Three Phase SVM Alignment

[sjkelly]

Currently we center align all 'N' phases requested of the SVM. This is AFAIK incorrect for three phase by the property that A+B+C=0, U+V+W=0. In any given point of the three-phase electrical cycle, two phases should sign match. So these likely need to be "stacked" in some form such that they are equal to the single opposite signed phase.

What we have:

    // A: |-------|____
    // B: ___|-|_______
    // C: _|-----|_____

What we need:

    // A: |--------|__
    // B: _______|-|__
    // C: |-----|_____

[sjkelly]

e.g:
https://github.com/bgkatz/motorcontrol/blob/2fa6cabbebcb19efb9d6b2dd0f59edc3537ad64f/Core/Src/foc.c#L96-L107

[sjkelly]

We also need the DQ transform from here: https://github.com/bgkatz/motorcontrol/blob/2fa6cabbebcb19efb9d6b2dd0f59edc3537ad64f/Core/Src/foc.c#L83-L94