Starterware/TMS320F28379D: Regarding InstaSPIN Motor Code provided by TI

Which function do you mean for trajectory? And what variable do you want to change? InstaSPIN-FOC is a 3-phase sensorless FOC which don't need soft start as 1/3 phase fixed-frequency motor.

This is in proj_lab01b.c file wherein the mainISR loop the following code is not able to understand.

// increment the trajectory count
CTRL_incrCounter_traj(ctrlHandle);

// run the appropriate controller

if(ctrlState == CTRL_State_OnLine)
{
// increment the current count
CTRL_incrCounter_current(ctrlHandle);

// increment the speed count
CTRL_incrCounter_speed(ctrlHandle);

MATH_vec2 phasor;

// run Clarke transform on current
CLARKE_run(controller_obj->clarkeHandle_I,&gAdcData.I,CTRL_getIab_in_addr(ctrlHandle));

// run Clarke transform on voltage
CLARKE_run(controller_obj->clarkeHandle_V,&gAdcData.V,CTRL_getVab_in_addr(ctrlHandle));

controller_obj->speed_ref_pu = TRAJ_getIntValue(controller_obj->trajHandle_spd);

The above code what is the traj, because here we also increment the incrCounter_speed by one. 

And at last, the speed_ref_pu is coming from the TRAJ_getIntValue. 

So What is the relation here between TRAJ and SPEED. 

Here whatever the speed reference, it is coming from the trajectory and the trajectory count is also increasing. 

Please help me to understand the above relations by using any simple example.

Ashutosh