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Vector Control Development Kit
User Manual
29
PWM Interrupt
Service Routine
Current Sample
Bus Voltage
Ripple Compensation
I2C Send Address
and Start Bit
Inverse Park Transform
(Rotation)
Current
Reconstruction
I2C Send
Stop Bit
Clark Transform
(3 to 2 Phase)
Theta Update
I2C Send
Control Byte
Park Transform
(Rotation)
Inverse Clarke
Transform
(3 to 2 Phase)
PWM Space
Vector Modulation
Refresh
WDT Timer
I2C Send MSB
PI Regulator
I2C Send LSB
0–9 Step
Round-Robin
Wait for 5th PWM
Period (250 μ s Loop)
Call Subfunction
for Current Step
Return
Figure 15. Flowchart for the PWM ISR
UM021402-0407
Example of a Motor Control Routine
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