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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"><html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"><title>Sensorless control of 3-phase brushless DC motors: main.c Source File</title><link href="doxygen.css" rel="stylesheet" type="text/css"></head><body><!-- Generated by Doxygen 1.4.4 --><div class="qindex"><a class="qindex" href="main.html">Main Page</a> | <a class="qindex" href="files.html">File List</a> | <a class="qindex" href="globals.html">Globals</a></div><h1>main.c</h1><a href="main_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">// This file has been prepared for Doxygen automatic documentation generation.</span><a name="l00023"></a>00023 <span class="comment"></span><span class="preprocessor">#include "<a class="code" href="BLDC_8h.html">BLDC.h</a>"</span><a name="l00024"></a>00024 <a name="l00025"></a>00025 <span class="preprocessor">#include <ioavr.h></span><a name="l00026"></a>00026 <span class="preprocessor">#include <inavr.h></span><a name="l00027"></a>00027 <a name="l00029"></a><a class="code" href="main_8c.html#a0">00029</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="main_8c.html#a0">driveTable</a>[6];<a name="l00030"></a>00030 <a name="l00032"></a><a class="code" href="main_8c.html#a1">00032</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="main_8c.html#a1">ADMUXTable</a>[6];<a name="l00033"></a>00033 <a name="l00035"></a><a class="code" href="main_8c.html#a2">00035</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="main_8c.html#a2">startupDelays</a>[<a class="code" href="BLDC_8h.html#a51">STARTUP_NUM_COMMUTATIONS</a>];<a name="l00036"></a>00036 <a name="l00042"></a><a class="code" href="main_8c.html#a3">00042</a> __regvar __no_init <span class="keyword">volatile</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="main_8c.html#a3">filteredTimeSinceCommutation</a> @14;<a name="l00043"></a>00043 <a name="l00050"></a><a class="code" href="main_8c.html#a4">00050</a> __regvar __no_init <span class="keyword">volatile</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="main_8c.html#a4">nextDrivePattern</a> @13;<a name="l00051"></a>00051 <a name="l00057"></a><a class="code" href="main_8c.html#a5">00057</a> __regvar __no_init <span class="keyword">volatile</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="main_8c.html#a5">zcPolarity</a> @ 12;<a name="l00058"></a>00058 <a name="l00065"></a><a class="code" href="main_8c.html#a6">00065</a> __regvar __no_init <span class="keyword">volatile</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="main_8c.html#a6">nextCommutationStep</a> @11;<a name="l00066"></a>00066 <a name="l00068"></a><a class="code" href="main_8c.html#a7">00068</a> <span class="keyword">volatile</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="main_8c.html#a7">speedReferenceADC</a>;<a name="l00069"></a>00069 <a name="l00071"></a><a class="code" href="main_8c.html#a8">00071</a> <span class="keyword">volatile</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="main_8c.html#a8">shuntVoltageADC</a> = 0;<a name="l00072"></a>00072 <a name="l00074"></a><a class="code" href="main_8c.html#a9">00074</a> <span class="keyword">volatile</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="main_8c.html#a9">referenceVoltageADC</a>;<a name="l00075"></a>00075 <a name="l00077"></a><a class="code" href="main_8c.html#a10">00077</a> <span class="keyword">volatile</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="main_8c.html#a10">speedUpdated</a> = <a class="code" href="BLDC_8h.html#a3">FALSE</a>;<a name="l00078"></a>00078 <a name="l00080"></a><a class="code" href="main_8c.html#a11">00080</a> <span class="keyword">volatile</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="main_8c.html#a11">currentUpdated</a> = <a class="code" href="BLDC_8h.html#a3">FALSE</a>;<a name="l00081"></a>00081 <a name="l00082"></a>00082 <a name="l00088"></a><a class="code" href="main_8c.html#a12">00088</a> <span class="keywordtype">void</span> <a class="code" href="main_8c.html#a12">main</a>(<span class="keywordtype">void</span>)<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 }<a name="l00110"></a>00110 <a name="l00111"></a>00111 <a name="l00124"></a><a class="code" href="main_8c.html#a13">00124</a> <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="BLDC_8h.html#a86">ResetHandler</a>(<span class="keywordtype">void</span>)<a name="l00125"></a>00125 {<a name="l00126"></a>00126 __eeprom <span class="keywordtype">unsigned</span> <span class="keyword">static</span> <span class="keywordtype">int</span> restartAttempts;<a name="l00127"></a>00127 <span class="comment">// Temporary variable to avoid unnecessary reading of volatile register MCUSR.</span><a name="l00128"></a>00128 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> tempMCUSR;<a name="l00129"></a>00129 <a name="l00130"></a>00130 tempMCUSR = MCUSR;<a name="l00131"></a>00131 MCUSR = tempMCUSR & ~((1 << WDRF) | (1 << BORF) | (1 << EXTRF) | (1 << PORF));<a name="l00132"></a>00132 <a name="l00133"></a>00133 <span class="comment">// Reset watchdog to avoid false stall detection before the motor has started.