变更

BoooomCTL/Controller/SVPWM/SVPWM.c

@@ -0,0 +1,128 @@
+//
+// Created by ZK on 2023/3/16.
+//
+
+#include "SVPWM.h"
+
+
+inline int svpwm(float alpha, float beta, float *tA, float *tB, float *tC) {
+    int Sextant;
+    if (beta >= 0.0f) {
+        if (alpha >= 0.0f) {
+            //quadrant I
+            if (ONE_BY_SQRT3 * beta > alpha)
+                Sextant = 2; //sextant v2-v3
+            else
+                Sextant = 1; //sextant v1-v2
+
+        } else {
+            //quadrant II
+            if (-ONE_BY_SQRT3 * beta > alpha)
+                Sextant = 3; //sextant v3-v4
+            else
+                Sextant = 2; //sextant v2-v3
+        }
+    } else {
+        if (alpha >= 0.0f) {
+            //quadrant IV
+            if (-ONE_BY_SQRT3 * beta > alpha)
+                Sextant = 5; //sextant v5-v6
+            else
+                Sextant = 6; //sextant v6-v1
+        } else {
+            //quadrant III
+            if (ONE_BY_SQRT3 * beta > alpha)
+                Sextant = 4; //sextant v4-v5
+            else
+                Sextant = 5; //sextant v5-v6
+        }
+    }
+
+    switch (Sextant) {
+        // sextant v1-v2
+        case 1: {
+            // Vector on-times
+            float t1 = alpha - ONE_BY_SQRT3 * beta;
+            float t2 = TWO_BY_SQRT3 * beta;
+
+            // 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 = alpha + ONE_BY_SQRT3 * beta;
+            float t3 = -alpha + ONE_BY_SQRT3 * beta;
+
+            // 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 * beta;
+            float t4 = -alpha - ONE_BY_SQRT3 * beta;
+
+            // 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 = -alpha + ONE_BY_SQRT3 * beta;
+            float t5 = -TWO_BY_SQRT3 * beta;
+
+            // 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 = -alpha - ONE_BY_SQRT3 * beta;
+            float t6 = alpha - ONE_BY_SQRT3 * beta;
+
+            // 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 * beta;
+            float t1 = alpha + ONE_BY_SQRT3 * beta;
+
+            // 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;
+}

BoooomCTL/Controller/SVPWM/SVPWM.h

@@ -0,0 +1,14 @@
+//
+// Created by ZK on 2023/3/16.
+//
+
+#ifndef BOOOOMFOC_STSPIN32G4_EVB_SVPWM_H
+#define BOOOOMFOC_STSPIN32G4_EVB_SVPWM_H
+
+#define M_PI (3.14159265358f)
+#define M_2PI (6.28318530716f)
+#define ONE_BY_SQRT3 (0.57735026919f)
+#define TWO_BY_SQRT3 (2.0f * 0.57735026919f)
+#define SQRT3_BY_2 (0.86602540378f)
+
+#endif //BOOOOMFOC_STSPIN32G4_EVB_SVPWM_H