Module controller 

Controller functions (PID motor control, Clarke transform, Park transform, Inverse Clarke, Inverse Park).

Structs

PidInstanceF32

Instance structure for the floating-point PID Control.

PidInstanceQ15

PidInstanceQ31

Functions

clarke_f32

Forward Clarke transform for f32: 3-phase (ia, ib) -> 2-phase (alpha, beta).

clarke_q15

Forward Clarke transform in Q15.

inv_clarke_f32

Inverse Clarke transform for f32: 2-phase (alpha, beta) -> 3-phase (ia, ib).

inv_clarke_q15

Inverse Clarke transform in Q15.

inv_park_f32

Inverse Park transform for f32: 2-phase rotating (d, q) + angle theta (rad) -> 2-phase stationary (alpha, beta).

inv_park_q15

Inverse Park transform in Q15. sin_t / cos_t are Q15 sine/cosine of θ.

park_f32

Forward Park transform for f32: 2-phase stationary (alpha, beta) + angle theta (rad) -> 2-phase rotating (d, q).

park_q15

Forward Park transform in Q15. sin_t / cos_t are Q15 sine/cosine of θ (CMSIS-style; e.g. take sin_cos_q31 and shift >> 16).

pid_f32

pid_q15

pid_q31