epwm2_info.EPwmMaxCMPA = EPWM2_MAX_CMPA;      // Setup min/max CMPA/CMPB values
   epwm2_info.EPwmMinCMPA = EPWM2_MIN_CMPA;       
   epwm2_info.EPwmMaxCMPB = EPWM2_MAX_CMPB;    
   epwm2_info.EPwmMinCMPB = EPWM2_MIN_CMPB;       

}
//-------------------------------------
void motor_ctrl_2(void)
  {
   if(Uint16Emf1>MOTOR_ADJ)
         {
         //------
        // Example, write to the HRPWM extension of CMPA

        // Example, 32-bit write to CMPA:CMPAHR
        //EPwm1Regs.CMPA.all = ((Uint32)EPwm1Regs.CMPA.half.CMPA << 16) + (DutyFine << 8);
         //------
         if(Uint16Emf1>(MOTOR_ADJ+2))
        {
        Uint16Motor_ERR=Uint16Emf1-MOTOR_ADJ;
        if(EPWM1_CMPA>100)
        {
         EPWM1_CMPA-=1;
         if(Uint16Motor_ERR>2)
         EPWM1_CMPA-=1;
         if(Uint16Motor_ERR>4)
         EPWM1_CMPA-=2;
         if(Uint16Motor_ERR>6)
         EPWM1_CMPA-=8;  
         if(Uint16Motor_ERR>8)
         EPWM1_CMPA-=8; 
         if(Uint16Motor_ERR>16)
         EPWM1_CMPA-=32;         
         emf_count=0;  
         emf_flag=1;  
         }
         }
       } //EPWM1_CMPA
          else
       {
      if(Uint16Emf1<(MOTOR_ADJ-2))
       {
        Uint16Motor_ERR=MOTOR_ADJ-Uint16Emf1;
        if(EPWM1_CMPA<1500)
        {
                 EPWM1_CMPA+=1;
         if(Uint16Motor_ERR>2)
         EPWM1_CMPA+=1;
         if(Uint16Motor_ERR>4)
         EPWM1_CMPA+=2;
         if(Uint16Motor_ERR>6)
         EPWM1_CMPA+=2; 
         if(Uint16Motor_ERR>8)
         EPWM1_CMPA+=4; 
         emf_flag=1; 
        }
       } //EPWM1_CMPA
       }
// Reset the watchdog counter
   ServiceDog();       
  }
  //---------------------
  //-------------------------------------
void motor_ctrl_1(void)
  {
   if(Uint16Emf1>MOTOR_ADJ)
         {
         //------
        // Example, write to the HRPWM extension of CMPA

        // Example, 32-bit write to CMPA:CMPAHR
        //EPwm1Regs.CMPA.all = ((Uint32)EPwm1Regs.CMPA.half.CMPA << 16) + (DutyFine << 8);
         //------
         if(Uint16Emf1>(MOTOR_ADJ+1))
        {
        Uint16Motor_ERR=Uint16Emf1-MOTOR_ADJ;
        if(EPWM1_CMPA>100)
        {
         EPWM1_CMPA-=1;
         if(Uint16Motor_ERR>2)
         EPWM1_CMPA-=1;
         if(Uint16Motor_ERR>4)
         EPWM1_CMPA-=2;
         if(Uint16Motor_ERR>6)
         EPWM1_CMPA-=4;  
         if(Uint16Motor_ERR>8)
         EPWM1_CMPA-=8; 
         if(Uint16Motor_ERR>16)
         EPWM1_CMPA-=32;          
         emf_count=0;  
         emf_flag=1;  
         }
         }
       } //EPWM1_CMPA
          else
       {
      if(Uint16Emf1<(MOTOR_ADJ-1))
       {
        Uint16Motor_ERR=MOTOR_ADJ-Uint16Emf1;
        if(EPWM1_CMPA<1000)
        {
                 EPWM1_CMPA+=1;
         if(Uint16Motor_ERR>2)
         EPWM1_CMPA+=1;
