Renesas V850 Series - Page 177

CHAPTER 4 PROGRAM LIST
Application Note U17209EJ1V0AN
180
if ( ( stop_flag == OFF ) && ( error_flag == 0 ) ) {
s_time = TMD0 ;
OUT_data( WRESET, 0 ) ; /* Reset watchdog timer */
HZA0CTL1 |= 0x04; /* PWM output on */
/****************************************************************************** /
/* 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 ;
HZA0CTL1 |= 0x04; /* PWM output on */
if ( init_pat >= 6 ) {
init_pat = 0 ;
if ( init_upco > 14 ) {
init_flag = 0 ;
} else {
init_upco++ ;
}
}
}
} 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 ;