seklyuts/MotorControlModuleSDFM_TMS320F28388D
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опрос внешнего порта по фолтам перенёс обратно в фон, так как нужно выйти из прерывания чтоб работали прерывания таймера для таймаута

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убрал компенсацию дедтайма, так как она приводит к ошибке при больших шим, а при попытке компенсации ошибок получается слишком ресурсозатратно, по времени не вмещаемся
This commit is contained in:
seklyuts 2024-09-09 13:19:19 +03:00
parent 967dd048ee
commit 9349803bf8
14 changed files with 102 additions and 69 deletions
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2
Projects/epwm_test_biss_c_cpu1/.cproject
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@ -61,7 +61,7 @@
</option>
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.DEFINE.2084039298" name="Pre-define NAME (--define, -D)" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.DEFINE" valueType="definedSymbols">
<listOptionValue builtIn="false" value="${COM_TI_C2000WARE_SOFTWARE_PACKAGE_SYMBOLS}"/>
<listOptionValue builtIn="false" value="REF1"/>
<listOptionValue builtIn="false" value="REF0"/>
<listOptionValue builtIn="false" value="NRS485"/>
<listOptionValue builtIn="false" value="USE_25MHZ_XTAL"/>
<listOptionValue builtIn="false" value="DEBUG"/>

15
Projects/epwm_test_biss_c_cpu1/src/Peripherals/gpio_init.c
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@ -85,6 +85,15 @@ void GpioInit(void)
GpioCtrlRegs.GPCDIR.bit.GPIO95 = 1;
GpioDataRegs.GPCDAT.bit.GPIO95 = 1;
GpioCtrlRegs.GPCCSEL4.bit.GPIO95 = 2;
#else
GpioCtrlRegs.GPIO_Bttonclik_MUX.bit.GPIO_Bttonclik = 0;//Buttons Clik
GpioCtrlRegs.GPIO_Bttonclik_GMUX.bit.GPIO_Bttonclik = 0;
GpioCtrlRegs.GPIO_Bttonclik_DIR.bit.GPIO_Bttonclik = 0;
GpioDataRegs.GPIO_Bttonclik_DAT.bit.GPIO_Bttonclik = 0;
GpioCtrlRegs.GPIO_Bttonclik_SEL.bit.GPIO_Bttonclik = 2;
InputXbarRegs.INPUT6SELECT = GPIO_Bttonclikpin;//xint3
#endif
GpioCtrlRegs.GPIO_FaultPWM_MUX.bit.GPIO_FaultPWM = 0;//FaultPWM
GpioCtrlRegs.GPIO_FaultPWM_GMUX.bit.GPIO_FaultPWM = 0;
@ -94,13 +103,7 @@ void GpioInit(void)
InputXbarRegs.INPUT4SELECT = GPIO_FaultPWMpin;//xint1
GpioCtrlRegs.GPIO_Bttonclik_MUX.bit.GPIO_Bttonclik = 0;//Buttons Clik
GpioCtrlRegs.GPIO_Bttonclik_GMUX.bit.GPIO_Bttonclik = 0;
GpioCtrlRegs.GPIO_Bttonclik_DIR.bit.GPIO_Bttonclik = 0;
GpioDataRegs.GPIO_Bttonclik_DAT.bit.GPIO_Bttonclik = 0;
GpioCtrlRegs.GPIO_Bttonclik_SEL.bit.GPIO_Bttonclik = 2;
InputXbarRegs.INPUT6SELECT = GPIO_Bttonclikpin;//xint3
GpioCtrlRegs.GPAMUX2.bit.GPIO20 = 1;//EQEP

1
Projects/epwm_test_biss_c_cpu1/src/config.h
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@ -16,6 +16,7 @@
#define GPIO_FaultPWM_DAT GPCDAT
#define GPIO_FaultPWM_GMUX GPCGMUX1
#define GPIO_FaultPWM_MUX GPCMUX1
#define GPIO_FaultPWMpin 64
#define GPIO_RS485_DE 21
#define GPIO_RS485_RE 83

