处理autohold和打齿

Signed-off-by: huhui <huhui@sharkgulf.com>

Applications/app/app.c

@@ -129,7 +129,7 @@ static u32 _app_report_task(void *p) {
 		//sys_debug("Slow: %d - %d\n", g_meas_MCTask.intval_time, g_meas_MCTask.exec_time);
 		//sys_debug("Fast: %d - %d, err: %d-%d-%d\n", g_meas_foc.intval_time, g_meas_foc.exec_time, g_meas_foc.intval_hi_err, g_meas_foc.intval_low_err, g_meas_foc.exec_max_error_time);
 		sys_debug("FOC time err %d %d\n", g_meas_foc.intval_time_h_error, g_meas_foc.intval_time_l_error);
-		//sys_debug("acc vol %d, bid %d\n", get_acc_vol(), gpio_board_id());
+		sys_debug("acc vol %d, bid %d\n", get_acc_vol(), gpio_board_id());
 		//sys_debug("throttle %f\n", get_throttle_float());
 		//sys_debug("ADC Vref %f, %f\n", get_adc_vref(), adc_5vref_compesion());
 		//sys_debug("dead time %d\n", get_deadtime());

Applications/bsp/gd32/board_mc105_v3.h

@@ -17,7 +17,7 @@
 #define CONFIG_MAX_PHASE_CURR   500.0F
 #define CONFIG_MAX_PHASE_VOL    (CONFIG_MOS_MAX_VOL - 20.0F)
 #define CONFIG_MAX_TORQUE       CONFIG_MAX_PHASE_CURR
-#define CONFIG_MAX_LOCK_TORQUE  20
+#define CONFIG_MAX_LOCK_TORQUE  100
 #define CONFIG_MAX_ACTIVE_EMF   5000.0F
 //#define CONFIG_BEEP 
 #define CONFIG_STALL_MAX_CURRENT 100.0f //最大堵转相电流电流
@@ -408,7 +408,9 @@
 #endif
 #define DEBUG_PORT_UART2
 
+#ifndef CONFIG_MOT_TYPE
 #define CONFIG_MOT_TYPE MOTOR_BLUESHARK_A1
+#endif
 
 //#define CONFIG_DQ_STEP_RESPONSE
 

Applications/foc/core/PI_Controller.h

@@ -117,6 +117,29 @@ static __INLINE float PI_Controller_RunSat(PI_Controller *pi, float err) {
 }
 #endif
 
+/* 电流环，PI 串联结构 */
+static __INLINE float PI_Controller_Current(PI_Controller *pi, float err, float ff) {
+	float kp_err = (err) * pi->kp;
+	float ki_err = (kp_err) * pi->ki;
+	float integral = ki_err * pi->DT;
+
+	pi->Ui = pi->Ui + integral;
+	float out = pi->Ui + kp_err + ff;
+	if (out > pi->max) {
+		out = pi->max;
+		pi->is_sat = true;
+		pi->Ui = out - (kp_err + ff);
+	}else if (out < pi->min) {
+		out = pi->min;
+		pi->is_sat = true;
+		pi->Ui = out - (kp_err + ff);
+	}else {
+		pi->is_sat = false;
+	}
+	return out;
+}
+
+
 static __INLINE float PI_Controller_RunSerial(PI_Controller *pi, float err) {
 	float kp_err = (err) * pi->kp;//S16_mul(err,pi->kp, 5);
 	float ki_err = (kp_err) * pi->ki;

Applications/foc/core/PMSM_FOC_Core.c

@@ -420,17 +420,23 @@ static u32 PMSM_FOC_Debug_Task(void *p) {
 	return 1;
 }
 
-static __INLINE void id_feedforward(float eW) {
+static __INLINE float id_feedforward(float eW) {
 #ifdef CONFIG_CURRENT_LOOP_DECOUPE
-	gFoc_Ctrl.in.s_targetVdq.d += -(gFoc_Ctrl.params.lq * gFoc_Ctrl.out.s_RealIdq.q * eW);
-	gFoc_Ctrl.in.s_targetVdq.d = fclamp(gFoc_Ctrl.in.s_targetVdq.d, gFoc_Ctrl.pi_id.min, gFoc_Ctrl.pi_id.max);
+	return -(gFoc_Ctrl.params.lq * gFoc_Ctrl.out.s_RealIdq.q * eW);
+	//gFoc_Ctrl.in.s_targetVdq.d += -(gFoc_Ctrl.params.lq * gFoc_Ctrl.out.s_RealIdq.q * eW);
+	//gFoc_Ctrl.in.s_targetVdq.d = fclamp(gFoc_Ctrl.in.s_targetVdq.d, gFoc_Ctrl.pi_id.min, gFoc_Ctrl.pi_id.max);
+#else
+	return 0;
 #endif
 }
 
-static __INLINE void iq_feedforward(float eW) {
+static __INLINE float iq_feedforward(float eW) {
 #ifdef CONFIG_CURRENT_LOOP_DECOUPE
-	gFoc_Ctrl.in.s_targetVdq.q += (gFoc_Ctrl.params.ld * gFoc_Ctrl.out.s_RealIdq.d + gFoc_Ctrl.params.flux) * eW;
-	gFoc_Ctrl.in.s_targetVdq.q = fclamp(gFoc_Ctrl.in.s_targetVdq.q, gFoc_Ctrl.pi_iq.min, gFoc_Ctrl.pi_iq.max);
+	return (gFoc_Ctrl.params.ld * gFoc_Ctrl.out.s_RealIdq.d + gFoc_Ctrl.params.flux) * eW;
+	//gFoc_Ctrl.in.s_targetVdq.q += (gFoc_Ctrl.params.ld * gFoc_Ctrl.out.s_RealIdq.d + gFoc_Ctrl.params.flux) * eW;
+	//gFoc_Ctrl.in.s_targetVdq.q = fclamp(gFoc_Ctrl.in.s_targetVdq.q, gFoc_Ctrl.pi_iq.min, gFoc_Ctrl.pi_iq.max);
+#else
+	return 0;
 #endif
 }
 
