152 lines
5.0 KiB
C
152 lines
5.0 KiB
C
/****************************************************************************
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* libs/libdsp/lib_transform_b16.c
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <dspb16.h>
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: clarke_transform_b16
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*
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* Description:
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* Clarke transform (abc frame -> ab frame).
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* Transform the abc frame to the alpha-beta frame.
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*
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* i_alpha = k*(i_a - 0.5*i_b - 0.5*i_c)
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* i_beta = k*sqrt(3)*0.5*(i_b - i_c)
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*
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* We assume that:
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* 1) k = 2/3 for the non-power-invariant transformation
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* 2) balanced system: a + b + c = 0
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*
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* Input Parameters:
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* abc - (in) pointer to the abc frame
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* ab - (out) pointer to the alpha-beta frame
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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void clarke_transform_b16(FAR abc_frame_b16_t *abc,
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FAR ab_frame_b16_t *ab)
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{
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LIBDSP_DEBUGASSERT(abc != NULL);
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LIBDSP_DEBUGASSERT(ab != NULL);
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ab->a = abc->a;
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ab->b = (b16mulb16(ONE_BY_SQRT3_B16, abc->a) +
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b16mulb16(TWO_BY_SQRT3_B16, abc->b));
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}
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/****************************************************************************
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* Name: inv_clarke_transform_b16
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*
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* Description:
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* Inverse Clarke transform (ab frame -> abc frame).
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* Transform the alpha-beta frame to the abc frame.
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*
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* Input Parameters:
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* ab - (in) pointer to the alpha-beta frame
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* abc - (out) pointer to the abc frame
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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void inv_clarke_transform_b16(FAR ab_frame_b16_t *ab,
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FAR abc_frame_b16_t *abc)
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{
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LIBDSP_DEBUGASSERT(ab != NULL);
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LIBDSP_DEBUGASSERT(abc != NULL);
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/* Assume non-power-invariant transform and balanced system */
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abc->a = ab->a;
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abc->b = (b16mulb16(-b16HALF, ab->a) +
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b16mulb16(SQRT3_BY_TWO_B16, ab->b));
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abc->c = (-abc->a - abc->b);
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}
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/****************************************************************************
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* Name: park_transform_b16
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*
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* Description:
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* Park transform (ab frame -> dq frame).
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* Transform the alpha-beta frame to the direct-quadrature frame.
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*
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* Input Parameters:
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* angle - (in) pointer to the phase angle data
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* ab - (in) pointer to the alpha-beta frame
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* dq - (out) pointer to the direct-quadrature frame
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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void park_transform_b16(FAR phase_angle_b16_t *angle,
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FAR ab_frame_b16_t *ab,
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FAR dq_frame_b16_t *dq)
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{
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LIBDSP_DEBUGASSERT(angle != NULL);
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LIBDSP_DEBUGASSERT(ab != NULL);
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LIBDSP_DEBUGASSERT(dq != NULL);
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dq->d = b16mulb16(angle->cos, ab->a) + b16mulb16(angle->sin, ab->b);
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dq->q = b16mulb16(angle->cos, ab->b) - b16mulb16(angle->sin, ab->a);
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}
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/****************************************************************************
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* Name: inv_park_transform_b16
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*
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* Description:
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* Inverse Park transform (dq frame -> ab frame).
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* Transform direct-quadrature frame to alpha-beta frame.
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*
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* Input Parameters:
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* angle - (in) pointer to the phase angle data
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* dq - (in) pointer to the direct-quadrature frame
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* ab - (out) pointer to the alpha-beta frame
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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void inv_park_transform_b16(FAR phase_angle_b16_t *angle,
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FAR dq_frame_b16_t *dq,
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FAR ab_frame_b16_t *ab)
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{
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LIBDSP_DEBUGASSERT(angle != NULL);
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LIBDSP_DEBUGASSERT(dq != NULL);
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LIBDSP_DEBUGASSERT(ab != NULL);
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ab->a = b16mulb16(angle->cos, dq->d) - b16mulb16(angle->sin, dq->q);
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ab->b = b16mulb16(angle->cos, dq->q) + b16mulb16(angle->sin, dq->d);
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}
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