         if(Uint16Motor_ERR>4)
         EPWM1_CMPA+=2;
         if(Uint16Motor_ERR>6)
         EPWM1_CMPA+=2; 
         if(Uint16Motor_ERR>8)
         EPWM1_CMPA+=4; 
         emf_flag=1; 
        }
       } //EPWM1_CMPA
       }
// Reset the watchdog counter
   ServiceDog();       
  }
//-------------------------------------
void motor_ctrl_8(void)
  {
  Uint16 temp;
  EMF_js++;
  EMF_pj+=EMF;
  if(EMF_js>4)
  {
  EMF_pj_temp=EMF_pj>>2;
  EMF_pj=0;
  EMF_js=0;
     if(EMF_pj_temp>MOTOR_ADJ)
         {
        Uint16Motor_ERR=EMF_pj_temp-MOTOR_ADJ;
        if(EPWM1_CMPA>60)
        {
         /*if(Uint16Motor_ERR>300)
         EMF_pwma=30;
         else if(Uint16Motor_ERR>100)
         EMF_pwma=10;
         else if(Uint16Motor_ERR>100)
         EMF_pwma=10;         
         else if(Uint16Motor_ERR>60)
         EMF_pwma=6;
         else if(Uint16Motor_ERR>30)
         EMF_pwma=3;
         else if(Uint16Motor_ERR>20)
         EMF_pwma=2;
         else if(Uint16Motor_ERR>10)
         EMF_pwma=1;
         else
         EMF_pwma=1;*/
         if(Uint16Motor_ERR>30)
         EMF_pwma=Uint16Motor_ERR/30;
         else
         EMF_pwma=1;
         temp=MOTOR_ADJ/60;
         if(EMF_pwma>temp)
         EMF_pwma=temp;
         EPWM1_CMPA-=EMF_pwma;          
         emf_count=0;  
         emf_flag=1;  
         }
        } //EPWM1_CMPA
      else
       {
        Uint16Motor_ERR=MOTOR_ADJ-EMF_pj_temp;
        if(EPWM1_CMPA<MAX_PWM)
        {
         if(Uint16Motor_ERR>100)
         EMF_pwma=10;
         else if(Uint16Motor_ERR>60)
         EMF_pwma=4;
         else if(Uint16Motor_ERR>40)
         EMF_pwma=3; 
         else if(Uint16Motor_ERR>20)
         EMF_pwma=2; 
         else if(Uint16Motor_ERR>10)
         EMF_pwma=1;                 
         else
         EMF_pwma=1;
         /*if(Uint16Motor_ERR>20)
         EMF_pwma=Uint16Motor_ERR/20;
         else
         EMF_pwma=1;
         temp=MOTOR_ADJ/20;
         if(EMF_pwma>temp)
         EMF_pwma=temp; */        
         EPWM1_CMPA+=EMF_pwma; 
         emf_flag=1; 
        }
       } //EPWM1_CMPA
       }
// Reset the watchdog counter
   ServiceDog();       
  }    
//-------------------------------------
void motor_ctrl_9(void)
  {
  Uint32 temp,i;
  U_ARR[M_U_COUNT]=M_U;
  I_ARR[M_U_COUNT]=I_SUM;
  temp=0;
  for(i=0;i<128;i++)
    {
    temp+=U_ARR[i];
    }
   M_U_PJ=temp>>7;
   temp=0;
  for(i=0;i<128;i++)
    {
    temp+=I_ARR[i];
    }
    I_SUM_PJ=temp>>7;    
  if(M_U_COUNT==128)//MAX_PWM_adj
     M_U_COUNT=0;
  else 
     M_U_COUNT++;
     //----
     PWM_U_TEMP=((Uint32)I_SUM_PJ*DC_R*PWM_U)/(900- pwm_temp);
     temp=MAX_PWM_adj+PWM_U_TEMP;
     if(temp>MAX_PWM)
     EPWM1_CMPA=MAX_PWM;
     else
     EPWM1_CMPA=temp;
     //---
// Reset the watchdog counter
   ServiceDog();       
  }      
