460 lines
11 KiB
C
460 lines
11 KiB
C
/****************************************************************************
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* control/lib_svm.c
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*
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* Copyright (C) 2018 Gregory Nutt. All rights reserved.
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* Author: Mateusz Szafoni <raiden00@railab.me>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <assert.h>
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#include <dsp.h>
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Name: svm3_sector_get
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*
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* Description:
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* Get current sector for space vector modulation.
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*
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* Input Parameters:
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* ijk - (in) pointer to the auxiliary ABC frame
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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static uint8_t svm3_sector_get(FAR abc_frame_t *ijk)
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{
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uint8_t sector = 0;
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float i = ijk->a;
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float j = ijk->b;
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float k = ijk->c;
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/* Identify the correct sector based on i,j,k frame:
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* 1. sector 1:
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* i > 0.0
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* j > 0.0
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* k <= 0.0
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* 2. sector 2:
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* i <= 0.0
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* j > 0.0
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* k <= 0.0
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* 3. sector 3:
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* i <= 0.0
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* j > 0.0
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* k > 0.0
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* 4. sector 4:
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* i <= 0.0
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* j <= 0.0
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* k > 0.0
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* 5. sector 5:
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* i > 0.0
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* j <= 0.0
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* k > 0.0
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* 6. sector 6:
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* i > 0.0
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* j <= 0.0
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* k <= 0.0
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*/
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if (k <= 0.0)
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{
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if (i <= 0.0)
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{
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sector = 2;
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}
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else
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{
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if (j <= 0.0)
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{
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sector = 6;
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}
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else
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{
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sector = 1;
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}
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}
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}
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else
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{
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if (i <= 0.0)
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{
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if (j <= 0.0)
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{
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sector = 4;
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}
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else
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{
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sector = 3;
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}
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}
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else
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{
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sector = 5;
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}
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}
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/* Return SVM sector */
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return sector;
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}
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/****************************************************************************
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* Name: svm3_duty_calc
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*
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* Description:
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* Calculate duty cycles for space vector modulation.
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*
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* Input Parameters:
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* s - (in/out) pointer to the SVM state data
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* ijk - (in) pointer to the auxiliary ABC frame
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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static void svm3_duty_calc(FAR struct svm3_state_s *s, FAR abc_frame_t *ijk)
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{
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float i = ijk->a;
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float j = ijk->b;
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float k = ijk->c;
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float T0 = 0.0f;
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float T1 = 0.0f;
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float T2 = 0.0f;
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/* Determine T1, T2 and T0 based on the sector */
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switch (s->sector)
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{
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case 1:
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{
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T1 = i;
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T2 = j;
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break;
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}
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case 2:
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{
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T1 = -k;
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T2 = -i;
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break;
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}
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case 3:
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{
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T1 = j;
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T2 = k;
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break;
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}
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case 4:
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{
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T1 = -i;
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T2 = -j;
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break;
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}
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case 5:
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{
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T1 = k;
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T2 = i;
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break;
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}
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case 6:
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{
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T1 = -j;
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T2 = -k;
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break;
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}
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default:
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{
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/* We should not get here */
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DEBUGASSERT(0);
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break;
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}
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}
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/* Get null vector time */
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T0 = 1.0f - T1 - T2;
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/* Calculate duty cycle for 3 phase */
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switch (s->sector)
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{
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case 1:
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{
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s->d_u = T1 + T2 + T0 * 0.5f;
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s->d_v = T2 + T0 * 0.5f;
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s->d_w = T0 * 0.5f;
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break;
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}
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case 2:
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{
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s->d_u = T1 + T0 * 0.5f;
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s->d_v = T1 + T2 + T0 * 0.5f;
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s->d_w = T0 * 0.5f;
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break;
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}
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case 3:
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{
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s->d_u = T0 * 0.5f;
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s->d_v = T1 + T2 + T0 * 0.5f;
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s->d_w = T2 + T0 * 0.5f;
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break;
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}
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case 4:
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{
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s->d_u = T0 * 0.5f;
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s->d_v = T1 + T0 * 0.5f;
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s->d_w = T1 + T2 + T0 * 0.5f;
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break;
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}
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case 5:
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{
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s->d_u = T2 + T0 * 0.5f;
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s->d_v = T0 * 0.5f;
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s->d_w = T1 + T2 + T0 * 0.5f;
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break;
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}
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case 6:
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{
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s->d_u = T1 + T2 + T0 * 0.5f;
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s->d_v = T0 * 0.5f;
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s->d_w = T1 + T0 * 0.5f;
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break;
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}
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default:
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{
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/* We should not get here */
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DEBUGASSERT(0);
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break;
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}
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}
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}
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: svm3
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*
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* Description:
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* One step of the space vector modulation.
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* This is most common of SVM with alternate-reverse null vector.
