pwm of the motor has been changed from 45K to 16K

Thank you very much. There is another problem. I give the speed value from the interface, and it runs very stably. It is captured by pwm input and converted into speed, with occasional clicking sound. Eliminating hardware problems feels like a speed assignment problem. gMotorVars.SpeedRef_krpm = _IQmpy(_IQ(120.0), gSpeed_hz_to_krpm_sf);

Does it have to be like above? Can't you assign a value directly? such as gMotorVars.SpeedRef_krpm=PWM_command_speed*16777;

What does IQmpy （）mean?

Is there any other reason?

You might have a look at the link below to understand the _IQmath and _IQ format.

C28x IQmath Library (https://www.ti.com/lit/sw/sprc990/sprc990.pdf)

Or have a look at the links below about Iqmath as well if you want.

https://e2e.ti.com/support/microcontrollers/c2000/f/171/p/832121/3077993

https://e2e.ti.com/support/microcontrollers/c2000/f/171/p/596505/2199304

https://e2e.ti.com/support/microcontrollers/c2000/f/171/t/539864

https://e2e.ti.com/support/microcontrollers/c2000/f/171/p/798297/2961406

Hello, is this referring to phase current? Currently not enough,

It cannot be compared to USER_ IQ_ Full_ SCALE_ Current_ A is big.

2. USER_ IQ_ Full_ SCALE_ Current_ At  130, when compiling, an alarm will be triggered. What should I do

3. E: \ ti \ motorware \ motorware_ 1_ 01_ 00_ 18 \ sw \ solutions \ instaspin_ Foc \ boards \ boostxldrv8305_ RevA \ f28x \ f2802xF \ projects \ ccs \ proj_ Is this routine lab11a applicable to drones? I feel that the load is not smooth, which routine is suitable

Description Resource Path Location Type
#175-D floating-point value does not fit in required integral type proj_lab11a.c /proj_lab11a line 1119 C/C++ Problem