Revision 33:e7b132029bae, committed 2015-03-16

Comitter:

nki

Date:

Mon Mar 16 03:09:48 2015 +0000

Parent:

32:4e1a223fad52

Child:

34:bfe180de813a

Commit message:

New working set - reverted to synchronous current sensor reads

Changed in this revision

--- a/callbacks.cpp	Mon Mar 16 02:43:19 2015 +0000
+++ b/callbacks.cpp	Mon Mar 16 03:09:48 2015 +0000
@@ -12,38 +12,15 @@
     float I_b, I_c, angle, d_filtered, q_filtered, vd, vq;
     dbg_ib = I_b = c->motor->GetCurrentB();
     dbg_ic = I_c = c->motor->GetCurrentC();
-    
     dbg_angle = angle = c->motor->GetPosition();
     
     Clarke(-(I_b + I_c), I_b, &alpha, &beta);
     Parke(alpha, beta, angle, &d, &q);
     
-    dbg_ialpha = alpha;
-    dbg_ibeta = beta;
-    
-    d_filtered = c->filter_d->Update(d);
-    q_filtered = c->filter_q->Update(q);
-    
-    /*
-    
-    //these envelope d and q about 0.  the envelope looks like this:
-    // X= -1 0 1 
-    // ____| | |____  
-    //     \___/      
-    if(d_filtered < 1.0f & d_filtered > -1.0f) d_filtered = 0.0f;
-    if(d_filtered < 2.0f & d_filtered >= 1.0f) d_filtered = (d_filtered-1.0f)*d_filtered;
-    if(d_filtered > -2.0f & d_filtered <= -1.0f) d_filtered = (-d_filtered-1.0f)*d_filtered;
-    
-    if(q_filtered < 1.0f & q_filtered > -1.0f) q_filtered = 0.0f;
-    if(q_filtered < 2.0f & q_filtered >= 1.0f) q_filtered = (q_filtered-1.0f)*q_filtered;
-    if(q_filtered > -2.0f & q_filtered <= -1.0f) q_filtered = (-q_filtered-1.0f)*q_filtered;
-    */
-    
-    dbg_d_filtered = d_filtered;
-    dbg_q_filtered = q_filtered;
-    
+    dbg_d_filtered = d_filtered = c->filter_d->Update(d);
+    dbg_q_filtered = q_filtered = c->filter_q->Update(q);
 
-    c->reference->GetReference(angle, -c->user->throttle, &ref_d, &ref_q);
+    c->reference->GetReference(angle, c->user->throttle, &ref_d, &ref_q);
     
     dbg_ref_d = ref_d;
     dbg_ref_q = ref_q;
@@ -55,10 +32,9 @@
     vq = c->user->throttle;
     */
     
-    vd = 0.0f;
-    vq = 1.0f;
+    vd = 0.05f;
+    vq = 0.95f;
     
-
     InverseParke(vd, vq, angle, &valpha, &vbeta);
     
     c->modulator->Update(valpha, vbeta); 
@@ -69,15 +45,10 @@
 }
 
 void debug(Context *c) {
-    //c->serial->printf("CR1:%x CR2:%x SMPR1:%x SMPR2:%x\n\r", ADC1->CR1, ADC1->CR2, ADC1->SMPR1, ADC1->SMPR2);
-    //c->serial->printf("%f %f %f %d %d\n\r",dbg_angle, dbg_ib,dbg_ic, channel_ib, channel_ic);
     //c->serial->printf("%f %f %f %f %f %f\n\r", dbg_d_filtered, dbg_q_filtered, dbg_ref_d, dbg_ref_q, dbg_loop_d, dbg_loop_q);
-   // c->serial->printf("%f %f %f\n\r", dbg_angle, dbg_d_filtered, dbg_q_filtered);
 }
 
 void log(Context *c) {
-    //c->debugger->Write(0, dbg_angle);
-    //c->debugger->Write(1, 0);
-    //c->debugger->Write(0, dbg_ib);
-    //c->debugger->Write(1, dbg_ic);
+    c->debugger->Write(0, dbg_d_filtered);
+    c->debugger->Write(1, dbg_q_filtered);
 }
\ No newline at end of file

--- a/context.cpp	Mon Mar 16 02:43:19 2015 +0000
+++ b/context.cpp	Mon Mar 16 03:09:48 2015 +0000
@@ -71,7 +71,9 @@
     _callbacks[_index++] = f;
 }
 
