//██████████████████████████████████████████████████████████████████████████████████
irr::core::matrix4 volumeNormalize(irr::core::matrix4 A) {
Matrix A_calc(3,3);
for(int j=0;j<3;j++) {
for(int i=0;i<3;i++) {
A_calc.element(j,i) = A(i,j);
}
}
double det = Determinant(A_calc);
double cbrt = pow( fabs(det), 1./3 );
cbrt = ( det < 0 ) ? -cbrt : cbrt;
A_calc = A_calc / cbrt;
for(int j=0;j<3;j++) {
for(int i=0;i<3;i++) {
A(i,j) = A_calc.element(j,i);
}
}
return A;
}
//-----------------------------------------------------------------------------
ISR_PWM_SET()
{
unsigned long A;
if (speed>795) index += 16;
else if (speed>595) index += 8;
else if (speed>395) index += 4;
else if (speed>195) index += 2;
else index += 1;
//-------------------
if(speed>=f_Base)
{
PWMR_SET(pgm_read_byte(&sine[R_Index(index)]));
PWMS_SET(pgm_read_byte(&sine[S_Index(index)]));
PWMT_SET(pgm_read_byte(&sine[T_Index(index)]));
}
//-----
else if (speed<=f_Boost)
{
PWMR_SET(A_calc(pgm_read_byte(&sine[R_Index(index)]), A_Boost));
PWMS_SET(A_calc(pgm_read_byte(&sine[S_Index(index)]), A_Boost));
PWMT_SET(A_calc(pgm_read_byte(&sine[T_Index(index)]), A_Boost));
}
//-----
else
{
A = ((N *(unsigned long)(speed -f_Boost)) /M) +A_Boost;
PWMR_SET(A_calc(pgm_read_byte(&sine[R_Index(index)]), (unsigned char)A));
PWMS_SET(A_calc(pgm_read_byte(&sine[S_Index(index)]), (unsigned char)A));
PWMT_SET(A_calc(pgm_read_byte(&sine[T_Index(index)]), (unsigned char)A));
}
} //ISR_PWM_SET
