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<a name="l00236"></a>00236 ACSR = (0 << ACBG) | (1 << ACI) | (1 << ACIE) | (1 << ACIS1) | (1 << ACIS0);<a name="l00237"></a>00237 <span class="preprocessor">#endif</span><a name="l00238"></a>00238 <span class="preprocessor"></span>}<a name="l00239"></a>00239 <a name="l00240"></a>00240 <a name="l00245"></a><a class="code" href="main_8c.html#a18">00245</a> <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="BLDC_8h.html#a91">WatchdogTimerEnable</a>(<span class="keywordtype">void</span>)<a name="l00246"></a>00246 {<a name="l00247"></a>00247 __disable_interrupt();<a name="l00248"></a>00248 __watchdog_reset();<a name="l00249"></a>00249 <a name="l00250"></a>00250 WDTCSR |= (1 << WDCE) | (1 << WDE);<a name="l00251"></a>00251 <a name="l00252"></a>00252 WDTCSR = (1 << WDIF) | (1 << WDIE) | (1 << WDE) | (1 << WDP2);<a name="l00253"></a>00253 __enable_interrupt();<a name="l00254"></a>00254 }<a name="l00255"></a>00255 <a name="l00256"></a>00256 <a name="l00262"></a><a class="code" href="main_8c.html#a19">00262</a> <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="BLDC_8h.html#a92">MakeTables</a>(<span class="keywordtype">void</span>)<a name="l00263"></a>00263 {<a name="l00264"></a>00264 <span class="preprocessor">#if DIRECTION_OF_ROTATION == CCW</span><a name="l00265"></a>00265 <span class="preprocessor"></span> <a class="code" href="main_8c.html#a0">driveTable</a>[0] = <a class="code" href="BLDC_8h.html#a14">DRIVE_PATTERN_STEP1_CCW</a>;<a name="l00266"></a>00266 <a class="code" href="main_8c.html#a0">driveTable</a>[1] = <a class="code" href="BLDC_8h.html#a15">DRIVE_PATTERN_STEP2_CCW</a>;<a name="l00267"></a>00267 <a class="code" href="main_8c.html#a0">driveTable</a>[2] = <a class="code" href="BLDC_8h.html#a16">DRIVE_PATTERN_STEP3_CCW</a>;<a name="l00268"></a>00268 <a class="code" href="main_8c.html#a0">driveTable</a>[3] = <a class="code" href="BLDC_8h.html#a17">DRIVE_PATTERN_STEP4_CCW</a>;<a name="l00269"></a>00269 <a class="code" href="main_8c.html#a0">driveTable</a>[4] = <a class="code" href="BLDC_8h.html#a18">DRIVE_PATTERN_STEP5_CCW</a>;<a name="l00270"></a>00270 <a class="code" href="main_8c.html#a0">driveTable</a>[5] = <a class="code" href="BLDC_8h.html#a19">DRIVE_PATTERN_STEP6_CCW</a>;<a name="l00271"></a>00271 <a name="l00272"></a>00272 <a class="code" href="main_8c.html#a1">ADMUXTable</a>[0] = <a class="code" href="BLDC_8h.html#a43">ADMUX_W</a>;<a name="l00273"></a>00273 <a class="code" href="main_8c.html#a1">ADMUXTable</a>[1] = <a class="code" href="BLDC_8h.html#a42">ADMUX_V</a>;<a name="l00274"></a>00274 <a class="code" href="main_8c.html#a1">ADMUXTable</a>[2] = <a class="code" href="BLDC_8h.html#a41">ADMUX_U</a>;<a name="l00275"></a>00275 <a class="code" href="main_8c.html#a1">ADMUXTable</a>[3] = <a class="code" href="BLDC_8h.html#a43">ADMUX_W</a>;<a name="l00276"></a>00276 <a class="code" href="main_8c.html#a1">ADMUXTable</a>[4] = <a class="code" href="BLDC_8h.html#a42">ADMUX_V</a>;<a name="l00277"></a>00277 <a class="code" href="main_8c.html#a1">ADMUXTable</a>[5] = <a class="code" href="BLDC_8h.html#a41">ADMUX_U</a>;<a name="l00278"></a>00278 <span class="preprocessor">#else</span><a name="l00279"></a>00279 <span class="preprocessor"></span> <a class="code" href="main_8c.html#a0">driveTable</a>[0] = <a class="code" href="BLDC_8h.html#a20">DRIVE_PATTERN_STEP1_CW</a>;<a name="l00280"></a>00280 <a class="code" href="main_8c.html#a0">driveTable</a>[1] = <a class="code" href="BLDC_8h.html#a21">DRIVE_PATTERN_STEP2_CW</a>;<a