Renesas V850 Series - Page 128

CHAPTER 4 PROGRAM LIST
Application Note U17209EJ1V0AN
131
}
}
}
} else {
/****************************************************************************** /
/* Normal revolution processing */
/****************************************************************************** /
o_wre = abs(object_speed) * RPM_RADS * P / TH_U ; /* rpm -> radian conversion */
we = o_wre - wre ;
o_iqap = ( ( wre * KSP ) + ( we * KSP ) ) >> KSPGETA ;
o_iqa = o_iqap + ( o_iqai >> KSIGETA ) ;
if ( o_iqai > IQAMAX ) {
o_iqai = IQAMAX ;
} else if ( o_iqai < -IQAMAX ) {
o_iqai = -IQAMAX ;
} else {
o_iqai += ( KSI * we ) ;
}
pwm_value = o_iqa ;
if ( pwm_value <= 0 ) {
pwm_value = 1 ;
} else if ( pwm_value >= PWM_DATA ) {
pwm_value = ( PWM_DATA ) - 1 ;
}
wk = TQ0IOC0 ;
TQ0CCR1 = pwm_value ;
TQ0CCR2 = pwm_value ;
TQ0CCR3 = pwm_value ;
cont_time1 = ( TP1CNT - s_time ) ; /* Convert to uSEC */
}
} else {
HZA0CTL0 |= 0x08; /* PWM output off */
now_speed = 0;
cont_time1 = 0;
}
}
/****************************************************************************** /
/* Calculation processing of speed, etc. */
/****************************************************************************** /
void fcalcu( signed int *wrm, signed int *trm )
{
signed short es_trm, cur_time, delta, i ;
signed int wwrm, wk, *p1, *p2;
//
// Speed and position calculation from zero-cross point