2
Projects/epwm_test_biss_c_cpu2/.cproject
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@ -64,7 +64,7 @@
<listOptionValue builtIn="false" value="${COM_TI_C2000WARE_SOFTWARE_PACKAGE_SYMBOLS}"/>
<listOptionValue builtIn="false" value="FREEMASTER"/>
<listOptionValue builtIn="false" value="NRS485"/>
<listOptionValue builtIn="false" value="REF1"/>
<listOptionValue builtIn="false" value="REF0"/>
<listOptionValue builtIn="false" value="USE_25MHZ_XTAL"/>
<listOptionValue builtIn="false" value="DEBUG"/>
<listOptionValue builtIn="false" value="CPU2"/>

BIN
Projects/epwm_test_biss_c_cpu2/Start_rfm.pmp
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Binary file not shown.

5
Projects/epwm_test_biss_c_cpu2/epwm_test.c
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@ -22,6 +22,7 @@
#include "rele.h"
#include "uart_4Mbit.h"
#include "frm_uart.h"
#include "fault.h"
void main(void)
{
@ -35,9 +36,7 @@ void main(void)
FMSTR_Poll();
#endif
SyncPWMFonRun();
rele_run();
AdcRun();
BissClkgenRun();
if(fault_read_check()) fault_read_ports();//вынесено сюда, так как нельзя вызывать в прерывании,так как не будет считать таймер таймаута
}
}

2
Projects/epwm_test_biss_c_cpu2/src/Peripherals/pwm_init.h
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@ -26,7 +26,7 @@
#define PERIOD_BRAKE (SYS_PWM_FREQUENCY/2.0/FREQUENCY_BRAKE) //Tic
#define PERIOD_MOTOR (SYS_PWM_FREQUENCY/2.0/FREQUENCY_MOTOR) //Tic = 5000
#define EPWM_DB (EPWM_DB_mkS*SYS_PWM_FREQUENCY/1000000)
#define EPWM_DB (EPWM_DB_mkS*SYS_PWM_FREQUENCY/1000000)//4*100
#define SDFM_DELAY_mkS 50.0 //mkS
#define SDFM_DELAY (SDFM_DELAY_mkS*SYS_PWM_FREQUENCY/1000000)