//-------------------------------------
//-------------------------------------
void motor_ctrl_10(void)
  {
   Uint16 temp;
  M_U_COUNT++;
  M_U_SUM+=M_U;
  I_SUM_SUM+=I_SUM;
  if(M_U_COUNT>32)//MAX_PWM_adj
  {
  M_U_PJ=M_U_SUM>>5;
  I_SUM_PJ=I_SUM_SUM>>5;
  I_SUM_SUM=0;
  M_U_SUM=0;
  M_U_COUNT=0;
     PWM_U_TEMP=((Uint32)I_SUM_PJ*DC_R*PWM_U)/(350- pwm_temp);
     temp=MAX_PWM_adj+PWM_U_TEMP;
     //--
     //--
     if(temp>MAX_PWM)
     EPWM1_CMPA=MAX_PWM;
     else
     EPWM1_CMPA=temp;
       }
// Reset the watchdog counter
   ServiceDog(); 
  }  
///----------------------------------
void cal_dc_in_vol()
{
Uint16 i;
Uint32 temp32;
   if(PROTECT_FLAG_reg.bit.SAMP_flag)
   {
   PROTECT_FLAG_reg.bit.SAMP_flag=0;
   //   //--計算輸入直流電壓--
      temp32=0;
  for(i=0;i<128;i++)
      {
      temp32+=Voltage1[i];
      }
   M_U=(temp32<<8)/20331;
  //-----------
   M_DC_R=(I_SUM*DC_R)>>2;
   if(M_U>M_DC_R)
   EMF=M_U-M_DC_R;
  //-----------
   } 
// Reset the watchdog counter
   ServiceDog();     
 }
/*void S60_S90_QF()
  {
     if(PROTECT_FLAG_reg.bit.S60_S90_flag==1)
       {
        MOTOR_ADJ=MOTOR_ADJ_s60s90;
       }
     else
       {
       if(MOTOR_ADJ_s60s90<12)
       MOTOR_ADJ=0;
       else
       MOTOR_ADJ=(MOTOR_ADJ_s60s90>>3)+(710*GPIO31);
       
       }
// Reset the watchdog counter
   ServiceDog();       
  }*/
  //------------------------------------
 void S60_S90_QF()
  {
  Uint16 temp;
  Uint32 temp32;
     if(PROTECT_FLAG_reg.bit.S60_S90_flag==1)
       {
	    temp32=(MOTOR_ADJ_s60s90*10)/12;
        temp=temp32;
       }
     else
       {
       if(MOTOR_ADJ_s60s90<12)
       temp=0;
       else
       //temp=(MOTOR_ADJ_s60s90>>3)+(710*GPIO31);
	   temp=MOTOR_ADJ_s60s90/(8-GPIO31);//2008-1-10
       }
   if(temp==0)
      {
	  MOTOR_ADJ=0;
       if(rqd_flag==0)
	     rqd_flag=1;
	  }
   else
      {
	    if(rqd_flag==1)
		{
		 MOTOR_ADJ+=10;
		 if(MOTOR_ADJ>temp)
            rqd_flag=0;
		}
		else
        MOTOR_ADJ=temp;
	  }
	  // MOTOR_ADJ=temp;
// Reset the watchdog counter
   ServiceDog();       
  }
//--------運行開始標志----
void run_start(void)
{
  if(PROTECT_FLAG_reg.bit.run_start_flag==1)
  {
     if(PROTECT_FLAG_reg.bit.run_jc_flag==1) 
       { 
         if(MOTOR_ADJ<12)
         {
         PROTECT_FLAG_reg.bit.run_jc_flag=0;
         PROTECT_FLAG_reg.bit.run_start_flag=0;
         GpioDataRegs.GPASET.bit.GPIO13=1;
         }
       }
   /* else
    {
      if(MOTOR_ADJ>12)
         PROTECT_FLAG_reg.bit.run_start_flag=0;
    }*/
  }
  else
  {
   if(I_SUM_PJ>500)
   //if((I_SUM>500)||(U_SUM>300))
   {
   PROTECT_FLAG_reg.bit.run_start_flag=1;
   PROTECT_FLAG_reg.bit.run_jc_flag=1;
    GpioDataRegs.GPACLEAR.bit.GPIO13=1;
   }
  }
  // Reset the watchdog counter
   ServiceDog();
}
//-------------------------------------