@@ -454,8 +460,8 @@ void PMSM_FOC_Schedule(void) {
 		float target_d = FOC_Get_DqRamp(&gFoc_Ctrl.idq_ctl[0]);
 	#endif
 		float err = target_d - gFoc_Ctrl.out.s_RealIdq.d;
-		gFoc_Ctrl.in.s_targetVdq.d = PI_Controller_RunSerial(&gFoc_Ctrl.pi_id, err);
-		id_feedforward(gFoc_Ctrl.in.s_motVelDegreePers);
+		float id_ff = id_feedforward(gFoc_Ctrl.in.s_motVelDegreePers);
+		gFoc_Ctrl.in.s_targetVdq.d = PI_Controller_Current(&gFoc_Ctrl.pi_id, err, id_ff);
 #ifdef UPDATE_Lq_By_iq
 		/* update kp&ki from lq for iq PI controller */
 		float lq = motor_get_lq_from_iq((s16)gFoc_Ctrl.out.s_FilterIdq.q);
@@ -471,8 +477,8 @@ void PMSM_FOC_Schedule(void) {
 		float target_q = FOC_Get_DqRamp(&gFoc_Ctrl.idq_ctl[1]);
 	#endif
 		err = target_q - gFoc_Ctrl.out.s_RealIdq.q;
-		gFoc_Ctrl.in.s_targetVdq.q = PI_Controller_RunSerial(&gFoc_Ctrl.pi_iq, err);
-		iq_feedforward(gFoc_Ctrl.in.s_motVelDegreePers);
+		float iq_ff = iq_feedforward(gFoc_Ctrl.in.s_motVelDegreePers);
+		gFoc_Ctrl.in.s_targetVdq.q = PI_Controller_Current(&gFoc_Ctrl.pi_iq, err, iq_ff);
 	}else {
 		float max_Vdc = gFoc_Ctrl.in.s_vDC * CONFIG_SVM_MODULATION;
 		float max_vd = max_Vdc * SQRT3_BY_2;
@@ -571,12 +577,12 @@ static void crosszero_step_towards(float *value, float target) {
 	bool cross_zero = false;
 	if (target > 0) {
 		if (v_now >= -CONFIG_RAMP_SECOND_TARGET && v_now <= CONFIG_RAMP_SECOND_TARGET*1.5f) {
-			step_towards(value, target, 0.05f);
+			step_towards(value, target, 0.02f);
 			cross_zero = true;
 		}
 	}else if (target == 0) {
 		if (v_now >= 0 && v_now <= CONFIG_RAMP_SECOND_TARGET) {
-			step_towards(value, target, 0.05f);
+			step_towards(value, target, 0.02f);
 			cross_zero = true;
 		}
 	}else {
@@ -1100,21 +1106,22 @@ void PMSM_FOC_AutoHold(bool lock) {
 		motor_encoder_lock_pos(lock);
 		PI_Controller_Reset(&gFoc_Ctrl.pi_lock, 0);
 		if (!lock) {
+			float hold_torque = gFoc_Ctrl.in.s_targetTorque * 1.1f;
 			if (gFoc_Ctrl.out.n_RunMode == CTRL_MODE_TRQ) {
 #ifdef CONFIG_SPEED_LADRC
-				ladrc_reset(&gFoc_Ctrl.vel_lim_adrc, 0, gFoc_Ctrl.in.s_targetTorque * 1.1f);
+				ladrc_reset(&gFoc_Ctrl.vel_lim_adrc, 0, hold_torque);
 #else
-				PI_Controller_Reset(&gFoc_Ctrl.pi_torque, gFoc_Ctrl.in.s_targetTorque * 1.1f);
+				PI_Controller_Reset(&gFoc_Ctrl.pi_torque, hold_torque);
 #endif
 			}else if (gFoc_Ctrl.out.n_RunMode == CTRL_MODE_SPD) {
 #ifdef CONFIG_SPEED_LADRC
-				ladrc_reset(&gFoc_Ctrl.vel_adrc, 0, gFoc_Ctrl.in.s_targetTorque * 1.1f);
+				ladrc_reset(&gFoc_Ctrl.vel_adrc, 0, hold_torque);
 #else
-				PI_Controller_Reset(&gFoc_Ctrl.pi_speed, gFoc_Ctrl.in.s_targetTorque * 1.1f);
+				PI_Controller_Reset(&gFoc_Ctrl.pi_speed, hold_torque);
 #endif
 			}
-			eCtrl_reset_Torque(gFoc_Ctrl.in.s_targetTorque);
-			gFoc_Ctrl.out.f_autohold_trq = gFoc_Ctrl.in.s_targetTorque;
+			eCtrl_reset_Torque(hold_torque);
+			gFoc_Ctrl.out.f_autohold_trq = hold_torque;
 		}else {
 			gFoc_Ctrl.out.f_autohold_trq = 0;
 		}

Applications/foc/core/adrc.c

@@ -29,7 +29,7 @@ float ladrc_run(ladrc_t *adrc, float in, float feedback) {
 void ladrc_reset(ladrc_t* adrc, float feedback, float out_init) {
 	adrc->z1 = feedback;
 	adrc->z2 = -out_init * adrc->b0;
-	adrc->out = adrc->z2;
+	adrc->out = out_init;
 }
 
 void ladrc_copy(ladrc_t *dst, ladrc_t *src) {

Applications/foc/core/thro_torque.c

@@ -129,7 +129,7 @@ static void thro_torque_request(void) {
 			if (curr_rpm < CONFIG_ZERO_SPEED_RAMP_RMP) {
 				u16 start_time = mc_get_gear_config()->n_zero_accl;
 				if (start_time == 0) {
-					start_time = 1;
+					start_time = 100;
 				}
 				step_towards(&_torque.torque_req, ref_torque, ref_torque/(float)start_time);
 			}else {

Applications/foc/motor/encoder.c

@@ -67,7 +67,7 @@ void encoder_set_bandwidth(float bandwidth) {
 
 void encoder_init_clear(void) {
 	g_encoder.cpr = ENC_MAX_RES;
-	g_encoder.enc_offset = nv_get_motor_params()->offset;
+	g_encoder.enc_offset = 0;
 	g_encoder.motor_poles = nv_get_motor_params()->poles;
 	g_encoder.b_index_found = false;
 	g_encoder.direction = POSITIVE;
@@ -287,7 +287,6 @@ float encoder_get_position(void) {
 }
 
 float encoder_zero_phase_detect(float *enc_off) {	
-	g_encoder.enc_offset = 0;
 	delay_ms(5);	
 	float total_enc_off = g_encoder.pwm_count;
 	float prev_offset = g_encoder.enc_offset;

