[参考译文] DRV8301-69M-KIT：Instaspin 启动顺序、促销

您好！

我设法解决了这个问题。 对于任何感兴趣的人、必须在软件主 ISR 中禁用但未"启用"以下各项；

if(enAble==1){
bool flag_enableSpeedCtrl;
bool flag_enableCurrentCtrl;

MATH_vec2 Idq_offset_pu;
MATH_vec2 Vdq_offset_pu;


// reset the isr count
CTRL_resetCounter_isr(ctrlHandle);

// run Clarke transform on current
CLARKE_run(clarkeHandle_I,&gAdcData.I,&Iab_pu);

// run Clarke transform on voltage
CLARKE_run(clarkeHandle_V,&gAdcData.V,&Vab_pu);

{
// run the estimator
EST_run(estHandle, \
&Iab_pu, \
&Vab_pu, \
gAdcData.dcBus, \
speed_ref_pu);

flag_enableSpeedCtrl = EST_doSpeedCtrl(estHandle);
flag_enableCurrentCtrl = EST_doCurrentCtrl(estHandle);
}

// generate the motor electrical angle
angle_pu = EST_getAngle_pu(estHandle);
speed_pu = EST_getFm_pu(estHandle);

// compute the sin/cos phasor
CTRL_computePhasor(angle_pu,&phasor);

// set the phasor in the Park transform
PARK_setPhasor(parkHandle,&phasor);

// run the Park transform
PARK_run(parkHandle,&Iab_pu,CTRL_getIdq_in_addr(ctrlHandle));

// set the offset based on the Id trajectory
Idq_offset_pu.value[0] = TRAJ_getIntValue(((CTRL_Obj *)ctrlHandle)->trajHandle_Id);
Idq_offset_pu.value[1] = _IQ(0.0);

Vdq_offset_pu.value[0] = 0;
Vdq_offset_pu.value[1] = 0;


CTRL_setup_user(ctrlHandle,
angle_pu,
speed_ref_pu,
speed_pu,
speed_outMax_pu,
&Idq_offset_pu,
&Vdq_offset_pu,
flag_enableSpeedCtrl,
flag_enableCurrentCtrl);
}

和

        // run the offline controller
          if(enAble==1){
        CTRL_runOffLine(ctrlHandle,halHandle,&gAdcData,&gPwmData);
          }