-void Context::Start() {    
+void Context::Start() {
+    InitData();
+    
     for (;;) {
         for (int i = 0; i < _index; i++) {
             if (_time - _call_times[i] >= _call_periods[i]) {
@@ -88,17 +90,9 @@
 }
 
 void Context::InitData() {
-    serial = new Serial(USBTX, USBRX);
-    serial->baud(115200);
-    serial->printf("%s\n\r", "Init Serial Communications");
-    
     sense_p = new AnalogHallPositionSensor(_pos_a_pin, _pos_b_pin, _cal1_a, _cal2_a, _cal1_b, _cal2_b, _offset);
-    channel_ib = NativeAnalogIn::PinToAdcChannel(_ib_pin);
-    channel_ic = NativeAnalogIn::PinToAdcChannel(_ic_pin);
-    AnalogIn dummyb = AnalogIn(_ib_pin);
-    AnalogIn dummyc = AnalogIn(_ic_pin);
-    _dummyb = dummyb;
-    _dummyc = dummyc;
+    sense_ib = new AnalogCurrentSensor(_ib_pin, _scale);
+    sense_ic = new AnalogCurrentSensor(_ic_pin, _scale);
     throttle = new Throttle(_throttle_pin, _min, _max);
     sense_bus = new VoltageSensor();
     sense_t_motor = new TempSensor();
@@ -107,7 +101,7 @@
     pid_d = new PidController(_dki, _dkp, _dkd, _dpidmax, _dpidmin);
     pid_q = new PidController(_qki, _qkp, _qkd, _qpidmax, _qpidmin);
     
-    motor = new Motor(sense_p, sense_t_motor);
+    motor = new Motor(sense_ic, sense_ib, sense_p, sense_t_motor);
     inverter = new Inverter(_oa, _ob, _oc, _en, sense_bus, sense_t_inverter);
     user = new User(throttle);
     modulator = new SvmModulator(inverter);
@@ -115,30 +109,9 @@
     filter_d = new MeanFilter(_filter_strength);
     filter_q = new MeanFilter(_filter_strength);
     
-    wait(1);
-    
-    double ib_mean, ic_mean;
-    TIM2->DIER = 0;
-    for (int i = 0; i < 100; i++) {
-        ADC1->SQR3 = 0;
-        ADC1->SQR3 |= channel_ib;
-        ADC1->CR2 |= ADC_CR2_SWSTART;
-        while ((ADC1->SR & 2) == 0){}
-        ib_mean += (float) ADC1->DR;
-        
-        ADC1->SQR3 = 0;
-        ADC1->SQR3 |= channel_ic;
-        ADC1->CR2 |= ADC_CR2_SWSTART;
-        while ((ADC1->SR & 2) == 0){}
-        ic_mean += (float) ADC1->DR;
-    }
-    TIM2->DIER = 1;
-    ib_mean /= 100.0f;
-    ib_mean /= 4095.0f;
-    ic_mean /= 100.0f;
-    ic_mean /= 4095.0f;
-    
-    motor->InitSensors((float) ib_mean, (float) ic_mean, _scale);
+    serial = new Serial(USBTX, USBRX);
+    serial->baud(115200);
+    serial->printf("%s\n\r", "Init Serial Communications");
     
     debugger = new BufferedDebugger(this, _debugger_channels, _debugger_size);
 }

--- a/context.h	Mon Mar 16 02:43:19 2015 +0000
+++ b/context.h	Mon Mar 16 03:09:48 2015 +0000
@@ -23,13 +23,13 @@
     void ConfigureReference(float max_current);
     void ConfigureDebugger(int debugger_channels, int debugger_size);
     void AttachCallBack(void (*f)(Context *), int freq);
-    void InitData();
     void Start();
 public:
     Inverter *inverter;
     Motor *motor;
     User *user;
     Throttle *throttle;
+    CurrentSensor *sense_ib, *sense_ic;
     PositionSensor *sense_p;
     TempSensor *sense_t_motor, *sense_t_inverter;
     VoltageSensor *sense_bus;
@@ -40,6 +40,8 @@
     LtiFilter *filter_d, *filter_q;
     BufferedDebugger *debugger;
 private:
+    void InitData();
+private:
     void upd_function();
 private:
     PinName _oa, _ob, _oc, _ib_pin, _ic_pin, _throttle_pin, _pos_a_pin, _pos_b_pin, _en;
@@ -53,8 +55,6 @@
     int _index;
     unsigned long _time;
     
