InstaSPIN-FOC lab2a与lab2b请教

Hoo Asnow

Other Parts Discussed in Thread: MOTORWARE

以下分别为InstaSPIN-FOC lab 2a与lab 2b的中断服务函数:

lab 2a:

interrupt void mainISR(void)
{
HAL_PwmData_t negPwmData = {_IQ(0.0), _IQ(0.0), _IQ(0.0)};

// toggle status LED
if(gLEDcnt++ > (uint_least32_t)(USER_ISR_FREQ_Hz / LED_BLINK_FREQ_Hz))
{
HAL_toggleLed(halHandle,(GPIO_Number_e)HAL_Gpio_LED2);
gLEDcnt = 0;
}

// acknowledge the ADC interrupt
HAL_acqAdcInt(halHandle,ADC_IntNumber_1);

// convert the ADC data
HAL_readAdcData(halHandle,&gAdcData);

// run the controller
CTRL_run(ctrlHandle,halHandle,&gAdcData,&negPwmData);

// negate PwmData generated by SVGEN module in ROM
gPwmData.Tabc.value[0] = _IQmpy(negPwmData.Tabc.value[0], _IQ(-1.0));
gPwmData.Tabc.value[1] = _IQmpy(negPwmData.Tabc.value[1], _IQ(-1.0));
gPwmData.Tabc.value[2] = _IQmpy(negPwmData.Tabc.value[2], _IQ(-1.0));

// write the PWM compare values
HAL_writePwmData(halHandle,&gPwmData);

// setup the controller
CTRL_setup(ctrlHandle);

return;
} // end of mainISR() function

——————————————————————————————————————

lab 2b:

interrupt void mainISR(void)
{
// toggle status LED
if(gLEDcnt++ > (uint_least32_t)(USER_ISR_FREQ_Hz / LED_BLINK_FREQ_Hz))
{
HAL_toggleLed(halHandle,(GPIO_Number_e)HAL_Gpio_LED2);
gLEDcnt = 0;
}

// acknowledge the ADC interrupt
HAL_acqAdcInt(halHandle,ADC_IntNumber_1);

// convert the ADC data
HAL_readAdcData(halHandle,&gAdcData);

// run the controller
CTRL_run(ctrlHandle,halHandle,&gAdcData,&gPwmData);

// write the PWM compare values
HAL_writePwmData(halHandle,&gPwmData);

// setup the controller
CTRL_setup(ctrlHandle);

return;
} // end of mainISR() function

标红的部分为二者不同的地方，但是在lab user guide中说这两个例程的mainISR（）一致，请问为何会有这种区别呢？如果2a的占空比没问题，那2b的占空比岂不是就有问题了？

我跑2a可以跑，2b却没法跑起来，调试发现跑2b时，恒定输出50%的占空比（电机辨识全过程都是这样），但是watch window显示控制器和估算器的状态改变正常。请问原因会不会是mainISR（）跟2a不同造成的？

7 年多前