Project/MC105_V3_Z100.uvoptx

@@ -0,0 +1,1128 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
+<ProjectOpt xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_optx.xsd">
+
+  <SchemaVersion>1.0</SchemaVersion>
+
+  <Header>### uVision Project, (C) Keil Software</Header>
+
+  <Extensions>
+    <cExt>*.c</cExt>
+    <aExt>*.s*; *.src; *.a*</aExt>
+    <oExt>*.obj; *.o</oExt>
+    <lExt>*.lib</lExt>
+    <tExt>*.txt; *.h; *.inc</tExt>
+    <pExt>*.plm</pExt>
+    <CppX>*.cpp</CppX>
+    <nMigrate>0</nMigrate>
+  </Extensions>
+
+  <DaveTm>
+    <dwLowDateTime>0</dwLowDateTime>
+    <dwHighDateTime>0</dwHighDateTime>
+  </DaveTm>
+
+  <Target>
+    <TargetName>GD32F305RC</TargetName>
+    <ToolsetNumber>0x4</ToolsetNumber>
+    <ToolsetName>ARM-ADS</ToolsetName>
+    <TargetOption>
+      <CLKADS>12000000</CLKADS>
+      <OPTTT>
+        <gFlags>1</gFlags>
+        <BeepAtEnd>1</BeepAtEnd>
+        <RunSim>0</RunSim>
+        <RunTarget>1</RunTarget>
+        <RunAbUc>0</RunAbUc>
+      </OPTTT>
+      <OPTHX>
+        <HexSelection>1</HexSelection>
+        <FlashByte>65535</FlashByte>
+        <HexRangeLowAddress>0</HexRangeLowAddress>
+        <HexRangeHighAddress>0</HexRangeHighAddress>
+        <HexOffset>0</HexOffset>
+      </OPTHX>
+      <OPTLEX>
+        <PageWidth>79</PageWidth>
+        <PageLength>66</PageLength>
+        <TabStop>8</TabStop>
+        <ListingPath>.\Listings\</ListingPath>
+      </OPTLEX>
+      <ListingPage>
+        <CreateCListing>1</CreateCListing>
+        <CreateAListing>1</CreateAListing>
+        <CreateLListing>1</CreateLListing>
+        <CreateIListing>0</CreateIListing>
+        <AsmCond>1</AsmCond>
+        <AsmSymb>1</AsmSymb>
+        <AsmXref>0</AsmXref>
+        <CCond>1</CCond>
+        <CCode>0</CCode>
+        <CListInc>0</CListInc>
+        <CSymb>0</CSymb>
+        <LinkerCodeListing>0</LinkerCodeListing>
+      </ListingPage>
+      <OPTXL>
+        <LMap>1</LMap>
+        <LComments>1</LComments>
+        <LGenerateSymbols>1</LGenerateSymbols>
+        <LLibSym>1</LLibSym>
+        <LLines>1</LLines>
+        <LLocSym>1</LLocSym>
+        <LPubSym>1</LPubSym>
+        <LXref>0</LXref>
+        <LExpSel>0</LExpSel>
+      </OPTXL>
+      <OPTFL>
+        <tvExp>0</tvExp>
+        <tvExpOptDlg>0</tvExpOptDlg>
+        <IsCurrentTarget>1</IsCurrentTarget>
+      </OPTFL>
+      <CpuCode>0</CpuCode>
+      <DebugOpt>
+        <uSim>0</uSim>
+        <uTrg>1</uTrg>
+        <sLdApp>1</sLdApp>
+        <sGomain>1</sGomain>
+        <sRbreak>1</sRbreak>
+        <sRwatch>1</sRwatch>
+        <sRmem>1</sRmem>
+        <sRfunc>1</sRfunc>
+        <sRbox>1</sRbox>
+        <tLdApp>1</tLdApp>
+        <tGomain>1</tGomain>
+        <tRbreak>1</tRbreak>
+        <tRwatch>1</tRwatch>
+        <tRmem>1</tRmem>
+        <tRfunc>0</tRfunc>
+        <tRbox>1</tRbox>
+        <tRtrace>1</tRtrace>
+        <sRSysVw>1</sRSysVw>
+        <tRSysVw>1</tRSysVw>
+        <sRunDeb>0</sRunDeb>
+        <sLrtime>0</sLrtime>
+        <bEvRecOn>1</bEvRecOn>
+        <bSchkAxf>0</bSchkAxf>
+        <bTchkAxf>0</bTchkAxf>
+        <nTsel>0</nTsel>
+        <sDll></sDll>
+        <sDllPa></sDllPa>
+        <sDlgDll></sDlgDll>
+        <sDlgPa></sDlgPa>
+        <sIfile></sIfile>
+        <tDll></tDll>
+        <tDllPa></tDllPa>
+        <tDlgDll></tDlgDll>
+        <tDlgPa></tDlgPa>
+        <tIfile></tIfile>
+        <pMon>BIN\UL2CM3.DLL</pMon>
+      </DebugOpt>
+      <TargetDriverDllRegistry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>UL2CM3</Key>
+          <Name>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0GD32F30x_CL -FS08000000 -FL040000 -FP0($$Device:GD32F305RC$Flash\GD32F30x_CL.FLM))</Name>
+        </SetRegEntry>
+      </TargetDriverDllRegistry>
+      <Breakpoint/>
+      <Tracepoint>
+        <THDelay>0</THDelay>
+      </Tracepoint>
+      <DebugFlag>
+        <trace>0</trace>
+        <periodic>0</periodic>
+        <aLwin>0</aLwin>
+        <aCover>0</aCover>
+        <aSer1>0</aSer1>
+        <aSer2>0</aSer2>
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+        <viewmode>0</viewmode>
+        <vrSel>0</vrSel>
+        <aSym>0</aSym>
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+        <StkLoc>0</StkLoc>
+        <TrcWin>0</TrcWin>
+        <newCpu>0</newCpu>
+        <uProt>0</uProt>
+      </DebugFlag>
+      <LintExecutable></LintExecutable>
+      <LintConfigFile></LintConfigFile>
+      <bLintAuto>0</bLintAuto>
+      <bAutoGenD>0</bAutoGenD>
+      <LntExFlags>0</LntExFlags>
+      <pMisraName></pMisraName>
+      <pszMrule></pszMrule>
+      <pSingCmds></pSingCmds>
+      <pMultCmds></pMultCmds>
+      <pMisraNamep></pMisraNamep>
+      <pszMrulep></pszMrulep>
+      <pSingCmdsp></pSingCmdsp>
+      <pMultCmdsp></pMultCmdsp>
+    </TargetOption>
+  </Target>
+
+  <Group>
+    <GroupName>Application</GroupName>
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+
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+</ProjectOpt>

