb_pu - vmin_pu) - 0.5f;
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*pVc = (vc_pu - vmin_pu) - 0.5f;
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}
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//! \brief Saturates the SVM variable base on modulation limits
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//! \param[in] Umax Maximum modulation limit
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//! \param[in] Umin Minimum modulation limit
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//! \param[in] pVa pointer to voltage value in a-axis
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//! \param[in] pVb pointer to voltage value in b-axis
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//! \param[in] pVc pointer to voltage value in c-axis
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//!
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static __attribute__((always_inline))
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void SVGEN_clamp(const float32_t Umax, const float32_t Umin, \
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float32_t* pVa, float32_t* pVb, float32_t* pVc)
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{
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*pVa = (*pVa > Umax) ? Umax : (*pVa < Umin) ? Umin : *pVa;
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*pVb = (*pVb > Umax) ? Umax : (*pVb < Umin) ? Umin : *pVb;
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*pVc = (*pVc > Umax) ? Umax : (*pVc < Umin) ? Umin : *pVc;
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}
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/** @} */
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#ifdef __cplusplus
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}
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#endif
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#endif // _SVGEN_H_
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