31
Projects/epwm_test_biss_c_cpu2/src/Peripherals/pwm_interrupts.c
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@ -21,6 +21,8 @@
#include "pwm_interrupts.h"
#include "SyncPWMFonRun.h"
#include "pwm_init.h"
#include "biss.h"
volatile uint16_t AutoChange = 0;
volatile uint16_t PWM_out = 2500;
@ -77,18 +79,21 @@ void pwm_set_volt_3F(float phaseA, float phaseB, float phaseC, float Udc, uint16
else PeriodPWM[0] == PeriodPWM[1];
}
A_proc = (int16_t)((phaseA/Udc)*PeriodPWM_2);
B_proc = (int16_t)((phaseB/Udc)*PeriodPWM_2);
C_proc = (int16_t)((phaseC/Udc)*PeriodPWM_2);
if(A_proc > 0) A_proc+= EPWM_DB/2;
else if(A_proc < 0) A_proc-= EPWM_DB/2;
if(B_proc > 0) B_proc+= EPWM_DB/2;
else if(B_proc < 0) B_proc-= EPWM_DB/2;
if(C_proc > 0) C_proc+= EPWM_DB/2;
else if(C_proc < 0) C_proc-= EPWM_DB/2;
// if( (A_proc > 0) && (A_proc < (PeriodPWM_2-EPWM_DB)) ) A_proc+= EPWM_DB/2;
// else if((A_proc < 0) && (A_proc > -(PeriodPWM_2-EPWM_DB)) ) A_proc-= EPWM_DB/2;
//
// if((B_proc > 0) && (B_proc < (PeriodPWM_2-EPWM_DB))) B_proc+= EPWM_DB/2;
// else if((B_proc < 0) && (B_proc > -(PeriodPWM_2-EPWM_DB)) ) B_proc-= EPWM_DB/2;
//
// if((C_proc > 0) && (C_proc < (PeriodPWM_2-EPWM_DB))) C_proc+= EPWM_DB/2;
// else if((C_proc < 0) && (C_proc > -(PeriodPWM_2-EPWM_DB)))C_proc-= EPWM_DB/2;
PWM_motor.UA = PeriodPWM_2 + A_proc;
PWM_motor.UB = PeriodPWM_2 + B_proc;
@ -113,6 +118,9 @@ void pwm_set_volt_3F(float phaseA, float phaseB, float phaseC, float Udc, uint16
EPwmRegs[PWM_A]->CMPA.bit.CMPA = PeriodPWM[0] - PWM_motor.UA;
EPwmRegs[PWM_B]->CMPA.bit.CMPA = PeriodPWM[0] - PWM_motor.UB;
EPwmRegs[PWM_C]->CMPA.bit.CMPA = PeriodPWM[0] - PWM_motor.UC;
EPwmRegs[PWM_FAN]->CMPA.bit.CMPA = PERIOD_FAN - PWM_Vent;
// EPwmRegs[3]->CMPB.bit.CMPB = PERIOD_MOTOR - PWM_Chop;
}
@ -149,7 +157,7 @@ __interrupt void epwm1_isr(void)
// epwm2_isr - EPWM2 ISR
//
uint32_t Test_ADC_PWM_Synch1=0, Test_ADC_PWM_Synch2=0;
uint16_t TestStopSync = 0;
__interrupt void epwm2_isr(void)
{
@ -186,7 +194,6 @@ __interrupt void epwm2_isr(void)
// EPwmRegs[PWM_FAN]->CMPA.bit.CMPA = PERIOD_MOTOR - PWM_Vent;
// EPwmRegs[3]->CMPB.bit.CMPB = PERIOD_MOTOR - PWM_Chop;
Test_ADC_PWM_Synch1++;
if(TestStopSync == 2) TestStopSync = 3;
// if(rele_isReleOn()) ReleOut(1);//GpioTurnOnRele();
// else ReleOut(0);//GpioTurnOffRele();
}
@ -304,7 +311,9 @@ __interrupt void epwm11_isr(void)
saveTimingNow(0);
if(TestStopSync != 3) sdfm_start_conversion_current();
sdfm_start_conversion_current();
BissClkgenRun();
PwmFlagStartCurrentMeashure = 1;
EPwm11Regs.ETCLR.bit.INT = 1;

51
Projects/epwm_test_biss_c_cpu2/src/SyncPWMFonRun.c
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@ -23,9 +23,28 @@ volatile uint16_t testMode = 0;
uint16_t BisscPwrOn = 1;
uint16_t BrakeOn = 0;
void SyncPWMFondiod(void)
{
static uint16_t diod = 0;
if(counter < 100) counter++;
else
{
counter = 0;
if(counter1 < 100) counter1++;
else
{
counter1=0;
counter2++;
diod++;
if(diod > 7) diod = 0;
Gpio_rainbow(diod);
}
}
}
void SyncPWMFonRun(void)
{
static uint16_t diod = 0;
if(SynchPWMFonRunEnable())
{
@ -33,20 +52,9 @@ void SyncPWMFonRun(void)
FMSTR_Recorder();
#endif
SynchPWMFonRunEnableClr();
if(counter < 100) counter++;
else
{
counter = 0;
if(counter1 < 100) counter1++;
else
{
counter1=0;
counter2++;
diod++;
if(diod > 7) diod = 0;
Gpio_rainbow(diod);
}
}
AdcRun();
rele_run();
SyncPWMFondiod();
}
else
{
@ -67,15 +75,14 @@ void SyncPWMFonRun(void)
{
GpioDataRegs.GPADAT.bit.GPIO14 = 0;
}
if(fault_read_check())
{
fault_read_clr();
fault_read_ports();
}else{
// if(fault_read_check())
// {
// fault_read_clr();
// fault_read_ports();
// }else{
// buttonsDisp();
// ScreenDisp();
}
// }
}
}