Project/MC105_V3_Z100.uvprojx

@@ -0,0 +1,861 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
+<Project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_projx.xsd">
+
+  <SchemaVersion>2.1</SchemaVersion>
+
+  <Header>### uVision Project, (C) Keil Software</Header>
+
+  <Targets>
+    <Target>
+      <TargetName>GD32F305RC</TargetName>
+      <ToolsetNumber>0x4</ToolsetNumber>
+      <ToolsetName>ARM-ADS</ToolsetName>
+      <pCCUsed>5060750::V5.06 update 6 (build 750)::.\ARMCC</pCCUsed>
+      <uAC6>0</uAC6>
+      <TargetOption>
+        <TargetCommonOption>
+          <Device>GD32F305RC</Device>
+          <Vendor>GigaDevice</Vendor>
+          <PackID>GigaDevice.GD32F30x_DFP.2.2.3</PackID>
+          <PackURL>https://gd32mcu.com/data/documents/pack/</PackURL>
+          <Cpu>IRAM(0x20000000,0x018000) IROM(0x08000000,0x040000) CPUTYPE("Cortex-M4") FPU2 CLOCK(12000000) ELITTLE</Cpu>
+          <FlashUtilSpec></FlashUtilSpec>
+          <StartupFile></StartupFile>
+          <FlashDriverDll>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0GD32F30x_CL -FS08000000 -FL040000 -FP0($$Device:GD32F305RC$Flash\GD32F30x_CL.FLM))</FlashDriverDll>
+          <DeviceId>0</DeviceId>
+          <RegisterFile>$$Device:GD32F305RC$Device\Include\gd32f30x.h</RegisterFile>
+          <MemoryEnv></MemoryEnv>
+          <Cmp></Cmp>
+          <Asm></Asm>
+          <Linker></Linker>
+          <OHString></OHString>
+          <InfinionOptionDll></InfinionOptionDll>
+          <SLE66CMisc></SLE66CMisc>
+          <SLE66AMisc></SLE66AMisc>
+          <SLE66LinkerMisc></SLE66LinkerMisc>
+          <SFDFile>$$Device:GD32F305RC$SVD\GD32F30x_CL.svd</SFDFile>
+          <bCustSvd>0</bCustSvd>
+          <UseEnv>0</UseEnv>
+          <BinPath></BinPath>
+          <IncludePath></IncludePath>
+          <LibPath></LibPath>
+          <RegisterFilePath></RegisterFilePath>
+          <DBRegisterFilePath></DBRegisterFilePath>
+          <TargetStatus>
+            <Error>0</Error>
+            <ExitCodeStop>0</ExitCodeStop>
+            <ButtonStop>0</ButtonStop>
+            <NotGenerated>0</NotGenerated>
+            <InvalidFlash>1</InvalidFlash>
+          </TargetStatus>
+          <OutputDirectory>.\Objects\</OutputDirectory>
+          <OutputName>MC105</OutputName>
+          <CreateExecutable>1</CreateExecutable>
+          <CreateLib>0</CreateLib>
+          <CreateHexFile>1</CreateHexFile>
+          <DebugInformation>1</DebugInformation>
+          <BrowseInformation>1</BrowseInformation>
+          <ListingPath>.\Listings\</ListingPath>
+          <HexFormatSelection>1</HexFormatSelection>
+          <Merge32K>0</Merge32K>
+          <CreateBatchFile>0</CreateBatchFile>
+          <BeforeCompile>
+            <RunUserProg1>0</RunUserProg1>
+            <RunUserProg2>0</RunUserProg2>
+            <UserProg1Name></UserProg1Name>
+            <UserProg2Name></UserProg2Name>
+            <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
+            <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
+            <nStopU1X>0</nStopU1X>
+            <nStopU2X>0</nStopU2X>
+          </BeforeCompile>
+          <BeforeMake>
+            <RunUserProg1>1</RunUserProg1>
+            <RunUserProg2>0</RunUserProg2>
+            <UserProg1Name>SharkFwVersion gen ..\Applications\version.h  .\version_mc105_z100.cfg</UserProg1Name>
+            <UserProg2Name></UserProg2Name>
+            <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
+            <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
+            <nStopB1X>0</nStopB1X>
+            <nStopB2X>0</nStopB2X>
+          </BeforeMake>
+          <AfterMake>
+            <RunUserProg1>1</RunUserProg1>
+            <RunUserProg2>1</RunUserProg2>
+            <UserProg1Name>fromelf --bin --output ./Output/MC105.bin ./Objects/MC105.axf</UserProg1Name>
+            <UserProg2Name>SharkFwVersion copy  ./Output/MC105.bin</UserProg2Name>
+            <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
+            <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
+            <nStopA1X>0</nStopA1X>
+            <nStopA2X>0</nStopA2X>
+          </AfterMake>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
+          <SVCSIdString></SVCSIdString>
+        </TargetCommonOption>
+        <CommonProperty>
+          <UseCPPCompiler>0</UseCPPCompiler>
+          <RVCTCodeConst>0</RVCTCodeConst>
+          <RVCTZI>0</RVCTZI>
+          <RVCTOtherData>0</RVCTOtherData>
+          <ModuleSelection>0</ModuleSelection>
+          <IncludeInBuild>1</IncludeInBuild>
+          <AlwaysBuild>0</AlwaysBuild>
+          <GenerateAssemblyFile>0</GenerateAssemblyFile>
+          <AssembleAssemblyFile>0</AssembleAssemblyFile>
+          <PublicsOnly>0</PublicsOnly>
+          <StopOnExitCode>3</StopOnExitCode>
+          <CustomArgument></CustomArgument>
+          <IncludeLibraryModules></IncludeLibraryModules>
+          <ComprImg>1</ComprImg>
+        </CommonProperty>
+        <DllOption>
+          <SimDllName>SARMCM3.DLL</SimDllName>
+          <SimDllArguments> -REMAP -MPU</SimDllArguments>
+          <SimDlgDll>DCM.DLL</SimDlgDll>
+          <SimDlgDllArguments>-pCM4</SimDlgDllArguments>
+          <TargetDllName>SARMCM3.DLL</TargetDllName>
+          <TargetDllArguments> -MPU</TargetDllArguments>
+          <TargetDlgDll>TCM.DLL</TargetDlgDll>
+          <TargetDlgDllArguments>-pCM4</TargetDlgDllArguments>
+        </DllOption>
+        <DebugOption>
+          <OPTHX>
+            <HexSelection>1</HexSelection>
+            <HexRangeLowAddress>0</HexRangeLowAddress>
+            <HexRangeHighAddress>0</HexRangeHighAddress>
+            <HexOffset>0</HexOffset>
+            <Oh166RecLen>16</Oh166RecLen>
+          </OPTHX>
+        </DebugOption>
+        <Utilities>
+          <Flash1>
+            <UseTargetDll>1</UseTargetDll>
+            <UseExternalTool>0</UseExternalTool>
+            <RunIndependent>0</RunIndependent>
+            <UpdateFlashBeforeDebugging>1</UpdateFlashBeforeDebugging>
+            <Capability>1</Capability>
+            <DriverSelection>4096</DriverSelection>
+          </Flash1>
+          <bUseTDR>1</bUseTDR>
+          <Flash2>BIN\UL2CM3.DLL</Flash2>
+          <Flash3></Flash3>
+          <Flash4></Flash4>
+          <pFcarmOut></pFcarmOut>
+          <pFcarmGrp></pFcarmGrp>
+          <pFcArmRoot></pFcArmRoot>
+          <FcArmLst>0</FcArmLst>
+        </Utilities>
+        <TargetArmAds>
+          <ArmAdsMisc>
+            <GenerateListings>0</GenerateListings>
+            <asHll>1</asHll>
+            <asAsm>1</asAsm>
+            <asMacX>1</asMacX>
+            <asSyms>1</asSyms>
+            <asFals>1</asFals>
+            <asDbgD>1</asDbgD>
+            <asForm>1</asForm>
+            <ldLst>0</ldLst>
+            <ldmm>1</ldmm>
+            <ldXref>1</ldXref>
+            <BigEnd>0</BigEnd>
+            <AdsALst>1</AdsALst>
+            <AdsACrf>1</AdsACrf>
+            <AdsANop>0</AdsANop>
