clarke.h

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 //#############################################################################
//
// FILE:   clarke.h
//
// TITLE:  C28x Clarke transform library
//
//#############################################################################
// $TI Release: MotorControl SDK v1.00.00.00 $
// $Release Date: Mon Mar 11 18:37:40 CDT 2019 $
// $Copyright:
// Copyright (C) 2017-2018 Texas Instruments Incorporated - http://www.ti.com/
//
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//#############################################################################
 
#ifndef CLARKE_H
#define CLARKE_H
 
//*****************************************************************************
//
// If building with a C++ compiler, make all of the definitions in this header
// have a C binding.
//
//*****************************************************************************
#ifdef __cplusplus
extern "C"
{
#endif
 
//*****************************************************************************
//
//
//*****************************************************************************
 
#include "libraries/math/include/math.h"
 
//*****************************************************************************
//
//
//*****************************************************************************
typedef struct _CLARKE_Obj_
{
    float32_t alpha_sf;           
    float32_t beta_sf;            
    uint_least8_t numSensors;   
} CLARKE_Obj;
 
//*****************************************************************************
//
//
//*****************************************************************************
typedef struct _CLARKE_Obj_ *CLARKE_Handle;
 
//*****************************************************************************
//
// Prototypes for the APIs
//
//*****************************************************************************
//*****************************************************************************
//
//
//*****************************************************************************
static inline uint_least8_t
CLARKE_getNumSensors(CLARKE_Handle handle)
{
    CLARKE_Obj *obj = (CLARKE_Obj *)handle;
 
    return(obj->numSensors);
} // end of CLARKE_getNumSensors() function
 
//*****************************************************************************
//
//
//*****************************************************************************
extern CLARKE_Handle
CLARKE_init(void *pMemory, const size_t numBytes);
 
extern CLARKE_Handle
cla_CLARKE_init(void *pMemory, const size_t numBytes);
 
//*****************************************************************************
//
//
//*****************************************************************************
static inline void
CLARKE_run(CLARKE_Handle handle, const MATH_Vec3 *pInVec, MATH_Vec2 *pOutVec)
{
    CLARKE_Obj *obj = (CLARKE_Obj *)handle;
 
    uint_least8_t numSensors = obj->numSensors;
 
    float32_t alpha_sf = obj->alpha_sf;
    float32_t beta_sf = obj->beta_sf;
 
    //
    // Perform the Clarke transform for either 2 or 3 sensor setups
    //
    if(numSensors == 3)
    {
        pOutVec->value[0] =
            ((pInVec->value[0] *
              (float32_t)2.0f) - (pInVec->value[1] + pInVec->value[2])) * alpha_sf;
        pOutVec->value[1] = (pInVec->value[1] - pInVec->value[2]) * beta_sf;
    }
    else if(numSensors == 2)
    {
        pOutVec->value[0] = pInVec->value[0] * alpha_sf;
        pOutVec->value[1] =
            (pInVec->value[0] + (pInVec->value[1] * (float32_t)2.0f)) * beta_sf;
    }
 
    return;
} // end of CLARKE_run() function
 
//*****************************************************************************
//
//
//*****************************************************************************
static inline void
CLARKE_run_twoInput(CLARKE_Handle handle, const MATH_Vec2 *pInVec,
                    MATH_Vec2 *pOutVec)
{
    CLARKE_Obj *obj = (CLARKE_Obj *)handle;
 
    float32_t beta_sf = obj->beta_sf;
 
    pOutVec->value[0] = pInVec->value[0];
 
    pOutVec->value[1] =
        (pInVec->value[0] + (pInVec->value[1] * (float32_t)2.0)) * beta_sf;
 
    return;
} // end of CLARKE_run_twoInput() function
 
//*****************************************************************************
//
//
//*****************************************************************************
static inline void
CLARKE_setNumSensors(CLARKE_Handle handle, const uint_least8_t numSensors)
{
    CLARKE_Obj *obj = (CLARKE_Obj *)handle;
 
    obj->numSensors = numSensors;
 
    return;
} // end of CLARKE_setNumSensors() function
 
//*****************************************************************************
//
//
//*****************************************************************************
static inline void
CLARKE_setScaleFactors(CLARKE_Handle handle, const float32_t alpha_sf,
                       const float32_t beta_sf)
{
    CLARKE_Obj *obj = (CLARKE_Obj *)handle;
 
    obj->alpha_sf = alpha_sf;
    obj->beta_sf = beta_sf;
 
    return;
} // end of CLARKE_setScaleFactors() function
 
//*****************************************************************************
//
// Close the Doxygen group.
//
//*****************************************************************************
 
//*****************************************************************************
//
// Mark the end of the C bindings section for C++ compilers.
//
//*****************************************************************************
#ifdef __cplusplus
}
#endif
 
#endif // end of CLARKE_H defines