MC_MotorParam.Rate_Power设置Iq电流。

MDK-ARM/QD007A_CTL_APP.uvprojx

@@ -14,7 +14,7 @@
         <TargetCommonOption>
           <Device>STM32F103RB</Device>
           <Vendor>STMicroelectronics</Vendor>
-          <PackID>Keil.STM32F1xx_DFP.2.3.0</PackID>
+          <PackID>Keil.STM32F1xx_DFP.1.1.0</PackID>
           <PackURL>http://www.keil.com/pack/</PackURL>
           <Cpu>IROM(0x08000000,0x20000) IRAM(0x20000000,0x5000) CPUTYPE("Cortex-M3") CLOCK(12000000) ELITTLE</Cpu>
           <FlashUtilSpec></FlashUtilSpec>

MDK-ARM/startup_stm32f103xb.lst

@@ -516,18 +516,19 @@ ARM Macro Assembler    Page 8
   334 00000004         
   335 00000004         
   336 00000004                 END
-Command Line: --debug --xref --cpu=Cortex-M3 --apcs=interwork --depend=.\qd007a
-_ctl_app\startup_stm32f103xb.d -o.\qd007a_ctl_app\startup_stm32f103xb.o -ID:\So
+Command Line: --debug --xref --diag_suppress=9931 --cpu=Cortex-M3 --apcs=interw
+ork --depend=.\qd007a_ctl_app\startup_stm32f103xb.d -o.\qd007a_ctl_app\startup_
 
 
 
 ARM Macro Assembler    Page 9 
 
 
-ftDesign\20190311_QD007A_CTL\TT-KZ-010A_CTRL_APP\TT-KZ-010A_CTRL_APP\MDK-ARM\RT
-E -IC:\Keil_v5\ARM\PACK\ARM\CMSIS\4.1.0\CMSIS\Include -IC:\Keil_v5\ARM\PACK\Kei
-l\STM32F1xx_DFP\1.0.4\Device\Include --predefine="__MICROLIB SETA 1" --list=sta
-rtup_stm32f103xb.lst startup_stm32f103xb.s
+stm32f103xb.o -IC:\Users\hero\Desktop\TT-KZ-010A_CTRL_APP\TT-KZ-010A_CTRL_APP\M
+DK-ARM\RTE -IC:\Keil_v5\ARM\PACK\ARM\CMSIS\5.6.0\CMSIS\Core\Include -IC:\Keil_v
+5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Device\Include --predefine="__MICROLIB SETA
+ 1" --predefine="__UVISION_VERSION SETA 515" --predefine="_RTE_ SETA 1" --prede
+fine="STM32F10X_MD SETA 1" --list=startup_stm32f103xb.lst startup_stm32f103xb.s
 
 
 
@@ -1257,4 +1258,4 @@ Symbol: __main
       At line 152 in file startup_stm32f103xb.s
 Comment: __main used once
 2 symbols
-405 symbols in table
+408 symbols in table

MDK-ARM/stm32f1xx_stucpuregsaddressing.lst

@@ -123,19 +123,18 @@ ARM Macro Assembler    Page 2
    99 00000096                 END
 Command Line: --debug --xref --diag_suppress=9931 --cpu=Cortex-M3 --apcs=interw
 ork --depend=.\qd007a_ctl_app\stm32f1xx_stucpuregsaddressing.d -o.\qd007a_ctl_a
-pp\stm32f1xx_stucpuregsaddressing.o -ID:\SoftDesign\20190311_QD007A_CTL\TT-KZ-0
-10A_CTRL_APP\TT-KZ-010A_CTRL_APP\MDK-ARM\RTE -IC:\Keil_v5\ARM\PACK\ARM\CMSIS\5.
-6.0\CMSIS\Core\Include -IC:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.3.0\Device\In
-clude --predefine="__MICROLIB SETA 1" --predefine="__UVISION_VERSION SETA 515" 
---predefine="_RTE_ SETA 1" --predefine="STM32F10X_MD SETA 1" --list=stm32f1xx_s
+pp\stm32f1xx_stucpuregsaddressing.o -IC:\Users\hero\Desktop\TT-KZ-010A_CTRL_APP
+\TT-KZ-010A_CTRL_APP\MDK-ARM\RTE -IC:\Keil_v5\ARM\PACK\ARM\CMSIS\5.6.0\CMSIS\Co
+re\Include -IC:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Device\Include --pred
+efine="__MICROLIB SETA 1" --predefine="__UVISION_VERSION SETA 515" --predefine=
+"_RTE_ SETA 1" --predefine="STM32F10X_MD SETA 1" --list=stm32f1xx_stucpuregsadd
 
 
 
 ARM Macro Assembler    Page 3 
 
 
-tucpuregsaddressing.lst ..\SelfTestUser\src_specific\stm32f1xx_STUCpuRegsAddres
-sing.s
+ressing.lst ..\SelfTestUser\src_specific\stm32f1xx_STUCpuRegsAddressing.s
 
