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Part Number: TMS320F280039C
你好，关于环路计算我还不太熟悉，对于以下代码有点不理解，特别是标注部分，请麻烦解释以下，谢谢！
你好，图片似乎上传失败了，请重新上传一下。
#define InternalLoopPI(v) \
/* proportional term */
\ v.up = ((v.Ref +v.Ref_Adj- v.Fbk)*v.Kp); \
/* integral term */ \
v.ui = (v.Ki* v.up)+ v.uir; \
v.uir = v.ui; \ v.uir = __mminf32(v.uir, v.Umax); \
v.uir= __mmaxf32(v.uir, v.Umin); \
/* control output */ \
v.v1 = (v.up + v.ui + v.Fbk_Duty); \
v.Out= __mminf32(v.v1, v.Umax); \
v.Out= __mmaxf32(v.Out, v.Umin);
你好，不知道为什么我图片上传失败，代码中标红部分有点不懂
方便提供一下出处吗？比如具体的路径