</span><a name="l00134"></a>00134 __disable_interrupt();<a name="l00135"></a>00135 __watchdog_reset();<a name="l00136"></a>00136 WDTCSR |= (1 << WDCE) | (1 << WDE);<a name="l00137"></a>00137 WDTCSR = 0x00;<a name="l00138"></a>00138 <a name="l00139"></a>00139 <span class="comment">// Examine the reset source and take action.</span><a name="l00140"></a>00140 <span class="keywordflow">switch</span> (tempMCUSR & ((1 << WDRF) | (1 << BORF) | (1 << EXTRF) | (1 << PORF)))<a name="l00141"></a>00141 {<a name="l00142"></a>00142 <span class="keywordflow">case</span> (1 << WDRF):<a name="l00143"></a>00143 restartAttempts++;<a name="l00144"></a>00144 <span class="keywordflow">if</span> (restartAttempts >= <a class="code" href="BLDC_8h.html#a54">MAX_RESTART_ATTEMPTS</a>)<a name="l00145"></a>00145 {<a name="l00146"></a>00146 <span class="comment">// Do something here. E.g. wait for a button to be pressed.</span><a name="l00147"></a>00147 <span class="keywordflow">for</span> (;;)<a name="l00148"></a>00148 {<a name="l00149"></a>00149 <a name="l00150"></a>00150 }<a name="l00151"></a>00151 }<a name="l00152"></a>00152 <a name="l00153"></a>00153 <span class="comment">// Put watchdog reset handler here.</span><a name="l00154"></a>00154 <span class="keywordflow">break</span>;<a name="l00155"></a>00155 <span class="keywordflow">case</span> (1 << BORF):<a name="l00156"></a>00156 <span class="comment">//Put brownout reset handler here.</span><a name="l00157"></a>00157 <span class="keywordflow">break</span>;<a name="l00158"></a>00158 <span class="keywordflow">case</span> (1 << EXTRF):<a name="l00159"></a>00159 restartAttempts = 0;<a name="l00160"></a>00160 <span class="comment">// Put external reset handler here.</span><a name="l00161"></a>00161 <span class="keywordflow">break</span>;<a name="l00162"></a>00162 <span class="keywordflow">case</span> (1 << PORF):<a name="l00163"></a>00163 restartAttempts = 0;<a name="l00164"></a>00164 <span class="comment">// Put power-on reset handler here.</span><a name="l00165"></a>00165 <span class="keywordflow">break</span>;<a name="l00166"></a>00166 }<a name="l00167"></a>00167 }<a name="l00168"></a>00168 <a name="l00169"></a>00169 <a name="l00174"></a><a class="code" href="main_8c.html#a14">00174</a> <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="BLDC_8h.html#a87">InitPorts</a>(<span class="keywordtype">void</span>)<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 << <a class="code" href="BLDC_8h.html#a5">UL</a>) | (1 << <a class="code" href="BLDC_8h.html#a6">UH</a>) | (1 << <a class="code" href="BLDC_8h.html#a7">VL</a>) | (1 << <a class="code" href="BLDC_8h.html#a8">VH</a>) | (1 << <a class="code" href="BLDC_8h.html#a9">WL</a>) | (1 << <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 << 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 << ADC4D) | (1 << ADC3D) | (1 << ADC2D) | (1 << ADC1D) | (1 << ADC0D);<a name="l00184"></a>00184 }<a name="l00185"></a>00185 <a name="l00186"></a>00186 <a name="l00192"></a><a class="code" href="main_8c.html#a15">00192</a> <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="BLDC_8h.html#a88">InitTimers</a>(<span class="keywordtype">void</span>)<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 << COM0A1) | (0 << COM0A0) | (1 << COM0B1) | (0 << COM0B0) | (0 << WGM01) | (1 << WGM00);<a name="l00196"></a>00196 TCCR0B = (1 << WGM02) | (0 << CS02) | (0 << CS01) | (1 << 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 << 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 << CS11) | (0 << CS10);<a name="l00203"></a>00203 }<a name="l00204"></a>00204 <a name="l00205"></a>00205 <a name="l00211"></a><a class="code" href="main_8c.html#a16">00211</a> <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="BLDC_8h.html#a89">InitADC</a>(<span class="keywordtype">void</span>)<a name="l00212"></a>00212 {<a name="l00213"></a>00213 <span class="comment">// First make a measurement of the external reference voltage.</span><a name="l00214"></a>00214 ADMUX = <a class="code" href="BLDC_8h.html#a46">ADMUX_REF_VOLTAGE</a>;<a name="l00215"></a>00215 ADCSRA = (1 << ADEN) | (1 << ADSC) | (1 << ADIF) | (<a class="code" href="BLDC_8h.html#a48">ADC_PRESCALER_16</a>);<a name="l00216"></a>00216 <span class="keywordflow">while</span> (ADCSRA & (1 << ADSC))<a name="l00217"></a>00217 {<a name="l00218"></a>00218 <a name="l00219"></a>00219 }<a name="l00220"></a>00220 <a class="code" href="main_8c.html#a9">referenceVoltageADC</a> = ADCH;<a name="l00221"></a>00221 <a name="l00222"></a>00222 <span class="comment">// Initialize the ADC for autotriggered operation on PWM timer overflow.</span><a name="l00223"></a>00223 ADCSRA = (1 << ADEN) | (0 << ADSC) | (1 << ADATE) | (1 << ADIF) | (0 << ADIE) | <a class="code" href="BLDC_8h.html#a47">ADC_PRESCALER_8</a>;<a name="l00224"></a>00224 ADCSRB = <a class="code" href="BLDC_8h.html#a50">ADC_TRIGGER_SOURCE</a>;<a name="l00225"></a>00225 }<a name="l00226"></a>00226 <a name="l00227"></a>00227 <a name="l00232"></a><a class="code" href="main_8c.html#a17">00232</a> <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="BLDC_8h.html#a90">InitAnalogComparator</a>(<span class="keywordtype">void</span>)<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>⌨️ 快捷键说明
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