name="l00281"></a>00281 <a class="code" href="main_8c.html#a0">driveTable</a>[2] = <a class="code" href="BLDC_8h.html#a22">DRIVE_PATTERN_STEP3_CW</a>;<a name="l00282"></a>00282 <a class="code" href="main_8c.html#a0">driveTable</a>[3] = <a class="code" href="BLDC_8h.html#a23">DRIVE_PATTERN_STEP4_CW</a>;<a name="l00283"></a>00283 <a class="code" href="main_8c.html#a0">driveTable</a>[4] = <a class="code" href="BLDC_8h.html#a24">DRIVE_PATTERN_STEP5_CW</a>;<a name="l00284"></a>00284 <a class="code" href="main_8c.html#a0">driveTable</a>[5] = <a class="code" href="BLDC_8h.html#a25">DRIVE_PATTERN_STEP6_CW</a>;<a name="l00285"></a>00285 <a name="l00286"></a>00286 <a class="code" href="main_8c.html#a1">ADMUXTable</a>[0] = <a class="code" href="BLDC_8h.html#a41">ADMUX_U</a>;<a name="l00287"></a>00287 <a class="code" href="main_8c.html#a1">ADMUXTable</a>[1] = <a class="code" href="BLDC_8h.html#a42">ADMUX_V</a>;<a name="l00288"></a>00288 <a class="code" href="main_8c.html#a1">ADMUXTable</a>[2] = <a class="code" href="BLDC_8h.html#a43">ADMUX_W</a>;<a name="l00289"></a>00289 <a class="code" href="main_8c.html#a1">ADMUXTable</a>[3] = <a class="code" href="BLDC_8h.html#a41">ADMUX_U</a>;<a name="l00290"></a>00290 <a class="code" href="main_8c.html#a1">ADMUXTable</a>[4] = <a class="code" href="BLDC_8h.html#a42">ADMUX_V</a>;<a name="l00291"></a>00291 <a class="code" href="main_8c.html#a1">ADMUXTable</a>[5] = <a class="code" href="BLDC_8h.html#a43">ADMUX_W</a>;<a name="l00292"></a>00292 <a name="l00293"></a>00293 <span class="preprocessor">#endif</span><a name="l00294"></a>00294 <span class="preprocessor"></span><a name="l00295"></a>00295 <a class="code" href="main_8c.html#a2">startupDelays</a>[0] = 200;<a name="l00296"></a>00296 <a class="code" href="main_8c.html#a2">startupDelays</a>[1] = 150;<a name="l00297"></a>00297 <a class="code" href="main_8c.html#a2">startupDelays</a>[2] = 100;<a name="l00298"></a>00298 <a class="code" href="main_8c.html#a2">startupDelays</a>[3] = 80;<a name="l00299"></a>00299 <a class="code" href="main_8c.html#a2">startupDelays</a>[4] = 70;<a name="l00300"></a>00300 <a class="code" href="main_8c.html#a2">startupDelays</a>[5] = 65;<a name="l00301"></a>00301 <a class="code" href="main_8c.html#a2">startupDelays</a>[6] = 60;<a name="l00302"></a>00302 <a class="code" href="main_8c.html#a2">startupDelays</a>[7] = 55;<a name="l00303"></a>00303 }<a name="l00304"></a>00304 <a name="l00305"></a>00305 <a name="l00311"></a><a class="code" href="main_8c.html#a20">00311</a> <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="BLDC_8h.html#a93">StartMotor</a>(<span class="keywordtype">void</span>)<a name="l00312"></a>00312 {<a name="l00313"></a>00313 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> i;<a name="l00314"></a>00314 <a name="l00315"></a>00315 <a class="code" href="BLDC_8h.html#a56">SET_PWM_COMPARE_VALUE</a>(<a class="code" href="BLDC_8h.html#a77">STARTUP_PWM_COMPARE_VALUE</a>);<a name="l00316"></a>00316 <a name="l00317"></a>00317 <a class="code" href="main_8c.html#a6">nextCommutationStep</a> = 0;<a name="l00318"></a>00318 <a name="l00319"></a>00319 <span class="comment">//Preposition.