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*
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* Voltage vector definitions in 3-phase SVM:
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*
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* |---------|-----------|--------------------|-----------------|
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* | Voltage | swithcing | Line to neutral | Line to line |
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* | vector | vectors | voltage | voltage |
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* | |-----------|--------------------|-----------------|
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* | | a | b | c | Van | Vbn | Vcn | Vab | Vbe | Vca |
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* |---------|---|---|---|------|------|------|-----|-----|-----|
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* | V0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
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* |---------|---|---|---|------|------|------|-----|-----|-----|
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* | V1 | 1 | 0 | 0 | 2/3 | -1/3 | -1/3 | 1 | 0 | -1 |
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* |---------|---|---|---|------|------|------|-----|-----|-----|
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* | V2 | 1 | 1 | 0 | 1/3 | 1/3 | -2/3 | 0 | 1 | -1 |
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* |---------|---|---|---|------|------|------|-----|-----|-----|
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* | V3 | 0 | 1 | 0 | -1/3 | 2/3 | -1/3 | -1 | 1 | 0 |
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* |---------|---|---|---|------|------|------|-----|-----|-----|
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* | V4 | 0 | 1 | 1 | -2/3 | 1/3 | 1/3 | -1 | 0 | 1 |
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* |---------|---|---|---|------|------|------|-----|-----|-----|
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* | V5 | 0 | 0 | 1 | -1/3 | -1/3 | 2/3 | 0 | -1 | 1 |
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* |---------|---|---|---|------|------|------|-----|-----|-----|
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* | V6 | 1 | 0 | 1 | 1/3 | -2/3 | 1/3 | 1 | -1 | 0 |
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* |---------|---|---|---|------|------|------|-----|-----|-----|
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* | V7 | 1 | 1 | 1 | 0 | 0 | 0 | 0 | 0 | 0 |
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* |---------|---|---|---|------|------|------|-----|-----|-----|
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*
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* Voltage values given in relation to the bus voltage (Vbus)/
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*
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* Input Parameters:
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* s - (out) pointer to the SVM data
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* v_ab - (in) pointer to the modulation voltage vector in alpha-beta
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* frame, normalized to magnitude (0.0 - 1.0)
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*
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* NOTE: v_ab vector magnitude must be in range <0.0, 1.0> to get correct
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* SVM3 results.
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*
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* REVISIT: not sure how we should handle invalid data from user.
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* For now we saturate output duty form SVM.
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*
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* REFERENCE:
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* https://e2e.ti.com/group/motor/m/pdf_presentations/665547/download
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* pages 32-34
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*
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****************************************************************************/
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void svm3(FAR struct svm3_state_s *s, FAR ab_frame_t *v_ab)
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{
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DEBUGASSERT(s != NULL);
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DEBUGASSERT(v_ab != NULL);
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abc_frame_t ijk;
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/* Perform modified inverse Clarke-transformation (alpha,beta) -> (i,j,k)
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* to obtain auxiliary frame which will be used in further calculations.
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*/
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ijk.a = -0.5f*v_ab->b + SQRT3_BY_TWO_F*v_ab->a;
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ijk.b = v_ab->b;
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ijk.c = -ijk.b - ijk.a;
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/* Get vector sector */
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s->sector = svm3_sector_get(&ijk);
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/* Get duty cycle */
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svm3_duty_calc(s, &ijk);
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/* Saturate output from SVM */
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f_saturate(&s->d_u, s->d_min, s->d_max);
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f_saturate(&s->d_v, s->d_min, s->d_max);
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f_saturate(&s->d_w, s->d_min, s->d_max);
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}
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/****************************************************************************
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* Name: svm3_current_correct
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*
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* Description:
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* Correct ADC samples (int32) according to SVM3 state.
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* NOTE: This works only with 3 shunt resistors configuration.
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*
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****************************************************************************/
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void svm3_current_correct(FAR struct svm3_state_s *s,
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int32_t *c0, int32_t *c1, int32_t *c2)
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{
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/* Get best ADC samples according to SVM sector.
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*
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* In SVM phase current can be sampled only in v0 vector state, when lower
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* bridge transistors are turned on.
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*
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* We ignore sample from phase which has the shortest V0 state and
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* estimate its value with KCL for motor phases:
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* i_a + i_b + i_c = 0
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*/
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switch (s->sector)
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{
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case 1:
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case 6:
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{
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/* Sector 1-6: ignore phase 1 */
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*c0 = -(*c1 + *c2);
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break;
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}
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case 2:
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case 3:
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{
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/* Sector 2-3: ignore phase 2 */
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*c1 = -(*c0 + *c2);
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break;
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}
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case 4:
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case 5:
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{
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/* Sector 4-5: ignore phase 3 */
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*c2 = -(*c0 + *c1);
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break;
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}
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default:
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{
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/* We should not get here. */
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*c0 = 0;
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*c1 = 0;
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*c2 = 0;
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break;
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}
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}
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}
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/****************************************************************************
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* Name: svm3_init
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*
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* Description:
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* Initialize 3-phase SVM data.
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*
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* Input Parameters:
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* s - (in/out) pointer to the SVM state data
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* sat - (in)
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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void svm3_init(FAR struct svm3_state_s *s, float min, float max)
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{
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DEBUGASSERT(s != NULL);
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DEBUGASSERT(max > min);
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memset(s, 0, sizeof(struct svm3_state_s));
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s->d_max = max;
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s->d_min = min;
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}
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