-    float _dummyb, _dummyc;
-    
     Ticker *_time_upd_ticker;
 };
 #endif
\ No newline at end of file

--- a/core/core.h	Mon Mar 16 02:43:19 2015 +0000
+++ b/core/core.h	Mon Mar 16 03:09:48 2015 +0000
@@ -13,21 +13,18 @@
 
 class Motor {
 public:
-    Motor(PositionSensor *sense_p, TempSensor *sense_t);
-    void InitSensors(float ib_zero, float ic_zero, float scale);
+    Motor(CurrentSensor *sense_c, CurrentSensor *sense_b, PositionSensor *sense_p, TempSensor *sense_t);
     void Config(int num_poles, float kv);
     float GetCurrentC();
     float GetCurrentB();
     float GetPosition();
     float GetTemp();
 private:
+    CurrentSensor *_sense_c,*_sense_b;
     PositionSensor *_sense_p;
     TempSensor *_sense_t;
     int _num_poles;
     float _kv;
-    float _ib, _ic;
-    float _ib_zero, _ic_zero;
-    float _scale;
 };
 
 class Inverter {

--- a/core/inverter.cpp	Mon Mar 16 02:43:19 2015 +0000
+++ b/core/inverter.cpp	Mon Mar 16 03:09:48 2015 +0000
@@ -20,21 +20,10 @@
     SetDtcB(0);
     SetDtcC(0);
     
-    TIM2->CR1 &= ~(TIM_CR1_CEN); //disable tim2
-    //TIM2->CR1 |= TIM_CR1_CMS;  //set bits 5 and 6 of the CR1 to 1.  (TIM_CR1_CMS == 96)
-    TIM2->CR1 |= (1 << 5);  //by only enabling bit 5, "Output compare interrupt flags of channels configured in output (CCxS=00 in TIMx_CCMRx register) 
-                      //are set only when the counter is counting down"  (p.342)
-    //These lines do nothing so they are commented out.  They should do something..
-    /*
-    TIM2->CR1 &= ~(1 << 6);
-    //hmm, not sure what's going on there.  It's set to only trigger when counting down, however it triggers at both underflow and overflow
+    TIM2->CR1 &= ~(TIM_CR1_CEN);
+    TIM2->CR1 |= TIM_CR1_CMS;
+    TIM2->CR1 |= TIM_CR1_CEN;
     
-    TIM2->CR1 &= ~(1 << 1);  //Set bit 1 (update disable) to 0.  we want the timer overflow to trigger an interrupt
-    //TIM2->CR1 |= (1 << 2);  //Set bit 2 (update request source) to 1.  Only want under/overflow to trigger an interrupt.
-    */
-    
-    TIM2->DIER |= 1; // set bit 0 equal to 1.  this enables interrupts 
-    TIM2->CR1 |= TIM_CR1_CEN;  //enable tim2
     Enable();
 }
 

--- a/core/motor.cpp	Mon Mar 16 02:43:19 2015 +0000
+++ b/core/motor.cpp	Mon Mar 16 03:09:48 2015 +0000
@@ -2,19 +2,19 @@
 #include "core.h"
 #include "sensors.h"
 
-Motor::Motor(PositionSensor *sense_p, TempSensor *sense_t) {
+Motor::Motor(CurrentSensor *sense_c, CurrentSensor *sense_b, PositionSensor *sense_p, TempSensor *sense_t) {
+    _sense_c = sense_c;
+    _sense_b = sense_b;
     _sense_p = sense_p;
     _sense_t = sense_t;
 }
 
 float Motor::GetCurrentC() {
-    float x = (float) global_ic / 4095.0f;
-    return (x - _ic_zero) / _scale;
+    return _sense_c->GetCurrent();
 }
 
 float Motor::GetCurrentB() {
-    float x = (float) global_ib / 4095.0f;
-    return (x - _ib_zero) / _scale;
+    return _sense_b->GetCurrent();
 }
 
 float Motor::GetPosition() {
@@ -28,10 +28,4 @@
 void Motor::Config(int num_poles, float kv) {
     _num_poles = num_poles;
     _kv = kv;
-}
-
-void Motor::InitSensors(float ib_zero, float ic_zero, float scale) {
-    _ib_zero = ib_zero;
-    _ic_zero = ic_zero;
-    _scale = scale;
 }
\ No newline at end of file

