InstaSPIN-FOC用户手册中关于Clock和Timer中的一段说明：
// Defines the number of pwm clock ticks per isr clock tick
// Note: Valid values are 1, 2 or 3 only
#define USER_NUM_PWM_TICKS_PER_ISR_TICK (1)
// Defines the number of isr ticks (hardware) per controller clock tick (software)
#define USER_NUM_ISR_TICKS_PER_CTRL_TICK (1)
// Defines the number of controller clock ticks per estimator clock tick
#define USER_NUM_CTRL_TICKS_PER_EST_TICK (1)
// Defines the number of controller clock ticks per current controller clock tick
#define USER_NUM_CTRL_TICKS_PER_CURRENT_TICK (1)
// Defines the number of controller clock ticks per speed controller clock tick
#define USER_NUM_CTRL_TICKS_PER_SPEED_TICK (10)
// Defines the number of controller clock ticks per trajectory clock tick
#define USER_NUM_CTRL_TICKS_PER_TRAJ_TICK (10)
有几个问题，请教一下各位高手：
PWM_TIcker与ISR_Ticker的关系是如何约束的，以及其他几种Ticker之间的关系？