4
Projects/epwm_test_biss_c_cpu2/src/biss.c
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@ -10,6 +10,7 @@
#include "biss.h"
#include "CLB/board.h"
#include "crc.h"
#include "pwm_interrupts.h"
#define DEVICE_SYSCLK_FREQ 250000000
@ -194,6 +195,8 @@ void BissCalc(uint64_t BissData)
{
uint16_t BissEmptyBits = 0;
saveTimingNow(5);
BissData = BissData << 2;
while(((BissData & 0xC000000000000000) != 0x8000000000000000) && (BissEmptyBits < 15))
@ -243,6 +246,7 @@ void BissCalc(uint64_t BissData)
bissSpeed = Bissth1 - Bissth1_;
Bissth1_ = Bissth1;
saveTimingNow(6);
}
BissErr = (BissAll >> (ANGLESUMM_SHIFT-1)) & 1;
BissWarn = (BissAll >> (ANGLESUMM_SHIFT-2)) & 1;

3
Projects/epwm_test_biss_c_cpu2/src/fault.c
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@ -19,9 +19,9 @@ __interrupt void fault_isr(void)
PieCtrlRegs.PIEACK.all = PIEACK_GROUP1;
faultCounter++;
fault_read = 1;
PWM_ABC_StopAllClose();
vectorFault();
fault_read = 1;
vectorResCurrLoop();
}
@ -40,6 +40,7 @@ void fault_read_clr(void)
void fault_read_ports(void)
{
uint16_t Fault_Bytes;
fault_read = 0;
I2CWrite(I2C_FAULT_SLAVE_ADDRESS, 0, 0, false, &Fault_Bytes);
I2CRead(I2C_FAULT_SLAVE_ADDRESS, 1, true, &Fault_Bytes);
Fault1[faultCounter&0xF] = Fault_Bytes;

4
Projects/epwm_test_biss_c_cpu2/src/init_perif.c
View File

@ -100,7 +100,7 @@ void InitPerif(void)
ADCConfigure();
#ifdef REF0
temperatureInit();
// temperatureInit();
#else
eqep_init();
#endif
@ -120,8 +120,10 @@ void InitPerif(void)
I2CMasterInit(I2C_OWN_ADDRESS,0x3C);
/* Init LCD */
#ifndef REF0
SSD1306_Init();
buttonsInit();
#endif
faultInit();
rele_initRele();

5
Projects/epwm_test_biss_c_cpu2/src/rele.c
View File

@ -69,16 +69,17 @@ void rele_control(int16_t UdcFiltered)
{
if((!Rele.State) || (!Rele.StateChange))
{
PWM_ABC_StopAllClose();
vectorFault();
Rele.ReleCounter = 0;
Rele.Error = 0;
}
else {
if(Rele.Error) vectorFault();
if(Rele.Error) {PWM_ABC_StopAllClose(); vectorFault();}
else {
if(Rele.ReleCounter == 0) Rele.Udc = UdcFiltered;
if(Rele.ReleCounter < Rele.CounterMax) {Rele.ReleCounter++; vectorFault();}
if(Rele.ReleCounter < Rele.CounterMax) {Rele.ReleCounter++; PWM_ABC_StopAllClose(); vectorFault();}
else if(Rele.ReleCounter == Rele.CounterMax)
{
Rele.ReleCounter++;