 
 

MDK-ARM/stm32f1xx_stucpuwalkpatkeil.lst

@@ -1593,12 +1593,12 @@ ARM Macro Assembler    Page 25
  1172 000006D0                 END
 Command Line: --debug --xref --diag_suppress=9931 --cpu=Cortex-M3 --apcs=interw
 ork --depend=.\qd007a_ctl_app\stm32f1xx_stucpuwalkpatkeil.d -o.\qd007a_ctl_app\
-stm32f1xx_stucpuwalkpatkeil.o -ID:\SoftDesign\20190311_QD007A_CTL\TT-KZ-010A_CT
-RL_APP\TT-KZ-010A_CTRL_APP\MDK-ARM\RTE -IC:\Keil_v5\ARM\PACK\ARM\CMSIS\5.6.0\CM
-SIS\Core\Include -IC:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.3.0\Device\Include 
---predefine="__MICROLIB SETA 1" --predefine="__UVISION_VERSION SETA 515" --pred
-efine="_RTE_ SETA 1" --predefine="STM32F10X_MD SETA 1" --list=stm32f1xx_stucpuw
-alkpatkeil.lst ..\SelfTestUser\src_specific\stm32f1xx_STUCpuWalkpatKEIL.s
+stm32f1xx_stucpuwalkpatkeil.o -IC:\Users\hero\Desktop\TT-KZ-010A_CTRL_APP\TT-KZ
+-010A_CTRL_APP\MDK-ARM\RTE -IC:\Keil_v5\ARM\PACK\ARM\CMSIS\5.6.0\CMSIS\Core\Inc
+lude -IC:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Device\Include --predefine=
+"__MICROLIB SETA 1" --predefine="__UVISION_VERSION SETA 515" --predefine="_RTE_
+ SETA 1" --predefine="STM32F10X_MD SETA 1" --list=stm32f1xx_stucpuwalkpatkeil.l
+st ..\SelfTestUser\src_specific\stm32f1xx_STUCpuWalkpatKEIL.s
 
 
 

MDK-ARM/stm32f1xx_sturamwalkpatkeil.lst

@@ -430,12 +430,12 @@ ARM Macro Assembler    Page 7
   331 000001F2                 END
 Command Line: --debug --xref --diag_suppress=9931 --cpu=Cortex-M3 --apcs=interw
 ork --depend=.\qd007a_ctl_app\stm32f1xx_sturamwalkpatkeil.d -o.\qd007a_ctl_app\
-stm32f1xx_sturamwalkpatkeil.o -ID:\SoftDesign\20190311_QD007A_CTL\TT-KZ-010A_CT
-RL_APP\TT-KZ-010A_CTRL_APP\MDK-ARM\RTE -IC:\Keil_v5\ARM\PACK\ARM\CMSIS\5.6.0\CM
-SIS\Core\Include -IC:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.3.0\Device\Include 
---predefine="__MICROLIB SETA 1" --predefine="__UVISION_VERSION SETA 515" --pred
-efine="_RTE_ SETA 1" --predefine="STM32F10X_MD SETA 1" --list=stm32f1xx_sturamw
-alkpatkeil.lst ..\SelfTestUser\src_specific\stm32f1xx_STURamWalkpatKEIL.s
+stm32f1xx_sturamwalkpatkeil.o -IC:\Users\hero\Desktop\TT-KZ-010A_CTRL_APP\TT-KZ
+-010A_CTRL_APP\MDK-ARM\RTE -IC:\Keil_v5\ARM\PACK\ARM\CMSIS\5.6.0\CMSIS\Core\Inc
+lude -IC:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Device\Include --predefine=
+"__MICROLIB SETA 1" --predefine="__UVISION_VERSION SETA 515" --predefine="_RTE_
+ SETA 1" --predefine="STM32F10X_MD SETA 1" --list=stm32f1xx_sturamwalkpatkeil.l
+st ..\SelfTestUser\src_specific\stm32f1xx_STURamWalkpatKEIL.s
 
 
 

User/Src/tim.c

@@ -527,7 +527,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
 							#if 0 //Õý³£ËٶȻ·
 							FOC_Model(MC_CalParam.Ref_Speed, 0, MC_RunInfo.MotorSpeed, MC_HallSensorData.SVM_Angle, False);
 							#elif 1 //IfÍ϶¯
-							FOC_Model(200, 0, MC_RunInfo.MotorSpeed, MC_VirtualPosition.SVM_Angle, False);							
+							FOC_Model(MC_MotorParam.Rate_Power, 0, MC_RunInfo.MotorSpeed, MC_VirtualPosition.SVM_Angle, False);							
 							#elif 1 //Áã¶È
 							FOC_Model(0, 200, MC_RunInfo.MotorSpeed, 0, False);							
 							#endif