建議打個電話與台北FAE葛育中先生聯絡，他是這 MCLV 課程的專業講師。

關於課程302 MCW的Lab5程式問題請教！
我使用的實驗板是app0099跟igbt-ipm驅動電路,用來驅動200w額定轉速2500RPM極數為8極的無刷馬達
我有先用 lab 4 開迴路程式修改過相關IO設定 跑我的馬達 以可正常驅動！
我現在對Lab 5的程式定義有些問題想說拿出來討論一下　
因為目前跑Lab5 最高轉速沒有照設定的值跑出來
PID係數 我想說等我 最高 與 最低 轉速 都設定完成 再來調控
我把我認為會影響轉速更動的與原始程式貼上來
原始程式為

// Period Calculation
// Period = TMRClock * 6 / RPM
// For example>
// RPM = 6000 (Max Speed)
// Period = (20,000,000 / 64) * 6 / 6000 = 312.5
// RPM = 60 (Min Speed)
// Period = (20,000,000 / 64) * 6 / 60 = 31250
這程式設定最高6000rpm最低也不到60 可是接24V BLDC 實際測出的轉速為3000rpm最低為264rpm
上面的定義是不是有問題？
#define MINPERIOD 313 // For 6000 max rpm and 10 poles motor
#define MAXPERIOD 31250 // For 60 min rpm and 10 poles motor
#define MINABSSPEED 327
#define MAXABSSPEED 32663
#define SFloat_To_SFrac16(Float_Value) (((Float_Value) < 0.0) ? (SFRAC16)(32767 * (Float_Value) - 0.5) : (SFRAC16)(32768 * (Float_Value) + 0.5))
//這一行要更動嗎？
void __attribute__((__interrupt__)) _ADCInterrupt (void)
{
IFS0bits.ADIF = 0;
RefSpeed = (int)(((unsigned int)ADCBUF0) / 2);
//The A/D is using unsigned fraction format.
//Please refer to the user manual too see the detail.
//In this mode, the max A/D is around 65535 which is almost “2” for Q15 format. The PID loop is using Q15 format so the A/D need to be divided by 2 to fit the max limit which is 32767.
if (RefSpeed < 2000)
RefSpeed = 2000; //Q15(2000) = 2000/32768 = 0.061 6000 RPM a 1 0.061*6000RPM = 366 RPM

return;
}

void SixStepComm (int _Sector, int _Voltage)
{

if (_Voltage >= 0)
{

PDC1 = PDC2 = PDC3 = (unsigned int)_Voltage / 16;
//The Voltage is also Q15 format in which the maximum is 32767.
//So divided by 16 is to fit the PDC max value.
if (_Sector == -1)
OVDCON = 0x0000; else
OVDCON = StateLoTable[_Sector];
}
else
{
PDC1 = PDC2 = PDC3 = (unsigned int)(-(_Voltage+1)) / 16;
if (_Sector == -1)
OVDCON = 0x0000;
else
OVDCON = StateLoTable[(_Sector + 3) % 6];
}
return;

我更改為
//馬達為8級
//MINPERIOD 最大轉速設定為2500rpm
//(Timer 1 時脈) x 60/(最大轉速2500rpm) x (馬達級數)＝(20,000,000/64)*60/[(2500rpm)*8]=938
//MAXPERIOD 最小轉速設定為150rpm
//(Timer 1 時脈) x 60/(最小轉速150rpm) x (馬達級數)＝(20,000,000/64)*60/[(150rpm)x8]=15625

#define MINPERIOD 938
#define MAXPERIOD 15625
#define MINABSSPEED 950
#define MAXABSSPEED 15660

#define SFloat_To_SFrac16(Float_Value) (((Float_Value) < 0.0) ? (SFRAC16)(16384 * (Float_Value) - 0.5) : (SFRAC16)(16384 * (Float_Value) + 0.5)) //這行需要更改嗎？

void __attribute__((__interrupt__)) _ADCInterrupt (void)
{
IFS0bits.ADIF = 0;
RefSpeed = (int)(((unsigned int)ADCBUF0) / 4);
if (RefSpeed < 2000)
RefSpeed = 2000;
// Q15(2000) 2000/16384=0.122 2500*0.122=300 RPM
return;
}

void SixStepComm (int _Sector, int _Voltage)
{

if (_Voltage >= 0)
{

PDC1 = PDC2 = PDC3 = (unsigned int)_Voltage / 16;
//The Voltage is also Q15 format in which the maximum is 32767.
//So divided by 16 is to fit the PDC max value.
if (_Sector == -1)
OVDCON = 0x0000; else
OVDCON = StateLoTable[_Sector];
}
else
{
PDC1 = PDC2 = PDC3 = (unsigned int)(-(_Voltage+1)) / 16;
if (_Sector == -1)
OVDCON = 0x0000;
else
OVDCON = StateLoTable[(_Sector + 3) % 6];
}
return;