46
Projects/epwm_test_biss_c_cpu2/src/vector.c
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@ -73,7 +73,7 @@ float FactorCurrent = FACTOR_CURRENT_MOTOR;
TvectorCurrentLoop CurrLoop;
TMode Mode = OffMode;
uint16_t Step = 0, StepS, Nstep = 2, NoLoop = 0, StepShift = 6;
float CurrentRegTuneAmpl = 0, FRM_cur = 0, CurrentRegTuneAmplInpuls = 0;
float CurrentRegTuneAmpld = 0, CurrentRegTuneAmplq = 0, FRM_cur = 0, CurrentRegTuneAmplInpuls = 0;
int16_t Angle_test=0,sin_int,cos_int, AngleErr;
float Udc;
uint16_t SectorCheckOn=1;
@ -123,7 +123,7 @@ void SetAngeOffset(void)
SetAngeOffsetCounter = 0;
Mode = OffMode;
}
CurrLoop.piId.Ref = CurrentRegTuneAmpl;
CurrLoop.piId.Ref = CurrentRegTuneAmpld;
CurrLoop.piIq.Ref = 0;
}
@ -131,9 +131,9 @@ void SetAngeOffset(void)
void vectorFault(void)
{
Mode = OffMode;
#ifdef REF0
XintRegs.XINT2CR.bit.ENABLE = 1;
#endif
//#ifdef REF0
// XintRegs.XINT2CR.bit.ENABLE = 1;
//#endif
}
uint16_t Num = 0;
@ -142,11 +142,12 @@ void vectorControl(int16_t CurrentA, int16_t CurrentB, int16_t CurrentC, int16_t
{
saveTimingNow(1);
pwm_clr_PwmFlagStartADC();
Ia = -CurrentA;//sdfm_get(6);
Ib = -CurrentB;//sdfm_get(3);
Ic = -CurrentC;//sdfm_get(4);
if((Ia > IMAX_KZ)||(Ib>IMAX_KZ)||(Ic>IMAX_KZ)||(Ia<-IMAX_KZ)||(Ib<-IMAX_KZ)||(Ic<-IMAX_KZ) ) {OverCur[0] = Ia; OverCur[1] = Ib; OverCur[2] = Ic; ErrCur++; Mode = OffMode; CurFault++;}
if((Ia > IMAX_KZ)||(Ib>IMAX_KZ)||(Ic>IMAX_KZ)||(Ia<-IMAX_KZ)||(Ib<-IMAX_KZ)||(Ic<-IMAX_KZ) ) {OverCur[0] = Ia; OverCur[1] = Ib; OverCur[2] = Ic; ErrCur++; PWM_ABC_StopAllClose(); vectorFault(); CurFault++;}
UdcFiltered = Filter(sdfmUdc, &UdcFilter);
@ -154,7 +155,7 @@ void vectorControl(int16_t CurrentA, int16_t CurrentB, int16_t CurrentC, int16_t
if(VoltProcImit) UdcVolt = VoltProcImit;
else UdcVolt = (float)UdcFiltered*VdcFactor/BIT_MAX;
if(UdcVolt < 15) Mode = OffMode;
if(UdcVolt < 15) vectorFault();
Step = Step + Nstep;
CurrLoop.piId.Ref = 0;
@ -164,7 +165,7 @@ void vectorControl(int16_t CurrentA, int16_t CurrentB, int16_t CurrentC, int16_t
if(Mode) {XintRegs.XINT2CR.bit.ENABLE = 0; temperature_deInit();}
#endif
vectorAngle = biss_getAngle() + AngleOffset;
vectorAngle = biss_getAngle() - AngleOffset;
switch(Mode)
{
@ -178,15 +179,15 @@ void vectorControl(int16_t CurrentA, int16_t CurrentB, int16_t CurrentC, int16_t
if(Impuls > 0)
{
Impuls--;
CurrLoop.piIq.Ref = CurrentRegTuneAmplInpuls;
CurrLoop.piId.Ref = CurrentRegTuneAmplInpuls;
}
else CurrLoop.piIq.Ref = CurrentRegTuneAmpl;
CurrLoop.piId.Ref = 0;
else CurrLoop.piId.Ref = CurrentRegTuneAmpld;
CurrLoop.piIq.Ref = CurrentRegTuneAmplq;
break;
case StepModeImpulses:
PWM_ABC_StartOut();