+            <AdsANot>0</AdsANot>
+            <AdsLLst>1</AdsLLst>
+            <AdsLmap>1</AdsLmap>
+            <AdsLcgr>1</AdsLcgr>
+            <AdsLsym>1</AdsLsym>
+            <AdsLszi>1</AdsLszi>
+            <AdsLtoi>1</AdsLtoi>
+            <AdsLsun>1</AdsLsun>
+            <AdsLven>1</AdsLven>
+            <AdsLsxf>1</AdsLsxf>
+            <RvctClst>0</RvctClst>
+            <GenPPlst>0</GenPPlst>
+            <AdsCpuType>"Cortex-M4"</AdsCpuType>
+            <RvctDeviceName></RvctDeviceName>
+            <mOS>0</mOS>
+            <uocRom>0</uocRom>
+            <uocRam>0</uocRam>
+            <hadIROM>1</hadIROM>
+            <hadIRAM>1</hadIRAM>
+            <hadXRAM>0</hadXRAM>
+            <uocXRam>0</uocXRam>
+            <RvdsVP>2</RvdsVP>
+            <RvdsMve>0</RvdsMve>
+            <RvdsCdeCp>0</RvdsCdeCp>
+            <hadIRAM2>0</hadIRAM2>
+            <hadIROM2>0</hadIROM2>
+            <StupSel>8</StupSel>
+            <useUlib>1</useUlib>
+            <EndSel>0</EndSel>
+            <uLtcg>0</uLtcg>
+            <nSecure>0</nSecure>
+            <RoSelD>3</RoSelD>
+            <RwSelD>3</RwSelD>
+            <CodeSel>0</CodeSel>
+            <OptFeed>0</OptFeed>
+            <NoZi1>0</NoZi1>
+            <NoZi2>0</NoZi2>
+            <NoZi3>0</NoZi3>
+            <NoZi4>0</NoZi4>
+            <NoZi5>0</NoZi5>
+            <Ro1Chk>0</Ro1Chk>
+            <Ro2Chk>0</Ro2Chk>
+            <Ro3Chk>0</Ro3Chk>
+            <Ir1Chk>1</Ir1Chk>
+            <Ir2Chk>0</Ir2Chk>
+            <Ra1Chk>0</Ra1Chk>
+            <Ra2Chk>0</Ra2Chk>
+            <Ra3Chk>0</Ra3Chk>
+            <Im1Chk>1</Im1Chk>
+            <Im2Chk>0</Im2Chk>
+            <OnChipMemories>
+              <Ocm1>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm1>
+              <Ocm2>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm2>
+              <Ocm3>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm3>
+              <Ocm4>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm4>
+              <Ocm5>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm5>
+              <Ocm6>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm6>
+              <IRAM>
+                <Type>0</Type>
+                <StartAddress>0x20000000</StartAddress>
+                <Size>0x18000</Size>
+              </IRAM>
+              <IROM>
+                <Type>1</Type>
+                <StartAddress>0x8000000</StartAddress>
+                <Size>0x40000</Size>
+              </IROM>
+              <XRAM>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </XRAM>
+              <OCR_RVCT1>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT1>
+              <OCR_RVCT2>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT2>
+              <OCR_RVCT3>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT3>
+              <OCR_RVCT4>
+                <Type>1</Type>
+                <StartAddress>0x8002000</StartAddress>
+                <Size>0x40000</Size>
+              </OCR_RVCT4>
+              <OCR_RVCT5>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT5>
+              <OCR_RVCT6>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT6>
+              <OCR_RVCT7>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT7>
+              <OCR_RVCT8>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT8>
+              <OCR_RVCT9>
+                <Type>0</Type>
+                <StartAddress>0x20000000</StartAddress>
+                <Size>0x18000</Size>
+              </OCR_RVCT9>
+              <OCR_RVCT10>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT10>
+            </OnChipMemories>
+            <RvctStartVector></RvctStartVector>
+          </ArmAdsMisc>
+          <Cads>
+            <interw>1</interw>
+            <Optim>4</Optim>
+            <oTime>1</oTime>
+            <SplitLS>0</SplitLS>
+            <OneElfS>1</OneElfS>
+            <Strict>0</Strict>
+            <EnumInt>0</EnumInt>
+            <PlainCh>0</PlainCh>
+            <Ropi>0</Ropi>
+            <Rwpi>0</Rwpi>
+            <wLevel>2</wLevel>
+            <uThumb>0</uThumb>
+            <uSurpInc>0</uSurpInc>
+            <uC99>1</uC99>
+            <uGnu>1</uGnu>
+            <useXO>0</useXO>
+            <v6Lang>3</v6Lang>
+            <v6LangP>3</v6LangP>
+            <vShortEn>1</vShortEn>
+            <vShortWch>1</vShortWch>
+            <v6Lto>0</v6Lto>
+            <v6WtE>0</v6WtE>
+            <v6Rtti>0</v6Rtti>
+            <VariousControls>
+              <MiscControls>--gnu -DCONFIG_MOT_TYPE=MOTOR_BLUESHARK_ZD_100</MiscControls>
+              <Define>USE_STDPERIPH_DRIVER,GD32F30X_CL,BACK_TRACE,MC105_HW_V3,CONFIG_CAN_IAP,JTAG_DEBUG</Define>
+              <Undefine></Undefine>
+              <IncludePath>..\Librarys\CMSIS\Include,..\Librarys\CMSIS\GD\GD32F30x\Include,..\Librarys\GD32F30x_Drivers\include,..\Applications;..\Simulink\PMSM_Controller_ert_rtw</IncludePath>
+            </VariousControls>
+          </Cads>
+          <Aads>
+            <interw>1</interw>
+            <Ropi>0</Ropi>
+            <Rwpi>0</Rwpi>
+            <thumb>0</thumb>
+            <SplitLS>0</SplitLS>
+            <SwStkChk>0</SwStkChk>
+            <NoWarn>0</NoWarn>
+            <uSurpInc>0</uSurpInc>
+            <useXO>0</useXO>
+            <ClangAsOpt>1</ClangAsOpt>
+            <VariousControls>
+              <MiscControls></MiscControls>
+              <Define></Define>
+              <Undefine></Undefine>
+              <IncludePath></IncludePath>
+            </VariousControls>
+          </Aads>
+          <LDads>
+            <umfTarg>1</umfTarg>
+            <Ropi>0</Ropi>
+            <Rwpi>0</Rwpi>
+            <noStLib>0</noStLib>
+            <RepFail>1</RepFail>
+            <useFile>0</useFile>
+            <TextAddressRange>0x08000000</TextAddressRange>
+            <DataAddressRange>0x20000000</DataAddressRange>
+            <pXoBase></pXoBase>
+            <ScatterFile></ScatterFile>
+            <IncludeLibs></IncludeLibs>
+            <IncludeLibsPath></IncludeLibsPath>
+            <Misc></Misc>
+            <LinkerInputFile></LinkerInputFile>
+            <DisabledWarnings></DisabledWarnings>
+          </LDads>
+        </TargetArmAds>
+      </TargetOption>
+      <Groups>
+        <Group>
+          <GroupName>Application</GroupName>
+          <Files>
+            <File>
+              <FileName>main.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\main.c</FilePath>
+            </File>
+            <File>
+              <FileName>app.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\app\app.c</FilePath>
+            </File>
+            <File>
+              <FileName>nv_storage.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\app\nv_storage.c</FilePath>
+            </File>
+            <File>
+              <FileName>factory.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\app\factory.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>Foc</GroupName>