--- a/includes.h	Mon Mar 16 02:43:19 2015 +0000
+++ b/includes.h	Mon Mar 16 03:09:48 2015 +0000
@@ -5,18 +5,10 @@
 #include "math.h"
 #include "fastmath.h"
 #include "transforms.h"
-#include "context.h"
-#include "stm32f411xe.h"
 
 using namespace FastMath;
 using namespace Transforms;
 
-extern Context *context;
-
-extern DigitalOut toggler;
-extern volatile unsigned short global_ib, global_ic;
-extern uint32_t channel_ib, channel_ic;
-
 extern float debug_registers[32];
 
 #define dbg_angle debug_registers[0]
@@ -33,9 +25,5 @@
 #define dbg_q_filtered debug_registers[11]
 #define dbg_ref_d debug_registers[12]
 #define dbg_ref_q debug_registers[13]
-#define dbg_ialpha debug_registers[14]
-#define dbg_ibeta debug_registers[15]
-#define dbg_ascaled debug_registers[16]
-#define dbg_bscaled debug_registers[17]
 
 #endif
\ No newline at end of file

--- a/isr.cpp	Mon Mar 16 02:43:19 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,17 +0,0 @@
-#include "includes.h"
-
-extern "C" void TIM2_IRQn_Handler() {
-    TIM2->SR &= ~1;
-    ADC1->SQR1 &= ~ADC_SQR1_L;
-    ADC1->SQR3 = 0;
-    ADC1->SQR3 |= channel_ib;
-    ADC1->CR2 |= ADC_CR2_SWSTART;
-    while ((ADC1->SR & 2) == 0){}
-    global_ib = ADC1->DR;
-    
-    ADC1->SQR3 = 0;
-    ADC1->SQR3 |= channel_ic;
-    ADC1->CR2 |= ADC_CR2_SWSTART;
-    while ((ADC1->SR & 2) == 0){}
-    global_ic = ADC1->DR;
-} 
\ No newline at end of file

--- a/isr.h	Mon Mar 16 02:43:19 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,8 +0,0 @@
-#ifndef __ISR_H
-#define __ISR_H
-
-#include "includes.h"
-
-extern "C" void TIM2_IRQn_Handler();
-
-#endif
\ No newline at end of file

--- a/main.cpp	Mon Mar 16 02:43:19 2015 +0000
+++ b/main.cpp	Mon Mar 16 03:09:48 2015 +0000
@@ -6,28 +6,20 @@
 #include "meta.h"
 #include "sensors.h"
 #include "callbacks.h"
-#include "isr.h"
-
-volatile unsigned short global_ib, global_ic;
-uint32_t channel_ib, channel_ic;
 
 int main() { 
-    NVIC_EnableIRQ(TIM2_IRQn);
-    NVIC_SetVector(TIM2_IRQn, (uint32_t)TIM2_IRQn_Handler);
-        
     Context *context = new Context();
     context->ConfigureOutputs(D6, D13, D3, D8);
-    context->ConfigurePositionSensor(A4, A5, 0.249f, 0.497f, 0.231f, 0.499f, 205.0f); 
-    context->ConfigureIdPidController(0.0001f, 0.0f, 0.0f, 5.0f, -5.0f);
-    context->ConfigureIqPidController(0.00001f, 0.1f, 0.0f, 5.0f, -5.0f);
+    context->ConfigureCurrentSensors(A1, A2, 0.01f, 0.7f);
+    context->ConfigureIdPidController(0.01f, 0.8f, 0.0f, 2.0f, -2.0f);
+    context->ConfigureIqPidController(0.01f, 0.8f, 0.0f, 2.0f, -2.0f);
     context->ConfigureThrottle(A0, 0.8f, 3.0f);
-    context->ConfigureCurrentSensors(A1, A2, 0.01f, 0.7f);  // I guess this configures the ADCs or something 
+    context->ConfigurePositionSensor(A4, A5, 0.249f, 0.497f, 0.231f, 0.499f, 205.0f);
     context->ConfigureReference(5.0f);
     context->ConfigureDebugger(2, 1000);
     context->AttachCallBack(&fast, 5000);
     context->AttachCallBack(&slow, 10);
     context->AttachCallBack(&debug, 10);
     context->AttachCallBack(&log, 500);
-    context->InitData();
     context->Start();
 }

