Renesas V850 Series - Page 127

CHAPTER 4 PROGRAM LIST
Application Note U17209EJ1V0AN
130
signed int o_vua, o_vva, o_vwa ;
signed int o_vda, o_vqa ;
/* */
/****************************************************************************** /
/* Calculation processing of speed and rotor position */
/****************************************************************************** /
fcalcu( &wrm, &trm ) ;
sum_speed += ( wrm * TH_U / RPM_RADS ) ; /* Radian -> rpm */
if ( --speed_co == 0 ) {
speed_co = 100000 / TS ; /* Set 100 mSEC counter value */
now_speed = sum_speed / speed_co ;
sum_speed = 0 ;
}
wrm = now_speed * RPM_RADS / TH_U ;
wre = wrm * P ;
tre = ( trm * P + OFFSET ) % RAD ;
if ( ( stop_flag == OFF ) && ( error_flag == 0 ) ) {
s_time = TP1CNT ;
HZA0CTL0 |= 0x04; /* PWM output on */
OUT_data( WRESET, 0 ) ; /* Reset watchdog timer */
/****************************************************************************** /
/* Initial revolution processing */
/****************************************************************************** /
if ( init_flag ) {
cow = init_upco ;
if ( cow > 4 ) cow = 4;
if ( ++init_co > ( (long)up_data[ cow ] * 34000L / ( SPEED_INIT * TS ) ) ) {
init_co = 0 ;
if ( init_flag == 2 ) {
wk = cw_data[ init_pat ][0] ;
wk2 = cw_data[ init_pat++ ][1] ;
} else {
wk = ccw_data[ init_pat ][0] ;
wk2 = ccw_data[ init_pat++ ][1] ;
}
TQ0CCR1 = PWM_INIT ;
TQ0CCR2 = PWM_INIT ;
TQ0CCR3 = PWM_INIT ;
TQ0IOC0 = wk ;
TQ0IOC3 = wk2 ;
if ( init_pat >= 6 ) {
init_pat = 0 ;
if ( init_upco > 14 ) {
init_flag = 0 ;
} else {
init_upco++ ;