+          <Files>
+            <File>
+              <FileName>ramp_ctrl.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\foc\core\ramp_ctrl.c</FilePath>
+            </File>
+            <File>
+              <FileName>commands.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\foc\commands.c</FilePath>
+            </File>
+            <File>
+              <FileName>samples.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\foc\samples.c</FilePath>
+            </File>
+            <File>
+              <FileName>e_ctrl.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\foc\core\e_ctrl.c</FilePath>
+            </File>
+            <File>
+              <FileName>svpwm.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\foc\core\svpwm.c</FilePath>
+            </File>
+            <File>
+              <FileName>PMSM_FOC_Core.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\foc\core\PMSM_FOC_Core.c</FilePath>
+            </File>
+            <File>
+              <FileName>mc_error.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\foc\mc_error.c</FilePath>
+            </File>
+            <File>
+              <FileName>limit.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\foc\limit.c</FilePath>
+            </File>
+            <File>
+              <FileName>smo_observer.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\foc\core\smo_observer.c</FilePath>
+            </File>
+            <File>
+              <FileName>foc_observer.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\foc\core\foc_observer.c</FilePath>
+            </File>
+            <File>
+              <FileName>adrc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\foc\core\adrc.c</FilePath>
+            </File>
+            <File>
+              <FileName>thro_torque.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\foc\core\thro_torque.c</FilePath>
+            </File>
+            <File>
+              <FileName>ladrc_observer.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\foc\core\ladrc_observer.c</FilePath>
+            </File>
+            <File>
+              <FileName>F_Calc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\foc\core\F_Calc.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>Motor</GroupName>
+          <Files>
+            <File>
+              <FileName>encoder.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\foc\motor\encoder.c</FilePath>
+            </File>
+            <File>
+              <FileName>motor.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\foc\motor\motor.c</FilePath>
+            </File>
+            <File>
+              <FileName>ntc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\foc\ntc.c</FilePath>
+            </File>
+            <File>
+              <FileName>current_ics.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\foc\motor\current_ics.c</FilePath>
+            </File>
+            <File>
+              <FileName>motor_param.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\foc\motor\motor_param.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>Proto</GroupName>
+          <Files>
+            <File>
+              <FileName>can_message.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\prot\can_message.c</FilePath>
+            </File>
+            <File>
+              <FileName>wait_queue.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\prot\wait_queue.c</FilePath>
+            </File>
+            <File>
+              <FileName>can_pc_message.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\prot\can_pc_message.c</FilePath>
+            </File>
+            <File>
+              <FileName>can_foc_msg.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\prot\can_foc_msg.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>Math</GroupName>
+          <Files>
+            <File>
+              <FileName>fast_math.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\math\fast_math.c</FilePath>
+            </File>
+            <File>
+              <FileName>sin_table.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\math\sin_table.c</FilePath>
+            </File>
+            <File>
+              <FileName>arm_cortexM4lf_math.lib</FileName>
+              <FileType>4</FileType>
+              <FilePath>..\Applications\math\arm_cortexM4lf_math.lib</FilePath>
+            </File>
+            <File>
+              <FileName>Fir.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\math\Fir.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>BSP</GroupName>
+          <Files>
+            <File>
+              <FileName>adc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\bsp\gd32\adc.c</FilePath>
+            </File>
+            <File>
+              <FileName>bsp.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\bsp\gd32\bsp.c</FilePath>
+            </File>
+            <File>
+              <FileName>can.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\bsp\gd32\can.c</FilePath>
+            </File>
+            <File>
+              <FileName>enc_intf.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\bsp\gd32\enc_intf.c</FilePath>
+            </File>
+            <File>
+              <FileName>fan_pwm.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\bsp\gd32\fan_pwm.c</FilePath>
+            </File>
+            <File>
+              <FileName>fmc_flash.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\bsp\gd32\fmc_flash.c</FilePath>
+            </File>
+            <File>
+              <FileName>gd32_bkp.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\bsp\gd32\gd32_bkp.c</FilePath>
+            </File>
+            <File>
+              <FileName>gd32_rtc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\bsp\gd32\gd32_rtc.c</FilePath>
+            </File>
+            <File>
+              <FileName>gpio.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\bsp\gd32\gpio.c</FilePath>
+            </File>
+            <File>
+              <FileName>mc_irqs.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\bsp\gd32\mc_irqs.c</FilePath>
+            </File>
+            <File>
+              <FileName>pwm.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\bsp\gd32\pwm.c</FilePath>
+            </File>
+            <File>
+              <FileName>sched_timer.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\bsp\gd32\sched_timer.c</FilePath>
+            </File>
+            <File>
+              <FileName>uart.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\bsp\gd32\uart.c</FilePath>
+            </File>
+            <File>
+              <FileName>delay.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\bsp\delay.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>Libs</GroupName>
+          <Files>
+            <File>
+              <FileName>backtrace.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\libs\backtrace.c</FilePath>
+            </File>
+            <File>
