File content as of revision 0:9753f3c2e5ca:

#include "isr.h"
#include "mbed.h"
#include "shared.h"
#include "constants.h"

/*
void commutate() {
    if(BROCK_COMMUTATE){
        motor->hall = (halla.read() << 2) + (hallb.read() << 1) + hallc.read();
        if (motor->hall != HNext[motor->last_hall] && motor->last_hall != 0) {
            motor->reverses++;
            if (motor->reverses < 2) return;
        }
        motor->reverses = 0;
        motor->last_hall = motor->hall;
        motor->last_time = motor->ticks;
        motor->major_pos = 60.0f * ATable[motor->hall];
        motor->ticks = 0.0f;
    }
    else{
        
    }
}
*/



void dtc_update() {
    
    float angle = motor->whangle;
    
      
    float ia = angle - motor->sensor_phase;
    if (ia < 0) ia += 360.0f;
    if (ia >= 360.0f) ia -= 360.0f;    
    float ib = ia - 120.0f;
    if (ib < 0) ib += 360.0f;
    float ic = ia + 120.0f;
    if (ic >= 360.0f) ic -= 360.0f;
      
    motor->dtc_a = sinetab[(int) (ia)] * motor->throttle;
    motor->dtc_b = sinetab[(int) (ib)] * motor->throttle;
    motor->dtc_c = sinetab[(int) (ic)] * motor->throttle;
    
    if (motor->halt) {
        pha = 0.0f;
        phb = 1.0f;
        phc = 0.0f;
    } else {
        pha = DB_COEFF * motor->dtc_a + DB_OFFSET;
        phb = DB_COEFF * (1.0f - motor->dtc_b) + DB_OFFSET;
        phc = DB_COEFF * motor->dtc_c + DB_OFFSET;
    }
}