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一个用GCC做的atmel芯片控制的无刷无传感器的程序.包括各种参考文档!

       
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<p>
Initializes the analog comparator. 
<p>
This function initializes the analog comparator for overcurrent detection.
<p>
Definition at line <a class="el" href="main_8c-source.html#l00232">232</a> of file <a class="el" href="main_8c-source.html">main.c</a>.<div class="fragment"><pre class="fragment"><a name="l00233"></a>00233 {
<a name="l00234"></a>00234 <span class="preprocessor">#ifdef ANALOG_COMPARATOR_ENABLE</span>
<a name="l00235"></a>00235 <span class="preprocessor"></span>  <span class="comment">// Enable analog comparator interrupt on rising edge.</span>
<a name="l00236"></a>00236   ACSR = (0 &lt;&lt; ACBG) | (1 &lt;&lt; ACI) | (1 &lt;&lt; ACIE) | (1 &lt;&lt; ACIS1) | (1 &lt;&lt; ACIS0);
<a name="l00237"></a>00237 <span class="preprocessor">#endif</span>
<a name="l00238"></a>00238 <span class="preprocessor"></span>}
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<a class="anchor" name="a14"></a><!-- doxytag: member="main.c::InitPorts" ref="a14" args="(void)" --><p>
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          <td class="md" nowrap valign="top">static void InitPorts           </td>
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          <td class="md" nowrap valign="top">void&nbsp;</td>
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<p>
Initializes I/O ports. 
<p>
Initializes I/O ports.
<p>
Definition at line <a class="el" href="main_8c-source.html#l00174">174</a> of file <a class="el" href="main_8c-source.html">main.c</a>.
<p>
References <a class="el" href="BLDC_8h-source.html#l00117">DRIVE_DDR</a>, <a class="el" href="BLDC_8h-source.html#l00045">UH</a>, <a class="el" href="BLDC_8h-source.html#l00042">UL</a>, <a class="el" href="BLDC_8h-source.html#l00051">VH</a>, <a class="el" href="BLDC_8h-source.html#l00048">VL</a>, <a class="el" href="BLDC_8h-source.html#l00057">WH</a>, and <a class="el" href="BLDC_8h-source.html#l00054">WL</a>.<div class="fragment"><pre class="fragment"><a name="l00175"></a>00175 {
<a name="l00176"></a>00176   <span class="comment">// Init DRIVE_DDR for motor driving.</span>
<a name="l00177"></a>00177   <a class="code" href="BLDC_8h.html#a29">DRIVE_DDR</a> = (1 &lt;&lt; <a class="code" href="BLDC_8h.html#a5">UL</a>) | (1 &lt;&lt; <a class="code" href="BLDC_8h.html#a6">UH</a>) | (1 &lt;&lt; <a class="code" href="BLDC_8h.html#a7">VL</a>) | (1 &lt;&lt; <a class="code" href="BLDC_8h.html#a8">VH</a>) | (1 &lt;&lt; <a class="code" href="BLDC_8h.html#a9">WL</a>) | (1 &lt;&lt; <a class="code" href="BLDC_8h.html#a10">WH</a>);
<a name="l00178"></a>00178 
<a name="l00179"></a>00179   <span class="comment">// Init PORTD for PWM on PD5.</span>
<a name="l00180"></a>00180   DDRD = (1 &lt;&lt; PD5);
<a name="l00181"></a>00181 
<a name="l00182"></a>00182   <span class="comment">// Disable digital input buffers on ADC channels.</span>
<a name="l00183"></a>00183   DIDR0 = (1 &lt;&lt; ADC4D) | (1 &lt;&lt; ADC3D) | (1 &lt;&lt; ADC2D) | (1 &lt;&lt; ADC1D) | (1 &lt;&lt; ADC0D);
<a name="l00184"></a>00184 }
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<a class="anchor" name="a15"></a><!-- doxytag: member="main.c::InitTimers" ref="a15" args="(void)" --><p>
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          <td class="md" nowrap valign="top">static void InitTimers           </td>
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          <td class="md" nowrap valign="top">void&nbsp;</td>
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<p>
Initializes timers (for commutation timing and PWM). 
<p>
This function initializes Timer/counter0 for PWM operation for motor speed control and Timer/counter1 for commutation timing.
<p>
Definition at line <a class="el" href="main_8c-source.html#l00192">192</a> of file <a class="el" href="main_8c-source.html">main.c</a>.
