46 lines
1.3 KiB
C
46 lines
1.3 KiB
C
/*!
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Copyright 2017 ÀÎ "ÍÈÈÝÒ" è ÎÎÎ "ÍÏÔ ÂÅÊÒÎÐ"
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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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,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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\file ipark.c
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\brief Ìîäóëü èíâåðñíûõ êîîðäèíàòíûõ ïðåîáðàçîâàíèé êîîðäèíàò (ñì. TIPark)
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\author ÎÎÎ "ÍÏÔ Âåêòîð". http://motorcontrol.ru
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\version v 2.0 25/03/2016
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\addtogroup IPark
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@{
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*/
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#include "V_IQmath.h" /* Include header for IQmath library */
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#include "ipark.h"
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//! Ôóíêöèÿ èíâåðñíûõ ïðåîáðàçîâàíèé êîîðäèíàò
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//!Íà âõîäå óãîë ang, âåêòîð (de,qe).
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//!Íà âûõîäå ïîâåðíóòûé íà çàäàííûé óãîë âåêòîð (ds,qs)
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//! \memberof TIPark
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void ipark_calc(TIPark *v) {
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_iq cos_ang, sin_ang;
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sin_ang = _IQsinPU(v->ang);
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cos_ang = _IQcosPU(v->ang);
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v->ds = _IQmpy(v->de,cos_ang) - _IQmpy(v->qe, sin_ang);
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v->qs = _IQmpy(v->qe,cos_ang) + _IQmpy(v->de, sin_ang);
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}
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/*@}*/
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