--- a/sensors/NativeAnalogIn.cpp	Mon Mar 16 02:43:19 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,42 +0,0 @@
-#include "includes.h"
-#include "sensors.h"
-
-NativeAnalogIn::NativeAnalogIn(PinName pin) {
-    AnalogIn dummy(pin);
-    _dummy = dummy;
-    ADC1->CR1 &= ~ADC_CR1_JEOCIE;
-    ADC1->CR1 &= ~ADC_CR1_EOCIE;
-    ADC1->CR1 &= ~ADC_CR1_AWDIE;
-    ADC1->CR1 &= ~ADC_CR1_OVRIE;
-    ADC1->CR2 |= ADC_CR2_ADON;
-    ADC1->SQR1 = 0;
-    _channel = PinToAdcChannel(pin);
-}
-
-float NativeAnalogIn::Read() {
-    TIM2->DIER = 0x0000;
-    ADC1->SQR3 = 0x0000;
-    ADC1->SQR3 |= _channel;
-    ADC1->CR2 |= ADC_CR2_SWSTART;
-    while ((ADC1->SR & 2) == 0){}
-    float x = ADC1->DR;
-    TIM2->DIER = 0x0001;
-    return x / 4095.0f;
-}
-
-unsigned char NativeAnalogIn::PinToAdcChannel(PinName pin) {
-    switch (pin) {
-    case A0:
-        return 0;
-    case A1:
-        return 1;
-    case A2:
-        return 4;
-    case A4:
-        return 11;
-    case A5:
-        return 10;
-    default:
-        return 0;
-    }
-}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensors/currentsensors.cpp	Mon Mar 16 03:09:48 2015 +0000
@@ -0,0 +1,21 @@
+#include "includes.h"
+#include "sensors.h"
+
+AnalogCurrentSensor::AnalogCurrentSensor(PinName pin, float volts_per_amp) {
+    _in = new AnalogIn(pin);
+    _volts_per_amp = volts_per_amp;
+    wait_us(100000);
+    Zero();
+}
+
+void AnalogCurrentSensor::Zero() {
+    float mean = 0;
+    for(int i = 0; i < 1000; i++){
+        mean += (float) *_in;
+    }
+    _zero_level = mean / 1000;
+}
+
+float AnalogCurrentSensor::GetCurrent() {
+    return ((float) *_in - _zero_level) * 3.3f / _volts_per_amp;
+}
\ No newline at end of file

--- a/sensors/positionsensors.cpp	Mon Mar 16 02:43:19 2015 +0000
+++ b/sensors/positionsensors.cpp	Mon Mar 16 03:09:48 2015 +0000
@@ -4,8 +4,8 @@
 
 AnalogHallPositionSensor::AnalogHallPositionSensor(PinName pin_a, PinName pin_b, float cal1_a, float cal2_a, 
                              float cal1_b, float cal2_b, float offset) {
-    _in_a = new NativeAnalogIn(pin_a);
-    _in_b = new NativeAnalogIn(pin_b);
+    _in_a = new AnalogIn(pin_a);
+    _in_b = new AnalogIn(pin_b);
     _cal1_a = cal1_a;
     _cal2_a = cal2_a;
     _cal1_b = cal1_b;
@@ -18,9 +18,6 @@
     float ascaled = 2 * (((float) *_in_a - _cal1_a) / (_cal2_a - _cal1_a) - 0.5f);
     float bscaled = 2 * (((float) *_in_b - _cal1_b)/ (_cal2_b - _cal1_b) - 0.5f);
     
-    dbg_ascaled = ascaled;
-    dbg_bscaled = bscaled;
-    
     float x = bscaled / ascaled;
     
     unsigned int index = (abs(x) / ATAN_UPPER_BOUND) * ATAN_TABLE_SIZE;

--- a/sensors/sensors.h	Mon Mar 16 02:43:19 2015 +0000
+++ b/sensors/sensors.h	Mon Mar 16 03:09:48 2015 +0000
@@ -3,15 +3,10 @@
 
 #include "includes.h"
 
-class NativeAnalogIn {
+class CurrentSensor {
 public:
-    NativeAnalogIn(PinName pin);
-    float Read();
-    operator float() {return Read();}
-    static unsigned char PinToAdcChannel(PinName pin);
-private:
-    unsigned char _channel;
-    float _dummy;
+    virtual float GetCurrent() {return 0.0f;}
+    virtual void Zero() {}
 };
 
 class VoltageSensor {
@@ -30,6 +25,16 @@
     virtual float GetTemp() {return 0.0f;}
 };
 
