【正文】 ow NULL NULL CallbackOnInputEdge QTimerISR_A0 NULL static const qt_sState quadParamA1 Mode qtCount InputSource qtPrescalerDiv128 InputPolarity qtNormal SecondaryInputSource qtSISCounter1Input CountFrequency qtRepeatedly CountLength qtPastCompare CountDirection qtUp OutputMode qtAssertWhileActive OutputPolarity qtNormal OutputDisabled true Master false OutputOnMaster false CoChannelInitialize false AssertWhenForced false CaptureMode qtFallingEdge CompareValue1 0 CompareValue2 0 InitialLoadValue 0 CallbackOnCompare NULL NULL CallbackOnOverflow NULL NULL CallbackOnInputEdge QTimerISR_A1 NULL static const qt_sState quadParamA2 Mode qtCount InputSource qtPrescalerDiv128 InputPolarity qtNormal SecondaryInputSource qtSISCounter2Input CountFrequency qtRepeatedly CountLength qtPastCompare CountDirection qtUp OutputMode qtAssertWhileActive OutputPolarity qtNormal OutputDisabled true Master false OutputOnMaster false CoChannelInitialize false AssertWhenForced false CaptureMode qtFallingEdge CompareValue1 0 CompareValue2 0 InitialLoadValue 0 CallbackOnCompare NULL NULL CallbackOnOverflow NULL NULL CallbackOnInputEdge QTimerISR_A2 NULL OS_STK TaskStk[N_TASKS][TASK_STK_SIZE] void startUpTask void data void speedControlTask void data M A I N static void Pa_ButtonISR void direction srmcmt3ph2spp_ForwardACB Start_up START_UP_COMMAND Drive_control DRIVE_START static void Nb_ButtonISR void direction srmcmt3ph2spp_ReverseABC Start_up START_UP_COMMAND Drive_control DRIVE_START void main void Initialize calls initialization routine E N D L E S S L O O P OSInit Initialize uCOSII OSTaskCreate startUpTask void 0 void TaskStk[0] OS_LOWEST_PRIO 3 0 OSStart static void pwm_ReloadA_ISR void software_ctrlSoftwareControlled SrmCmtDatacmt_ctrl pwmIoctl pwm0FD PWM_SOFTWARE_OUTPUTS_CONTROL software_ctrl BSP_DEVICE_NAME_PWM_A pwmIoctl pwm0FD PWM_UPDATE_VALUE_REG_0 32767 BSP_DEVICE_NAME_PWM_A pwmIoctl pwm0FD PWM_CLEAR_RELOAD_FLAG NULL BSP_DEVICE_NAME_PWM_A void startUpTask void data while 1 R U N E N A B L E if Drive_control DRIVE_START if Drive_Control mand START if Drive_status DRIVE_STAT_STAND_BY pwmIoctl pwm0FD PWM_DEVICE PWM_ENABLE BSP_DEVICE_NAME_PWM_A enable PWM Start_up START_UP_COMMAND else if Drive_Control mand STOP pwmIoctl pwm0FD PWM_DEVICE PWM_DISABLE BSP_DEVICE_NAME_PWM_A disable PWM software_ctrlSoftwareControlled MC_PWM_NO_SIGNALS load sw control reg by 0 software_ctrlOutputControl MC_PWM_NO_SIGNALS load sw control data reg by 0 clears the output pwmIoctl pwm0FD PWM_SOFTWARE_OUTPUTS_CONTROL software_ctrl BSP_DEVICE_NAME_PWM_A S T A R T U P R O U T I N E if Start_up START_UP_COMMAND set IC on falling edge for Timer A channel 012 if direction srmcmt3ph2spp_Reverse abc ioctl TimerIC_A0 QT_SET_INPUT_CAPTURE_MODE qtRisingEdge ioctl TimerIC_A1 QT_SET_INPUT_CAPTURE_MODE qtRisingEdge ioctl TimerIC_A2 QT_SET_INPUT_CAPTURE_MODE qtRisingEdge else ACB ioctl TimerIC_A0 QT_SET_INPUT_CAPTURE_MODE qtFallingEdge ioctl TimerIC_A1 QT_SET_INPUT_CAPTURE_MODE qtFallingEdge ioctl TimerIC_A2 QT_SET_INPUT_CAPTURE_MODE qtFallingEdge Sensor_status decIoctl dec0FDDEC_READ_MONITOR_REGNULLBSP_DEVICE_NAME_DECODER_0 Sensor_status 0x00e0 mask xxxx xxxx SenseASenseBSenseCx xxxx select switching pattern for motor start according sensors archDisableInt disable masked interrupts if direction srmcmt3ph2spp_Reverse ABC switch Sensor_status case SENSOR_C if sensor A 0 B 0 C 1CMJ start_phase srmcmt3ph2spp_Phase_C srmcmt3ph2sppInit start_phase SrmCmtData ifdef SOFT_SWITCH srmcmt3ph2sppSoftSw direction SrmCmtData endif ifdef HARD_SWITCH srmcmt3ph2sppHardSw direction SrmCmtData endif break case SENSOR_BSENSOR_C start_phase srmcmt3ph2spp_Phase_B srmcmt3ph2sppInit start_phase SrmCmtData ifdef SOFT_SWITCH srmcmt3ph2sppSoftSw direction SrmCmtData endif ifdef HARD_SWITCH srmcmt3ph2sppHardSw direction SrmCmtData endif ifdef SOFT_SWITCH srmcmt3ph2sppSoftSw dir