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lab11为A Simplified Example without Controller Module,程序中有如下代码:
#ifdef FAST_ROM_V1p6 [ // These function calls are used to initialize the estimator with ROM // function calls. It needs the specific address where the controller // object is declared by the ROM code. CTRL_Handle ctrlHandle = CTRL_init((void *)USER_CTRL_HANDLE_ADDRESS ,0x200); CTRL_Obj *obj = (CTRL_Obj *)ctrlHandle; // this sets the estimator handle (part of the controller object) to // the same value initialized above by the EST_init() function call. // This is done so the next function implemented in ROM, can // successfully initialize the estimator as part of the controller // object. obj->estHandle = estHandle; // initialize the estimator through the controller. These three // function calls are needed for the F2806xF/M implementation of // InstaSPIN. CTRL_setParams(ctrlHandle,&gUserParams); CTRL_setUserMotorParams(ctrlHandle); CTRL_setupEstIdleState(ctrlHandle); ] #else [ // initialize the estimator. These two function calls are needed for // the F2802xF implementation of InstaSPIN using the estimator handle // initialized by EST_init(), these two function calls configure the // estimator, and they set the estimator in a proper state prior to // spinning a motor. EST_setEstParams(estHandle,&gUserParams); EST_setupEstIdleState(estHandle); ] #endif // get Idq from estimator to avoid sin and cos, and a Park transform, // which saves CPU cycles EST_getIdq_pu(estHandle,&gIdq_pu); 请问: 1、FAST_ROM_V1p6在哪定义的?程序中找了半天都没找到。 2、CTRL_init()和EST_getIdq_pu()两个函数都是在main.h中声明的,这两个函数的原型在哪? |
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