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// $TI Release: MotorControl SDK v4.00.00.00 $
// $Release Date: Thu Feb 17 18:05:20 CST 2022 $
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/* =================================================================================
File name:       IPARK.H   
===================================================================================*/

#ifndef __IPARK_H__
#define __IPARK_H__

typedef struct {  float32_t  Alpha;  // Output: stationary d-axis stator variable
				  float32_t  Beta;	 // Output: stationary q-axis stator variable
				  float32_t  Angle;	 // Input: rotating angle (pu)
				  float32_t  Ds;	 // Input: rotating d-axis stator variable
				  float32_t  Qs;	 // Input: rotating q-axis stator variable
				  float32_t  Sine;	 // Input: Sine term
				  float32_t  Cosine; // Input: Cosine term
		 	    } IPARK;	            

/*-----------------------------------------------------------------------------
Default initalizer for the IPARK object.
-----------------------------------------------------------------------------*/                     
#define IPARK_DEFAULTS {  0, \
                          0, \
                          0, \
                          0, \
                          0, \
						  0, \
                          0  \
              		   }

/*------------------------------------------------------------------------------
	Inverse PARK Transformation Macro Definition
------------------------------------------------------------------------------*/

static inline void runIPark(IPARK * in)
{
	in->Alpha = (in->Ds * in->Cosine) - (in->Qs * in->Sine);
	in->Beta = (in->Qs * in->Cosine) + (in->Ds * in->Sine);
}


#define IPARK_MACRO(v)										\
															\
v.Alpha = _IQmpy(v.Ds,v.Cosine) - _IQmpy(v.Qs,v.Sine);		\
v.Beta  = _IQmpy(v.Qs,v.Cosine) + _IQmpy(v.Ds,v.Sine);


#endif // __IPARK_H__