<p>
References <a class="el" href="BLDC_8h-source.html#l00033">PWM_TOP_VALUE</a>.<div class="fragment"><pre class="fragment"><a name="l00193"></a>00193 {
<a name="l00194"></a>00194   <span class="comment">// Set up Timer/counter0 for PWM, output on OCR0B, OCR0A as TOP value, prescaler = 1.</span>
<a name="l00195"></a>00195   TCCR0A = (0 &lt;&lt; COM0A1) | (0 &lt;&lt; COM0A0) | (1 &lt;&lt; COM0B1) | (0 &lt;&lt; COM0B0) | (0 &lt;&lt; WGM01) | (1 &lt;&lt; WGM00);
<a name="l00196"></a>00196   TCCR0B = (1 &lt;&lt; WGM02) | (0 &lt;&lt; CS02) | (0 &lt;&lt; CS01) | (1 &lt;&lt; CS00);
<a name="l00197"></a>00197   OCR0A = <a class="code" href="BLDC_8h.html#a2">PWM_TOP_VALUE</a>;
<a name="l00198"></a>00198   TIFR0 = TIFR0;
<a name="l00199"></a>00199   TIMSK0 = (0 &lt;&lt; TOIE0);
<a name="l00200"></a>00200 
<a name="l00201"></a>00201   <span class="comment">// Set up Timer/counter1 for commutation timing, prescaler = 8.</span>
<a name="l00202"></a>00202   TCCR1B = (1 &lt;&lt; CS11) | (0 &lt;&lt; CS10);
<a name="l00203"></a>00203 }
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<a class="anchor" name="a12"></a><!-- doxytag: member="main.c::main" ref="a12" args="(void)" --><p>
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          <td class="md" nowrap valign="top">void main           </td>
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<p>
Program entry point. 
<p>
Main initializes all peripheral units used and calls the startup procedure. All commutation control from that point is done in interrupt routines.
<p>
Definition at line <a class="el" href="main_8c-source.html#l00088">88</a> of file <a class="el" href="main_8c-source.html">main.c</a>.
<p>
References <a class="el" href="BLDC_8h.html#a89">InitADC()</a>, <a class="el" href="BLDC_8h.html#a90">InitAnalogComparator()</a>, <a class="el" href="BLDC_8h.html#a87">InitPorts()</a>, <a class="el" href="BLDC_8h.html#a88">InitTimers()</a>, <a class="el" href="BLDC_8h.html#a92">MakeTables()</a>, <a class="el" href="BLDC_8h.html#a94">PWMControl()</a>, <a class="el" href="BLDC_8h.html#a86">ResetHandler()</a>, <a class="el" href="BLDC_8h.html#a93">StartMotor()</a>, and <a class="el" href="BLDC_8h.html#a91">WatchdogTimerEnable()</a>.<div class="fragment"><pre class="fragment"><a name="l00089"></a>00089 {
<a name="l00090"></a>00090   <span class="comment">// Initialize all sub-systems.</span>
<a name="l00091"></a>00091   <a class="code" href="BLDC_8h.html#a86">ResetHandler</a>();
<a name="l00092"></a>00092   <a class="code" href="BLDC_8h.html#a87">InitPorts</a>();
<a name="l00093"></a>00093   <a class="code" href="BLDC_8h.html#a88">InitTimers</a>();
<a name="l00094"></a>00094   <a class="code" href="BLDC_8h.html#a89">InitADC</a>();
<a name="l00095"></a>00095   <a class="code" href="BLDC_8h.html#a92">MakeTables</a>();
<a name="l00096"></a>00096   <a class="code" href="BLDC_8h.html#a90">InitAnalogComparator</a>();
<a name="l00097"></a>00097 
<a name="l00098"></a>00098   <span class="comment">// Run startup procedure.</span>
<a name="l00099"></a>00099   <a class="code" href="BLDC_8h.html#a93">StartMotor</a>();
<a name="l00100"></a>00100 
<a name="l00101"></a>00101   <span class="comment">// Turn on watchdog for stall-detection.</span>
<a name="l00102"></a>00102   <a class="code" href="BLDC_8h.html#a91">WatchdogTimerEnable</a>();
<a name="l00103"></a>00103   __enable_interrupt();
<a name="l00104"></a>00104 
<a name="l00105"></a>00105   <span class="keywordflow">for</span>(;;)
<a name="l00106"></a>00106   {
<a name="l00107"></a>00107     <a class="code" href="BLDC_8h.html#a94">PWMControl</a>();
<a name="l00108"></a>00108   }
<a name="l00109"></a>00109 }
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          <td class="md" nowrap valign="top">static void MakeTables           </td>
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          <td class="md" nowrap valign="top">void&nbsp;</td>
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