BoooomFOC_STSPIN32G4_EVB/BoooomCTL/Controller/SVPWM/SVPWM.c

//
// Created by ZK on 2023/3/16.
//

#include "SVPWM.h"


#define SVM 1

extern uint16_t cycleNum;

#define SQRT3 1.732050808f
#define LIMIT (float32_t)(0.9f / SQRT3)
#define LIMIT_UDC 16.0f
#define TS 3300
#define SQRT3_MULT_TS (float32_t)((float32_t)TS * SQRT3)

uint8_t sectionMap[7] = {0, 2, 6, 1, 4, 3, 5};
float32_t uAlpha, uBeta;
float32_t ud, uq;
float channel1, channel2, channel3, udc = 12;
float uAlpha, uBeta;
float32_t iAlpha, iBeta;
float32_t id, iq;


inline void clarke_transform(float Ia, float Ib, float Ic, float *Ialpha, float *Ibeta) {
    *Ialpha = Ia;
    *Ibeta = (Ib - Ic) * ONE_BY_SQRT3;
}

inline void park_transform(float Ialpha, float Ibeta, float Theta, float *Id, float *Iq) {
    float s = sinf(Theta / 57.29577951326093f);
    float c = cosf(Theta / 57.29577951326093f);
    *Id = Ialpha * c + Ibeta * s;
    *Iq = -Ialpha * s + Ibeta * c;
}


inline void inversePark(float ud, float uq, float Theta, float *uAlpha, float *uBeta) {
    float s = sinf(Theta / 57.29577951326093f);
    float c = cosf(Theta / 57.29577951326093f);
    *uAlpha = ud * c - uq * s;
    *uBeta = ud * s + uq * c;
}


inline int SVPWM(float uAlpha, float uBeta, float *tA, float *tB, float *tC) {
    int Sextant;

    if (uBeta >= 0.0f) {
        if (uAlpha >= 0.0f) {
            //quadrant I
            if (ONE_BY_SQRT3 * uBeta > uAlpha)
                Sextant = 2; //sextant v2-v3
            else
                Sextant = 1; //sextant v1-v2

        } else {
            //quadrant II
            if (-ONE_BY_SQRT3 * uBeta > uAlpha)
                Sextant = 3; //sextant v3-v4
            else
                Sextant = 2; //sextant v2-v3
        }
    } else {
        if (uAlpha >= 0.0f) {
            //quadrant IV
            if (-ONE_BY_SQRT3 * uBeta > uAlpha)
                Sextant = 5; //sextant v5-v6
            else
                Sextant = 6; //sextant v6-v1
        } else {
            //quadrant III
            if (ONE_BY_SQRT3 * uBeta > uAlpha)
                Sextant = 4; //sextant v4-v5
            else
                Sextant = 5; //sextant v5-v6
        }
    }

    switch (Sextant) {
        // sextant v1-v2
        case 1: {
            // Vector on-times
            float t1 = uAlpha - ONE_BY_SQRT3 * uBeta;
            float t2 = TWO_BY_SQRT3 * uBeta;

            // PWM timings
            *tA = (1.0f - t1 - t2) * 0.5f;
            *tB = *tA + t1;
            *tC = *tB + t2;
        }
            break;

            // sextant v2-v3
        case 2: {
            // Vector on-times
            float t2 = uAlpha + ONE_BY_SQRT3 * uBeta;
            float t3 = -uAlpha + ONE_BY_SQRT3 * uBeta;

            // PWM timings
            *tB = (1.0f - t2 - t3) * 0.5f;
            *tA = *tB + t3;
            *tC = *tA + t2;
        }
            break;

            // sextant v3-v4
        case 3: {
            // Vector on-times
            float t3 = TWO_BY_SQRT3 * uBeta;
            float t4 = -uAlpha - ONE_BY_SQRT3 * uBeta;

            // PWM timings
            *tB = (1.0f - t3 - t4) * 0.5f;
            *tC = *tB + t3;
            *tA = *tC + t4;
        }
            break;

            // sextant v4-v5
        case 4: {
            // Vector on-times
            float t4 = -uAlpha + ONE_BY_SQRT3 * uBeta;
            float t5 = -TWO_BY_SQRT3 * uBeta;

            // PWM timings
            *tC = (1.0f - t4 - t5) * 0.5f;
            *tB = *tC + t5;
            *tA = *tB + t4;
        }
            break;

            // sextant v5-v6
        case 5: {
            // Vector on-times
            float t5 = -uAlpha - ONE_BY_SQRT3 * uBeta;
            float t6 = uAlpha - ONE_BY_SQRT3 * uBeta;

            // PWM timings
            *tC = (1.0f - t5 - t6) * 0.5f;
            *tA = *tC + t5;
            *tB = *tA + t6;
        }
            break;

            // sextant v6-v1
        case 6: {
            // Vector on-times
            float t6 = -TWO_BY_SQRT3 * uBeta;
            float t1 = uAlpha + ONE_BY_SQRT3 * uBeta;

            // PWM timings
            *tA = (1.0f - t6 - t1) * 0.5f;
            *tC = *tA + t1;
            *tB = *tC + t6;
        }
            break;
    }

    // if any of the results becomes NaN, result_valid will evaluate to false
    int result_valid = *tA >= 0.0f && *tA <= 1.0f && *tB >= 0.0f && *tB <= 1.0f && *tC >= 0.0f && *tC <= 1.0f;

    return result_valid ? 0 : -1;

//    TIM1->CCR1 = channelA;
//    TIM1->CCR2 = channelB;
//    TIM1->CCR3 = channelC;
}