espressif/clarke_park

# Clarke Park Transform [![Component Registry](https://components.espressif.com/components/espressif/clarke_park/badge.svg)](https://components.espressif.com/components/espressif/clarke_park) Three phase currents that all wiggle? The Clarke and Park transforms turn them into two calm numbers your control loop can actually use. This component gives you both transforms (plus their inverses) in `float` and in `IQmath` fixed-point, behind a single API. ## What you get - **Clarke / inverse Clarke** - three phases (U/V/W) to two stator axes (alpha/beta) and back. - **Park / inverse Park** - stator axes to rotor axes (d/q) and back, so that a constant-speed machine gives you nearly constant values. - **Two numeric backends in the same firmware** - `float` for convenience, IQmath fixed-point for speed. Pick the backend with the coordinate type you pass in; the calls do not change. - **Nothing to allocate, nothing to initialize** - the transforms are pure math. ## Add it to your project ```bash idf.py add-dependency "espressif/clarke_park" ``` ## Quick start ```c #include "clarke_park.h" void example(float theta_rad) { clarke_park_uvw_f_t uvw = { .u = 1.0f, .v = -0.5f, .w = -0.5f }; clarke_park_ab_f_t ab; clarke_park_dq_f_t dq; clarke_park_clarke(&uvw, &ab); // U/V/W -> alpha/beta clarke_park_park(theta_rad, &ab, &dq); // alpha/beta -> d/q // the fixed-point backend uses the very same calls clarke_park_uvw_iq_t uvw_iq = { .u = _IQ(1.0f), .v = _IQ(-0.5f), .w = _IQ(-0.5f) }; clarke_park_ab_iq_t ab_iq; clarke_park_dq_iq_t dq_iq; clarke_park_clarke(&uvw_iq, &ab_iq); clarke_park_park(_IQ(theta_rad), &ab_iq, &dq_iq); } ``` `theta` is the electrical angle in radians: a `float` for the float backend, an `_iq` value for the fixed-point backend.

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