TI INSTASPIN 下桥臂电阻采样改为U V W电流传感器采样,软件上要改什么地方啊?或者怎样换算符合算法要求？

首先你要计算一下换算比例，然后修改user.h中的USER_ADC_FULL_SCALE_CURRENT_A

其次: 修改hal.h中的readAdcData函数，如下标黄色三个值的正负符号，注意，算法里面以流进去电机电流的方向为正，如果你用霍尔采样，再经过运放，最终确定一下这个电流方向，如果反相了，则在value前面加符号。

static inline void HAL_readAdcData(HAL_Handle handle,HAL_AdcData_t *pAdcData)
{
HAL_Obj *obj = (HAL_Obj *)handle;

_iq value;
_iq current_sf = HAL_getCurrentScaleFactor(handle);
_iq voltage_sf = HAL_getVoltageScaleFactor(handle);

// convert current A
// sample the first sample twice due to errata sprz342f, ignore the first sample
value = (_iq)ADC_readResult(obj->adcHandle,ADC_ResultNumber_1);
value = _IQ12mpy(value,current_sf) - obj->adcBias.I.value[0]; // divide by 2^numAdcBits = 2^12
pAdcData->I.value[0] = value;

// convert current B
value = (_iq)ADC_readResult(obj->adcHandle,ADC_ResultNumber_2);
value = _IQ12mpy(value,current_sf) - obj->adcBias.I.value[1]; // divide by 2^numAdcBits = 2^12
pAdcData->I.value[1] = value;

// convert current C
value = (_iq)ADC_readResult(obj->adcHandle,ADC_ResultNumber_3);
value = _IQ12mpy(value,current_sf) - obj->adcBias.I.value[2]; // divide by 2^numAdcBits = 2^12
pAdcData->I.value[2] = value;

另外一个函数，updateAdcBias, 如果是正相采样，则bias +=, 否则 -=。

static inline void HAL_updateAdcBias(HAL_Handle handle)
{
uint_least8_t cnt;
HAL_Obj *obj = (HAL_Obj *)handle;
_iq bias;

// update the current bias
for(cnt=0;cnt<HAL_getNumCurrentSensors(handle);cnt++)
{
bias = HAL_getBias(handle,HAL_SensorType_Current,cnt);

bias += OFFSET_getOffset(obj->offsetHandle_I[cnt]);

HAL_setBias(handle,HAL_SensorType_Current,cnt,bias);
}

ERIC