atan_div.inc

本程序来自TI公司网站原程序,其功能是通过传统的矢量控制算法来实现对永磁同步电机的控制,矢量控制采用双闭环结构

;--------------------------------------------------------------------
; Macros
;--------------------------------------------------------------------
;--------------------------------------------------------------------
; ATAN:  
;--------------------------------------------------------------------

ATAN           .macro
         ;local #1 = ACC 
         ;--------------------
                sacl    *               ;local #1 = parameter
                
        ;calculte atan for POSITIV fractional numbers        
        ;--------------------------------------------
                clrc    sxm
                lacc    *+,tablen_lg2+1 ;lookup table length = 2^tablen_lg2
                sach    *               ;local #2 = first table address
                lacc    #table
                add     *
                tblr    *+              ;local #2 = first value           
                add     #1                
                tblr    *               ;local #3 = second value           
                lacc    *- 
                sub     *+              ;ACC = difference = local #3 - #2
                sacl    *               ;local #3 = difference 
                lt      *               ;T = difference
                sbrk    #2              ;AR2 points to local #1
                lacc    *,tablen_lg2    ;ACC = local #1 << tablen_lg2
                and     #7FFFh          ;make distance positiv value
                setc    sxm
                sacl    *               ;local #1 = distance
                mpy     *+              ;differnce * distance
                spm     1
                lacc    *-,16           ;ACCH = local #2 = first value
                apac                    ;ACC += distance * difference
                sach    *               ;local #1 = 'positiv' result         
                lacc    *
                spm     0               ;default 'C' setting
                .endm


;---------------------------
; atan(x), with 0 <= x <= 1 
;---------------------------
; output scalingfactor = PI 
;---------------------------
tablen_lg2      .set    7
                .text   
;-------------------
; atan lookup table 
;-------------------
table:
     .word	 0
     .word	 81
     .word	 163
     .word	 244
     .word	 326
     .word	 407
     .word	 489
     .word	 570
     .word	 651
     .word	 732
     .word	 813
     .word	 894
     .word	 975
     .word	 1056
     .word	 1136
     .word	 1217
     .word	 1297
     .word	 1377
     .word	 1457
     .word	 1537
     .word	 1617
     .word	 1696
     .word	 1775
     .word	 1854
     .word	 1933
     .word	 2012
     .word	 2090
     .word	 2168
     .word	 2246
     .word	 2324
     .word	 2401
     .word	 2478
     .word	 2555
     .word	 2632
     .word	 2708
     .word	 2784
     .word	 2860
     .word	 2935
     .word	 3010
     .word	 3085
     .word	 3159
     .word	 3233
     .word	 3307
     .word	 3380
     .word	 3453
     .word	 3526
     .word	 3599
     .word	 3670
     .word	 3742
     .word	 3813
     .word	 3884
     .word	 3955
     .word	 4025
     .word	 4095
     .word	 4164
     .word	 4233
     .word	 4302
     .word	 4370
     .word	 4438
     .word	 4505
     .word	 4572
     .word	 4639
     .word	 4705
     .word	 4771
     .word	 4836
     .word	 4901
     .word	 4966
     .word	 5030
     .word	 5094
     .word	 5157
     .word	 5220
     .word	 5282
     .word	 5344
     .word	 5406
     .word	 5467
     .word	 5528
     .word	 5589
     .word	 5649
     .word	 5708
     .word	 5768
     .word	 5826
     .word	 5885
     .word	 5943
     .word	 6000
     .word	 6058
     .word	 6114
     .word	 6171
     .word	 6227
     .word	 6282
     .word	 6337
     .word	 6392
     .word	 6446
     .word	 6500
     .word	 6554
     .word	 6607
     .word	 6660
     .word	 6712
     .word	 6764
     .word	 6815
     .word	 6867
     .word	 6917
     .word	 6968
     .word	 7018
     .word	 7068
     .word	 7117
     .word	 7166
     .word	 7214
     .word	 7262
     .word	 7310
     .word	 7358
     .word	 7405
     .word	 7451
     .word	 7498
     .word	 7544
     .word	 7589
     .word	 7635
     .word	 7679
     .word	 7724
     .word	 7768
     .word	 7812
     .word	 7856
     .word	 7899
     .word	 7942
     .word	 7984
     .word	 8026
     .word	 8068
     .word	 8110
     .word	 8151
     .word	 8192