vectorSinCos.Angle = Step;
if(ImpulsStep <= ImpulsLow) CurrLoop.piIq.Ref = CurrentRegTuneAmpl;
if(ImpulsStep <= ImpulsLow) CurrLoop.piIq.Ref = CurrentRegTuneAmpld;
else CurrLoop.piIq.Ref = CurrentRegTuneAmplInpuls;
if(ImpulsStep < (ImpulsLow + ImpulsHi)) ImpulsStep++;
else ImpulsStep = 0;
@ -194,14 +195,15 @@ void vectorControl(int16_t CurrentA, int16_t CurrentB, int16_t CurrentC, int16_t
break;
case StayMode:
PWM_ABC_StartOut();
CurrLoop.piIq.Ref = CurrentRegTuneAmpl;
CurrLoop.piId.Ref = CurrentRegTuneAmpld;
CurrLoop.piIq.Ref = CurrentRegTuneAmplq;
break;
case CurrentRegTune:
vectorSinCos.Angle = 0;
PWM_ABC_StartOut();
StepS = Step&((1<<StepShift)-1);
if(StepS > (1<<(StepShift-1))) CurrLoop.piId.Ref = 0;
else CurrLoop.piId.Ref = CurrentRegTuneAmpl;
else CurrLoop.piId.Ref = CurrentRegTuneAmpld;
CurrLoop.piIq.Ref = 0;
break;
case TestPWNMode:
@ -213,13 +215,13 @@ void vectorControl(int16_t CurrentA, int16_t CurrentB, int16_t CurrentC, int16_t
if(biss_getErr()>=3)
{
PWM_ABC_StopAllClose();
Mode = OffMode;
vectorFault();
}
else
{
PWM_ABC_StartOut();
vectorSinCos.Angle = vectorAngle;
CurrLoop.piIq.Ref = CurrentRegTuneAmpl;
CurrLoop.piIq.Ref = CurrentRegTuneAmplq;
CurrLoop.piId.Ref = 0;
}
break;
@ -228,7 +230,7 @@ void vectorControl(int16_t CurrentA, int16_t CurrentB, int16_t CurrentC, int16_t
SetAngeOffset();
break;
default:
Mode = OffMode;
vectorFault();
PWM_ABC_StopAllClose();
}
Udc = sdfmUdc * FACTOR_VDC;
@ -356,8 +358,10 @@ void vector_inversion(void)
}
float Test1, Test2;
float FRM_Ud, FRM_Uq;
float FRM_Ud, FRM_Uq, FRM_Ud_, FRM_Uq_;
volatile int16_t I_fbk_int, I_ref_int;
float UmaxVolt;
float Ulim;
void vector_klark_park(uint16_t SectorOn, int16_t CurrentA, int16_t CurrentB, int16_t CurrentC)
{
@ -452,7 +456,7 @@ void vector_klark_park(uint16_t SectorOn, int16_t CurrentA, int16_t CurrentB, in
float UmaxVolt = VOLT_MAX_FACTOR * UdcVolt;
UmaxVolt = VOLT_MAX_FACTOR * UdcVolt;// 94/100*UdcVolt
CurrLoop.piIq.Umax = UmaxVolt; // Parameter: upper saturation limit
CurrLoop.piIq.Umin = -UmaxVolt;
@ -468,7 +472,7 @@ void vector_klark_park(uint16_t SectorOn, int16_t CurrentA, int16_t CurrentB, in
// Test1 = my_sqrtf(Test2);
float Ulim = my_sqrtf(CurrLoop.piId.Out * CurrLoop.piId.Out + CurrLoop.piIq.Out * CurrLoop.piIq.Out);
Ulim = my_sqrtf(CurrLoop.piId.Out * CurrLoop.piId.Out + CurrLoop.piIq.Out * CurrLoop.piIq.Out);
@ -476,6 +480,8 @@ void vector_klark_park(uint16_t SectorOn, int16_t CurrentA, int16_t CurrentB, in
{
if(Ulim > ZERO_LVL)
{
FRM_Ud_= CurrLoop.piId.Out;
FRM_Uq_= CurrLoop.piIq.Out;
float K = UmaxVolt / Ulim;
FRM_Ud = CurrLoop.piId.Out *= K;
FRM_Uq = CurrLoop.piIq.Out *= K;