calcref.s

Source Code for Sensorless FOC for PMSM with PFC for dsPIC30F6010A

;*******************************************************************
; CalcRefVec
;  
;Description:        
;  Calculate the scaled reference vector, (Vr1,Vr2,Vr3), from qValpha,qVbeta.
;  The method is an modified inverse Clarke transform where Valpha & Vbeta 
;  are swapped compared to the normal Inverse Clarke.
;
;       Vr1 = Vbeta
;       Vr2 = (-Vbeta/2 + sqrt(3)/2 * Valpha)
;       Vr3 = (-Vbeta/2 - sqrt(3/2) * Valpha)
;
;Functional prototype:
; 
; void CalcRefVec( void )
;
;On Entry:   The ParkParm structure must contain qCos, qSin, qValpha and qVbeta.
;
;On Exit:    SVGenParm will contain qVr1, qVr2, qVr3
;
;Parameters: 
; Input arguments: None
;
; Return:
;   Void
;
; SFR Settings required:
;         CORCON.SATA  = 0

; Support routines required: None
;
; Local Stack usage: none
;
; Registers modified: w0, w4,w5,w6 
;
; Timing:
;  About 20 instruction cycles
;
;*******************************************************************
;
          .include "general.inc"

; External references
          .include "park.inc"
          .include "SVGen.inc"

; Register usage
          .equ WorkW,   w0    ; working

          .equ ValphaW, w4    ; qValpha (scaled)
          .equ VbetaW,  w5    ; qVbeta (scaled)
          .equ ScaleW,  w6    ; scaling

; Constants

          .equ Sq3OV2,0x6ED9 ; sqrt(3)/2 in 1.15 format

;=================== CODE =====================

          .section  .text
          .global   _CalcRefVec
          .global   CalcRefVec

_CalcRefVec:
CalcRefVec:
     ;; Get qValpha, qVbeta from ParkParm structure
          mov.w     _ParkParm+Park_qValpha,ValphaW
          mov.w     _ParkParm+Park_qVbeta,VbetaW

     ;; Put Vr1 = Vbeta
          mov.w     VbetaW,_SVGenParm+SVGen_qVr1

     ;; Load Sq(3)/2
          mov.w     #Sq3OV2,ScaleW

     ;; AccA = -Vbeta/2
          neg.w     VbetaW,VbetaW
          lac       VbetaW,#1,A

     ;; Vr2 = -Vbeta/2 + sqrt(3)2 * Valpha)
          mac       ValphaW*ScaleW,A ; add Valpha*sqrt(3)/2 to A
          sac       A,WorkW
          mov.w     WorkW,_SVGenParm+SVGen_qVr2

     ;; AccA = -Vbeta/2
          lac       VbetaW,#1,A

     ;; Vr3 = (-Vbeta/2 - sqrt(3)2 * Valpha)
          msc       ValphaW*ScaleW,A ; sub Valpha*sqrt(3)2 to A
          sac       A,WorkW
          mov.w     WorkW,_SVGenParm+SVGen_qVr3
          return
          .end