98 lines
3.4 KiB
C
98 lines
3.4 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 _CLARKE_H_
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#define _CLARKE_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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* \defgroup TRANSFORMS_API_MODULE APIs for Transformation Algorithms
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* \ingroup RTLIBS_API
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*
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* Here is the list of motor transformation function APIs
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* @{
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*
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* \file clarke.h
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* \brief Contains abc to alpha/beta/0 transform 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 ONE_OVER_THREE 0.33333333333333f
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#define ONE_OVER_SQRT_THREE 0.57735026918963f
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//! \brief Runs the Clarke transform module for three inputs
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//!
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//! \param[in] inIa Input current value in a-axis
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//! \param[in] inIb Input current value in b-axis
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//! \param[in] inIc Input current value in c-axis
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//! \param[in] pIalpha Output pointer to current value in alpha-axis
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//! \param[in] pIbeta Output pointer to current value in beta-axis
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//!
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static __attribute__((always_inline))
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void CLARKE_run_threeInput(const float32_t inIa, const float32_t inIb, const float32_t inIc, \
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float32_t* pIalpha, float32_t* pIbeta)
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{
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*pIalpha = ((2.0f * inIa) - (inIb + inIc)) * ONE_OVER_THREE;
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*pIbeta = (inIb - inIc) * ONE_OVER_SQRT_THREE;
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}
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//! \brief Runs the Clarke transform module for two inputs
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//!
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//! \param[in] inIa Input current value in a-axis
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//! \param[in] inIb Input current value in b-axis
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//! \param[in] pIalpha Output pointer to current value in alpha-axis
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//! \param[in] pIbeta Output pointer to current value in beta-axis
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//!
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static __attribute__((always_inline))
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void CLARKE_run_twoInput(const float32_t inIa, const float32_t inIb, \
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float32_t* pIalpha, float32_t* pIbeta)
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{
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*pIalpha = inIa;
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*pIbeta = (inIa + (2.0f * inIb)) * ONE_OVER_SQRT_THREE;
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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 // _CLARKE_H_
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