</span><a name="l00320"></a>00320 <a class="code" href="BLDC_8h.html#a28">DRIVE_PORT</a> = <a class="code" href="main_8c.html#a0">driveTable</a>[<a class="code" href="main_8c.html#a6">nextCommutationStep</a>];<a name="l00321"></a>00321 <a class="code" href="BLDC_8h.html#a95">StartupDelay</a>(<a class="code" href="BLDC_8h.html#a53">STARTUP_LOCK_DELAY</a>);<a name="l00322"></a>00322 <a class="code" href="main_8c.html#a6">nextCommutationStep</a>++;<a name="l00323"></a>00323 <a class="code" href="main_8c.html#a4">nextDrivePattern</a> = <a class="code" href="main_8c.html#a0">driveTable</a>[<a class="code" href="main_8c.html#a6">nextCommutationStep</a>];<a name="l00324"></a>00324 <a name="l00325"></a>00325 <span class="keywordflow">for</span> (i = 0; i < <a class="code" href="BLDC_8h.html#a51">STARTUP_NUM_COMMUTATIONS</a>; i++)<a name="l00326"></a>00326 {<a name="l00327"></a>00327 <a class="code" href="BLDC_8h.html#a28">DRIVE_PORT</a> = <a class="code" href="main_8c.html#a4">nextDrivePattern</a>;<a name="l00328"></a>00328 <a class="code" href="BLDC_8h.html#a95">StartupDelay</a>(<a class="code" href="main_8c.html#a2">startupDelays</a>[i]);<a name="l00329"></a>00329 <a name="l00330"></a>00330 ADMUX = <a class="code" href="main_8c.html#a1">ADMUXTable</a>[<a class="code" href="main_8c.html#a6">nextCommutationStep</a>];<a name="l00331"></a>00331 <a name="l00332"></a>00332 <span class="comment">// Use LSB of nextCommutationStep to determine zero crossing polarity.</span><a name="l00333"></a>00333 <a class="code" href="main_8c.html#a5">zcPolarity</a> = <a class="code" href="main_8c.html#a6">nextCommutationStep</a> & 0x01;<a name="l00334"></a>00334 <a name="l00335"></a>00335 <a class="code" href="main_8c.html#a6">nextCommutationStep</a>++;<a name="l00336"></a>00336 <span class="keywordflow">if</span> (<a class="code" href="main_8c.html#a6">nextCommutationStep</a> >= 6)<a name="l00337"></a>00337 {<a name="l00338"></a>00338 <a class="code" href="main_8c.html#a6">nextCommutationStep</a> = 0;<a name="l00339"></a>00339 }<a name="l00340"></a>00340 <a class="code" href="main_8c.html#a4">nextDrivePattern</a> = <a class="code" href="main_8c.html#a0">driveTable</a>[<a class="code" href="main_8c.html#a6">nextCommutationStep</a>];<a name="l00341"></a>00341 }<a name="l00342"></a>00342 <a name="l00343"></a>00343 <span class="comment">// Switch to sensorless commutation.</span><a name="l00344"></a>00344 TCNT1 = 0;<a name="l00345"></a>00345 TIMSK1 = (1 << OCIE1A);<a name="l00346"></a>00346 <a name="l00347"></a>00347 <span class="comment">// Set filteredTimeSinceCommutation to the time to the next commutation.</span><a name="l00348"></a>00348 <a class="code" href="main_8c.html#a3">filteredTimeSinceCommutation</a> = <a class="code" href="main_8c.html#a2">startupDelays</a>[<a class="code" href="BLDC_8h.html#a51">STARTUP_NUM_COMMUTATIONS</a> - 1] * (<a class="code" href="BLDC_8h.html#a52">STARTUP_DELAY_MULTIPLIER</a> / 2);<a name="l00349"></a>00349 }<a name="l00350"></a>00350 <a name="l00351"></a>00351 <a name="l00363"></a>00363 <span class="preprocessor">#pragma vector=TIMER0_OVF_vect</span><a name="l00364"></a><a class="code" href="main_8c.html#a21">00364</a> <span class="preprocessor"></span>__interrupt <span class="keywordtype">void</span> <a class="code" href="main_8c.html#a21">MotorPWMBottom</a>()<a name="l00365"></a>00365 {<a name="l00366"></a>00366 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> temp;<a name="l00367"></a>00367 <a name="l00368"></a>00368 <span class="comment">// Disable ADC auto-triggering. This must be done here to avoid wrong channel being sampled on manual samples later.</span><a name="l00369"></a>00369 ADCSRA &= ~((1 << ADATE) | (1 << ADIE));<a name="l00370"></a>00370 <a name="l00371"></a>00371 <span class="comment">// Wait for auto-triggered ADC sample to complete.</span><a name="l00372"></a>00372 <span class="keywordflow">while</span> (!