#define SPEED_FR_MACRO(v) \
/* Differentiator*/ \
/* Synchronous speed computation */ \
v.Tmp = v.ElecTheta - v.OldElecTheta; \
if (v.Tmp < -_IQ(0.5)) \
v.Tmp = v.Tmp + _IQ(1.0); \
else if (v.Tmp > _IQ(0.5)) \
v.Tmp = v.Tmp - _IQ(1.0); \
v.Tmp = _IQmpy(v.K1,v.Tmp);
此处的角度偏差范围为什么是-0.5 到0.5，个人理解如果角度范围时0-1的话偏差范围不应该是-1到1么
