Source Code for Sensorless FOC for PMSM with PFC for dsPIC30F6010A

				#include "general.h"
				#include "Park.h"
				#include "SVGen.h"
				#include "encoder.h"
				#include "SnapShot.h"
				#include "control.h"
				#include "curmodel.h"
				#include "pi.h"
				
				extern tPIParm PIParmD;
				extern tPIParm PIParmQ;
				
				extern	union   {
				            long  Long;
				            WORD  Word[2];
				            short Short[2];
				            BYTE  Byte[4];
				            } DataUnion;        
				//---------------------------------------------------------------------
				void initSnap(void)
				{
				        iNumSnap = 0;
				        pSnap = Snap;
				        while( pSnap < Snap+SNAPSIZE )
				            *pSnap++ = 0;
				        pSnap = Snap;
				        
				        // init sample counts for snapshot
				        iSnapSkipCnt = 0;
				        iChgDelayCnt = 0;
				        
				        // Initialize parameters for snap-shot feature
				        iSnapSkip = dSnapSkip;
				        iChgDelay = iSnapSkip*10;
				}        
				//---------------------------------------------------------------------
				// Accumulate Snap info
				bool DoSnap( void)
				{
				
				    iSnapSkipCnt--;
				    if( iSnapSkipCnt 				        {
				        iSnapSkipCnt = iSnapSkip;
				
				        //if( SnapShort(ParkParm.qAngle) )
				          //  return True;
				        
				        if( SnapShort(PDC1 				            return True;
				        
				        // must be number of varaibles +1
				        iSnapCols = 2;
				        
				        //SnapShort(ParkParm.qIa );
				        //SnapShort(ParkParm.qIb * 5);
				
				        //SnapShort(ParkParm.qIalpha );
				        //SnapShort(ParkParm.qIbeta );
				        
				        //DataUnion.Long = CurModelParm.qdImag;
				        //SnapShort(DataUnion.Short[1]);  
				
				        //SnapShort(ParkParm.qId);
				        //SnapShort(ParkParm.qIq);
				
				        DataUnion.Long = PIParmD.qdSum;
				        //SnapShort(DataUnion.Short[1]); 
				        //SnapShort(PIParmD.qInRef);
				        //SnapShort(PIParmD.qInMeas);
				        //SnapShort(PIParmD.qOut);
				
				        DataUnion.Long = PIParmQ.qdSum;
				        //SnapShort(DataUnion.Short[1]); 
				        //SnapShort(PIParmQ.qInRef);
				        //SnapShort(PIParmQ.qInMeas);
				        //SnapShort(PIParmQ.qOut);
				
				        //SnapShort(CtrlParm.qVdRef);
				        //SnapShort(CtrlParm.qVqRef);
				        //SnapShort(CtrlParm.qVelRef);
				        
				        //SnapShort(ParkParm.qVd);
				        //SnapShort(ParkParm.qVq);
				
				        //SnapShort(ParkParm.qValpha);
				        //SnapShort(ParkParm.qVbeta);
				
				        //SnapShort(SVGenParm.qVr1);
				        //SnapShort(SVGenParm.qVr2);
				        //SnapShort(SVGenParm.qVr3);
				        
				        //SnapShort(PDC1 * 32);
				        //SnapShort(PDC2 * 64);
				        //SnapShort(PDC3 * 64);
				
				        //SnapShort(CurModelParm.qVelFlux);
				        //SnapShort(CurModelParm.qAngFlux);       
				        //SnapShort(CurModelParm.qVelSlip);       
				        //SnapShort(EncoderParm.qVelMech);
				        //SnapShort(EncoderParm.iDeltaCnt*1000);
				        
				        //SnapShort(ParkParm.qAngle);
				        //SnapShort(ParkParm.qSin);
				        //SnapShort(ParkParm.qCos);  
				
				
				        }
				    return False;
				}
				
				//---------------------------------------------------------------------
				// Save a Short as Snap info 
				bool SnapShort( short iX )
				{
				    if( iNumSnap == SNAPSIZE )
				        return True;
				
				    *pSnap++ = iX;
				    iNumSnap++;
				    return False;
				}