(ADCSRA & (1 << ADIF)))<a name="l00373"></a>00373 {<a name="l00374"></a>00374 <a name="l00375"></a>00375 }<a name="l00376"></a>00376 temp = ADCH;<a name="l00377"></a>00377 <span class="keywordflow">if</span> (((<a class="code" href="main_8c.html#a5">zcPolarity</a> == <a class="code" href="BLDC_8h.html#a27">EDGE_RISING</a>) && (temp > <a class="code" href="BLDC_8h.html#a78">ADC_ZC_THRESHOLD</a>)) || ((<a class="code" href="main_8c.html#a5">zcPolarity</a> == <a class="code" href="BLDC_8h.html#a26">EDGE_FALLING</a>) && (temp < <a class="code" href="BLDC_8h.html#a78">ADC_ZC_THRESHOLD</a>)))<a name="l00378"></a>00378 {<a name="l00379"></a>00379 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> timeSinceCommutation;<a name="l00380"></a>00380 <a name="l00381"></a>00381 <span class="comment">// Find time since last commutation</span><a name="l00382"></a>00382 timeSinceCommutation = TCNT1;<a name="l00383"></a>00383 TCNT1 = <a class="code" href="BLDC_8h.html#a79">COMMUTATION_CORRECTION</a>;<a name="l00384"></a>00384 <a name="l00385"></a>00385 <span class="comment">// Filter the current ZC detection with earlier measurements through an IIR filter.</span><a name="l00386"></a>00386 <a class="code" href="main_8c.html#a3">filteredTimeSinceCommutation</a> = (<a class="code" href="BLDC_8h.html#a69">COMMUTATION_TIMING_IIR_COEFF_A</a> * timeSinceCommutation<a name="l00387"></a>00387 + <a class="code" href="BLDC_8h.html#a70">COMMUTATION_TIMING_IIR_COEFF_B</a> * <a class="code" href="main_8c.html#a3">filteredTimeSinceCommutation</a>)<a name="l00388"></a>00388 / (<a class="code" href="BLDC_8h.html#a69">COMMUTATION_TIMING_IIR_COEFF_A</a> + <a class="code" href="BLDC_8h.html#a70">COMMUTATION_TIMING_IIR_COEFF_B</a>);<a name="l00389"></a>00389 OCR1A = <a class="code" href="main_8c.html#a3">filteredTimeSinceCommutation</a>;<a name="l00390"></a>00390 <a name="l00391"></a>00391 <a class="code" href="main_8c.html#a10">speedUpdated</a> = <a class="code" href="BLDC_8h.html#a4">TRUE</a>;<a name="l00392"></a>00392 <a name="l00393"></a>00393 <a class="code" href="BLDC_8h.html#a62">SET_TIMER1_INT_COMMUTATION</a>;<a name="l00394"></a>00394 <a class="code" href="BLDC_8h.html#a60">CLEAR_ALL_TIMER1_INT_FLAGS</a>;<a name="l00395"></a>00395 <a name="l00396"></a>00396 <span class="comment">// Disable Timer/Counter0 overflow ISR.</span><a name="l00397"></a>00397 <a class="code" href="BLDC_8h.html#a58">DISABLE_ALL_TIMER0_INTS</a>;<a name="l00398"></a>00398 <a name="l00399"></a>00399 <span class="comment">// Read speed reference.</span><a name="l00400"></a>00400 <a name="l00401"></a>00401 <span class="comment">// Make sure that a sample is not in progress.</span><a name="l00402"></a>00402 <span class="keywordflow">while</span> (ADCSRA & (1 << ADSC))<a name="l00403"></a>00403 {<a name="l00404"></a>00404 <a name="l00405"></a>00405 }<a name="l00406"></a>00406 <span class="comment">// Change channel</span><a name="l00407"></a>00407 ADMUX = <a class="code" href="BLDC_8h.html#a44">ADMUX_SPEED_REF</a>;<a name="l00408"></a>00408 <a name="l00409"></a>00409 <span class="comment">// Start conversion manually.</span><a name="l00410"></a>00410 ADCSRA |= (1 << ADSC);<a name="l00411"></a>00411 <a name="l00412"></a>00412 <span class="comment">// Wait for conversion to complete.</span><a name="l00413"></a>00413 <span class="keywordflow">while</span>((ADCSRA & (1 << ADSC)))<a name="l00414"></a>00414 {<a name="l00415"></a>00415 <a name="l00416"></a>00416 }⌨️ 快捷键说明
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