use SVM in square wave test

Makefile

@@ -132,23 +132,23 @@ OBJECTS += $(addprefix $(BUILD_DIR)/,$(notdir $(ASM_SOURCES:.s=.o)))
 vpath %.s $(sort $(dir $(ASM_SOURCES)))
 
 $(BUILD_DIR)/%.o: %.c Makefile | $(BUILD_DIR) 
-	$(CC) -c $(CFLAGS) -Wa,-a,-ad,-alms=$(BUILD_DIR)/$(notdir $(<:.c=.lst)) $< -o $@
+	@$(CC) -c $(CFLAGS) -Wa,-a,-ad,-alms=$(BUILD_DIR)/$(notdir $(<:.c=.lst)) $< -o $@
 
 $(BUILD_DIR)/%.o: %.s Makefile | $(BUILD_DIR)
-	$(AS) -c $(CFLAGS) $< -o $@
+	@$(AS) -c $(CFLAGS) $< -o $@
 
 $(BUILD_DIR)/$(TARGET).elf: $(OBJECTS) Makefile
-	$(CC) $(OBJECTS) $(LDFLAGS) -o $@
+	@$(CC) $(OBJECTS) $(LDFLAGS) -o $@
 	$(SZ) $@
 
 $(BUILD_DIR)/%.hex: $(BUILD_DIR)/%.elf | $(BUILD_DIR)
-	$(HEX) $< $@
+	@$(HEX) $< $@
 	
 $(BUILD_DIR)/%.bin: $(BUILD_DIR)/%.elf | $(BUILD_DIR)
-	$(BIN) $< $@	
+	@$(BIN) $< $@
 	
 $(BUILD_DIR):
-	mkdir -p $@		
+	mkdir -p $@
 
 #######################################
 # clean up

MotorControl/low_level.c

@@ -7,7 +7,7 @@
 #include <adc.h>
 #include <tim.h>
 #include <spi.h>
-
+#include <utils.h>
 
 // Global variables
 Motor_t motors[] = {
@@ -246,10 +246,29 @@ void mark_timing() {
 	timings[idx] = htim1.Instance->CNT;
 }
 
-float measure_phase_resistance(Motor_t* motor) {
+void wait_for_current_meas(osMailQId queue, float* phB_current, float* phC_current) {
+    //Current measurements not occurring in a timely manner can be handled by the watchdog
+    //@TODO Actually make watchdog
+    //Hence we can use osWaitForever
+    osEvent evt = osMailGet(M0_Iph_queue, osWaitForever);
+
+    //Since we wait forever, we do not expect timeouts here.
+    safe_assert(evt.status == osEventMail);
+
+    //Fetch current out of the mail queue
+    Iph_BC_queue_item_t* mail_ptr = evt.value.p;
+    *phB_current = mail_ptr->current_phB;
+    *phC_current = mail_ptr->current_phC;
+    osMailFree(M0_Iph_queue, mail_ptr);
+}
+
+
+float measure_phase_resistance(Motor_t* motor, float test_current) {
+	static const float kI = 0.1f; //[(V/s)/A]
 
 }
 
+
 //Set the rising edge timings (0.0 - 1.0)
 void set_timings(Motor_t* motor, float tA, float tB, float tC) {
 	TIM_TypeDef* tim = motor->timer_handle->Instance;
@@ -275,21 +294,8 @@ void motor_thread(void const * argument) {
         for (int i = 0; i < num_test; ++i) {
             for (int rep = 0; rep < 10000; ++rep) {
 
-                //Current measurements not occurring in a timely manner can be handled by the watchdog
-                //@TODO Actually make watchdog
-                //Hence we can use osWaitForever
-                osEvent evt = osMailGet(M0_Iph_queue, osWaitForever);
-
-                mark_timing();
-
-                //Since we wait forever, we do not expect timeouts here.
-                safe_assert(evt.status == osEventMail);
-
-                //Fetch current out of the mail queue
-                Iph_BC_queue_item_t* mail_ptr = evt.value.p;
-                float M0_phB_current = mail_ptr->current_phB;
-                float M0_phC_current = mail_ptr->current_phC;
-                osMailFree(M0_Iph_queue, mail_ptr);
+                float M0_phB_current, M0_phC_current;
+                wait_for_current_meas(M0_Iph_queue, &M0_phB_current, &M0_phC_current);
 
                 test_currentsB[i] += M0_phB_current;
                 test_currentsC[i] += M0_phC_current;
@@ -297,12 +303,11 @@ void motor_thread(void const * argument) {
 
                 float DC_bus_voltage = 12.0f;
                 float mod = test_voltages[i]/DC_bus_voltage;
-                float dmod = mod/2.0f;
 
+                float tA, tB, tC;
                 //Test voltage along phase A
-                set_timings(&motors[0], 0.5f - dmod, 0.5f + dmod, 0.5f + dmod);
-
-                mark_timing();
+                SVM(mod, 0.0f, &tA, &tB, &tC);
+                set_timings(&motors[0], tA, tB, tC);
             }
         }
     }

MotorControl/utils.c

@@ -1,6 +1,9 @@
 
 #include <utils.h>
 
+static const float one_by_sqrt3 = 0.57735026919f;
+static const float two_by_sqrt3 = 1.15470053838f;
+
 int SVM(float alpha, float beta, float* tA, float* tB, float* tC) {
     int Sextant;
 
@@ -110,9 +113,20 @@ int SVM(float alpha, float beta, float* tA, float* tB, float* tC) {
             // PWM timings
             *tA = (1.0f - t6 - t1) * 0.5f;
             *tC = *tA + t1;
-            *tB = tC + t6;
+            *tB = *tC + t6;
 
             break;
         }
     }
+
+    int retval = 0;
+    if (
+           *tA < 0.0f
+        || *tA > 1.0f
+        || *tB < 0.0f
+        || *tB > 1.0f
+        || *tC < 0.0f
+        || *tC > 1.0f
+    ) retval = -1;
+    return retval;
 }