load pmsm_limits
load pmsm_ttc
pmsm_limits0.rt_prio = 7
pmsm_ttc0.rt_prio = 9
pmsm_limits0.r = conf0.r
pmsm_limits0.ld = conf0.l
pmsm_limits0.lq = conf0.l
pmsm_limits0.psi = conf0.psi
pmsm_limits0.j = conf0.j
pmsm_limits0.polecount = conf0.polecount
pmsm_ttc0.psi = conf0.psi
pmsm_ttc0.polecount = conf0.polecount
pmsm_limits0.ac_volt = hv0.pwm_volt
pmsm_limits0.iq = hv0.q_fb
pmsm_limits0.id = hv0.d_fb
pid0.max_torque = pmsm_limits0.max_torque
pid0.min_torque = pmsm_limits0.min_torque
pid0.max_vel = pmsm_limits0.abs_max_vel
pmsm_ttc0.torque = pid0.torque_cor_cmd
hv0.q_cmd = pmsm_ttc0.cur
hv0.cmd_mode = 1
hv0.phase_mode = 2