+              <FileName>circle_buffer.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\libs\circle_buffer.c</FilePath>
+            </File>
+            <File>
+              <FileName>logger.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\libs\logger.c</FilePath>
+            </File>
+            <File>
+              <FileName>crc16.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\libs\crc16.c</FilePath>
+            </File>
+            <File>
+              <FileName>byte_queue.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\libs\byte_queue.c</FilePath>
+            </File>
+            <File>
+              <FileName>time_measure.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\libs\time_measure.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>OS</GroupName>
+          <Files>
+            <File>
+              <FileName>heap_4.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\os\heap_4.c</FilePath>
+            </File>
+            <File>
+              <FileName>queue.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\os\queue.c</FilePath>
+            </File>
+            <File>
+              <FileName>os_task.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\os\os_task.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>GD32F30x_Drivers</GroupName>
+          <Files>
+            <File>
+              <FileName>gd32f30x_adc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Librarys\GD32F30x_Drivers\source\gd32f30x_adc.c</FilePath>
+            </File>
+            <File>
+              <FileName>gd32f30x_bkp.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Librarys\GD32F30x_Drivers\source\gd32f30x_bkp.c</FilePath>
+            </File>
+            <File>
+              <FileName>gd32f30x_can.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Librarys\GD32F30x_Drivers\source\gd32f30x_can.c</FilePath>
+            </File>
+            <File>
+              <FileName>gd32f30x_dma.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Librarys\GD32F30x_Drivers\source\gd32f30x_dma.c</FilePath>
+            </File>
+            <File>
+              <FileName>gd32f30x_exti.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Librarys\GD32F30x_Drivers\source\gd32f30x_exti.c</FilePath>
+            </File>
+            <File>
+              <FileName>gd32f30x_fmc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Librarys\GD32F30x_Drivers\source\gd32f30x_fmc.c</FilePath>
+            </File>
+            <File>
+              <FileName>gd32f30x_fwdgt.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Librarys\GD32F30x_Drivers\source\gd32f30x_fwdgt.c</FilePath>
+            </File>
+            <File>
+              <FileName>gd32f30x_gpio.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Librarys\GD32F30x_Drivers\source\gd32f30x_gpio.c</FilePath>
+            </File>
+            <File>
+              <FileName>gd32f30x_i2c.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Librarys\GD32F30x_Drivers\source\gd32f30x_i2c.c</FilePath>
+            </File>
+            <File>
+              <FileName>gd32f30x_misc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Librarys\GD32F30x_Drivers\source\gd32f30x_misc.c</FilePath>
+            </File>
+            <File>
+              <FileName>gd32f30x_rcu.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Librarys\GD32F30x_Drivers\source\gd32f30x_rcu.c</FilePath>
+            </File>
+            <File>
+              <FileName>gd32f30x_rtc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Librarys\GD32F30x_Drivers\source\gd32f30x_rtc.c</FilePath>
+            </File>
+            <File>
+              <FileName>gd32f30x_timer.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Librarys\GD32F30x_Drivers\source\gd32f30x_timer.c</FilePath>
+            </File>
+            <File>
+              <FileName>gd32f30x_usart.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Librarys\GD32F30x_Drivers\source\gd32f30x_usart.c</FilePath>
+            </File>
+            <File>
+              <FileName>gd32f30x_pmu.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Librarys\GD32F30x_Drivers\source\gd32f30x_pmu.c</FilePath>
+            </File>
+            <File>
+              <FileName>gd32f30x_dbg.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Librarys\GD32F30x_Drivers\source\gd32f30x_dbg.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>StartUp</GroupName>
+          <Files>
+            <File>
+              <FileName>system_gd32f30x.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Librarys\CMSIS\GD\GD32F30x\Source\system_gd32f30x.c</FilePath>
+            </File>
+            <File>
+              <FileName>startup_gd32f30x_hd.s</FileName>
+              <FileType>2</FileType>
+              <FilePath>..\Librarys\CMSIS\GD\GD32F30x\Source\ARM\startup_gd32f30x_hd.s</FilePath>
+              <FileOption>
+                <CommonProperty>
+                  <UseCPPCompiler>2</UseCPPCompiler>
+                  <RVCTCodeConst>0</RVCTCodeConst>
+                  <RVCTZI>0</RVCTZI>
+                  <RVCTOtherData>0</RVCTOtherData>
+                  <ModuleSelection>0</ModuleSelection>
+                  <IncludeInBuild>0</IncludeInBuild>
+                  <AlwaysBuild>2</AlwaysBuild>
+                  <GenerateAssemblyFile>2</GenerateAssemblyFile>
+                  <AssembleAssemblyFile>2</AssembleAssemblyFile>
+                  <PublicsOnly>2</PublicsOnly>
+                  <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
+                  <ComprImg>1</ComprImg>
+                </CommonProperty>
+                <FileArmAds>
+                  <Aads>
+                    <interw>2</interw>
+                    <Ropi>2</Ropi>
+                    <Rwpi>2</Rwpi>
+                    <thumb>2</thumb>
+                    <SplitLS>2</SplitLS>
+                    <SwStkChk>2</SwStkChk>
+                    <NoWarn>2</NoWarn>
+                    <uSurpInc>2</uSurpInc>
+                    <useXO>2</useXO>
+                    <ClangAsOpt>0</ClangAsOpt>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
+                  </Aads>
+                </FileArmAds>
+              </FileOption>
+            </File>
+            <File>
+              <FileName>startup_gd32f30x_cl.s</FileName>
+              <FileType>2</FileType>
+              <FilePath>..\Librarys\CMSIS\GD\GD32F30x\Source\ARM\startup_gd32f30x_cl.s</FilePath>
+            </File>
+          </Files>
+        </Group>
+      </Groups>
+    </Target>
+  </Targets>
+
+  <RTE>
+    <apis/>
+    <components/>
+    <files/>
+  </RTE>
+
+  <LayerInfo>
+    <Layers>
+      <Layer>
+        <LayName>&lt;Project Info&gt;</LayName>
+        <LayDesc></LayDesc>
+        <LayUrl></LayUrl>
+        <LayKeys></LayKeys>
+        <LayCat></LayCat>
+        <LayLic></LayLic>
+        <LayTarg>0</LayTarg>
+        <LayPrjMark>1</LayPrjMark>
+      </Layer>
+    </Layers>
+  </LayerInfo>
+
+</Project>