+class AnalogCurrentSensor: public CurrentSensor {
+public:
+    AnalogCurrentSensor(PinName pin, float volts_per_amp);
+    virtual void Zero();
+    virtual float GetCurrent();
+private:
+    float _zero_level, _volts_per_amp;
+    AnalogIn *_in;
+};
+
 class AnalogVoltageSensor: public VoltageSensor {
 public:
     AnalogVoltageSensor(PinName pin, float scale);
@@ -37,7 +42,7 @@
     virtual float GetVoltage();
 private:
     float _zero_level, _scale;
-    NativeAnalogIn *_in;
+    AnalogIn *_in;
 };
 
 class AnalogHallPositionSensor: public PositionSensor {
@@ -49,7 +54,7 @@
     float _cal1_a, _cal2_a;
     float _cal1_b, _cal2_b;
     float _offset;
-    NativeAnalogIn *_in_a, *_in_b;
+    AnalogIn *_in_a, *_in_b;
 };
 
 class NtcTempSensor: public TempSensor {
@@ -58,7 +63,7 @@
     virtual float GetTemp();
 private:
     float _ntc_a, _ntc_b, _r_divider;
-    NativeAnalogIn *_in;
+    AnalogIn *_in;
 };
 
 class Throttle {

--- a/sensors/tempsensors.cpp	Mon Mar 16 02:43:19 2015 +0000
+++ b/sensors/tempsensors.cpp	Mon Mar 16 03:09:48 2015 +0000
@@ -2,7 +2,7 @@
 #include "sensors.h"
 
 NtcTempSensor::NtcTempSensor(PinName pin, float r_25, float ntc_b, float r_divider) {
-    _in = new NativeAnalogIn(pin);
+    _in = new AnalogIn(pin);
     _ntc_b = ntc_b;
     _ntc_a = r_25 / exp(_ntc_b / 298.0f);
     _r_divider = r_divider;

--- a/sensors/voltagesensors.cpp	Mon Mar 16 02:43:19 2015 +0000
+++ b/sensors/voltagesensors.cpp	Mon Mar 16 03:09:48 2015 +0000
@@ -2,7 +2,7 @@
 #include "sensors.h"
 
 AnalogVoltageSensor::AnalogVoltageSensor(PinName pin, float scale) {
-    _in = new NativeAnalogIn(pin);
+    _in = new AnalogIn(pin);
     _scale = scale;
 }
 

--- a/util/transforms.cpp	Mon Mar 16 02:43:19 2015 +0000
+++ b/util/transforms.cpp	Mon Mar 16 03:09:48 2015 +0000
@@ -12,22 +12,16 @@
     *b = -0.5 * alpha + sqrt(3.0f) / 2.0f * beta;
 }
 
-void Transforms::Parke(float beta, float alpha, float theta, float *d, float *q) {  
-    //reversed alpha and beta order to make d and q ~=constant.
-    //I did this because alpha was found to be sinusoidal and beta was found to be cosinusoidal.  the equation has to take the form sin^2 + cos^2, not sin*cos + sin*cos.
+void Transforms::Parke(float beta, float alpha, float theta, float *d, float *q) {
     float cos = FastCos(theta);
     float sin = FastSin(theta);
-
     *d = alpha * cos + beta * sin;
     *q = -alpha * sin + beta * cos;
-
 }
 
-void Transforms::InverseParke(float d, float q, float theta, float *alpha, float *beta) {  
+void Transforms::InverseParke(float d, float q, float theta, float *alpha, float *beta) {
     float cos = FastCos(theta);
     float sin = FastSin(theta);
-
     *alpha = cos * d - sin * q;
-    *beta = sin * d + cos * q; 
-                              
+    *beta = sin * d + cos * q;                                
 }
\ No newline at end of file

--- a/util/transforms.h	Mon Mar 16 02:43:19 2015 +0000
+++ b/util/transforms.h	Mon Mar 16 03:09:48 2015 +0000
@@ -4,7 +4,7 @@
 namespace Transforms {
     void Clarke(float a, float b, float *alpha, float *beta);
     void InverseClarke(float alpha, float beta, float *a, float *b);
-    void Parke(float alpha, float beta, float theta, float *d, float *q);
+    void Parke(float beta, float alpha, float theta, float *d, float *q);
     void InverseParke(float d, float q, float theta, float *alpha, float *beta);  
 };