Renesas V850 Series - Page 178

CHAPTER 4 PROGRAM LIST
Application Note U17209EJ1V0AN
181
} 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 = ( TMD0 - s_time ) * 10 / 32; /* Convert to uSEC */
}
} else {
HZA0CTL1 |= 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
//
cur_time = TMENC10 ;
delta = ( (RAD/6/P) * cur_time ) / sa_time ; /* Calculation of rotor position */
/* difference from reference point */
/* (radian) */
if ( object_speed >= 0 ) {
es_trm = base_position + delta;
} else {
es_trm = base_position - delta;
if ( es_trm < 0 ) es_trm += (RAD/P);
}
total_sa -= before_posi[20][1] ;
p1 = (int *)before_posi[19] ;