Project/version_mc105_z100.cfg

@@ -0,0 +1,3 @@
+project: MC105_Z00
+version: 01
+debug: 0

Simulink/Motor_A1_dq_t_data.m

@@ -30,11 +30,11 @@ Ctrl_Mode = Torque_Mode;
 %Simulink provider Motor parameters
 n_polePairs  = 4;        % [-] Number of motor pole pairs
 PM           = 0.01688;   % Permanent magnet flux linkage, 
-Ld           = 0.7e-4/1.4;%0.07e-3;% d-axis inductance, 
-Lq           = 0.178e-3/1.4; % q-axis inductance,
+Ld           = 0.7e-4;%0.07e-3;% d-axis inductance, 
+Lq           = 0.178e-3; % q-axis inductance,
 Rs           = 0.011;   % Stator resistance,
 J            = 0.03945; % Moment of inertia,
-bandwith     = 1600*2*pi;
+bandwith     = 600*2*pi;
 i_Udc        = 96;      % DCbus max voltage
 Rload = 1e6;
 
@@ -76,12 +76,12 @@ torqueMat = zeros(nMag,nGamma,nAngle);
 %        end
 %    end
 % end
-load A1_N5_motor_flux_data
+load A1_motor_flux_data
 %load A1_motor_flux_data
 %load M155_motor_flux_data
-fluxDmat=fluxDmat.*0.707;
-fluxQmat=fluxQmat.*0.707;
-torqueMat=torqueMat.*0.707;
+% fluxDmat=fluxDmat.*0.707;
+% fluxQmat=fluxQmat.*0.707;
+% torqueMat=torqueMat.*0.707;
 %% Extract flux linkdage data from Motor-CAD
 % nMag = length(magVec);
 % nGamma = length(gammaVec);

Simulink/max_torque_idiq_speed.m

@@ -0,0 +1,40 @@
+close all
+clear
+clc
+Rs = 0.011; %电机相电阻
+MotPoles = 4;
+vDC = 96; %母线电压96v
+MotDCMax = vDC * sqrt(3)/2; %dq 轴合称的电压矢量最大值 dc * 0.866
+MotVel = 8000; %需要计算的当前转速,rpm
+Omega = MotVel / 60 * MotPoles * 2 * pi;
+
+% A1 5匝电机数据
+% FluxD = xlsread('E:\works\项目\MC100\电机仿真数据\5N-phiD-Current.xlsx','Sheet1','B4:N12');
+% FluxQ = xlsread('E:\works\项目\MC100\电机仿真数据\5N-phiQ-Current.xlsx','Sheet1','B4:N12');
+
+FluxD = xlsread('E:\works\项目\MC100\电机仿真数据\PhiD-I230405.xlsx','Sheet1','B4:N12');
+FluxQ = xlsread('E:\works\项目\MC100\电机仿真数据\PhiQ-I230405.xlsx','Sheet1','B4:N12');
+
+currentVec   = linspace(0,300,13);    % 电流矢量
+advAngleVec = linspace(0, 80, 9); % 超前角
+
+nCurrent = length(currentVec);
+nAdvAngle = length(advAngleVec);
+idMat = zeros(nAdvAngle, nCurrent);
+iqMat = zeros(nAdvAngle, nCurrent);
+
+%生成DQ轴电流
+for i = 1:nAdvAngle
+    for j = 1:nCurrent
+       idMat(i,j) = -currentVec(j) * sin((advAngleVec(i))/180*pi);
+       iqMat(i,j) = currentVec(j) * cos((advAngleVec(i))/180*pi);
+   end
+end
+
+Torque = 3/2*MotPoles*(FluxD.*iqMat-FluxQ.*idMat);
+Ud = -FluxQ * Omega + idMat * Rs;
+Uq = FluxD * Omega + iqMat * Rs;
+Us = sqrt(Ud.^2 + Uq.^2);
+%Us = sqrt(FluxD.^2+FluxQ.^2)*Omega+sqrt(iqMat.^2+idMat.^2)*Rs;
+
+