pmsmtables.h

Atmel算法(pid)-步进电机驱动源码 HOWTO,不好用你找我,绝对ok!

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};

/*! \brief Block commutation port direction masks, forward driving.
 *
 *  This array contains port direction masks for block commutation
 *  when running in the forward direction.
 */
__flash const uint8_t blockCommutationTableForward[16] =
{
  0,                          0,
  (1 << PB3),                 (1 << PD5),                 // UL, WH
  (1 << PB2),                 (1 << PD6),                 // UH, VL
  ((1 << PB2) | (1 << PB3)),  0x00,                       // VL, WH
  (1 << PB1),                 (1 << PD3),                 // VH, WL
  (1 << PB1),                 (1 << PD5),                 // UL, VH
  0x00,                       ((1 << PD6) | (1 << PD3)),  // UH, WL
  0,  0
};


/*! \brief Block commutation port direction masks, reverse driving.
 *
 *  This array contains port direction masks for block commutation
 *  when running in the reverse direction.
 */
__flash const uint8_t blockCommutationTableReverse[16] =
{
  0,  0,
  0x00,                       ((1 << PD6) | (1 << PD3)),  // UH, WL
  (1 << PB1),                 (1 << PD5),                 // UL, VH
  (1 << PB1),                 (1 << PD3),                 // VH, WL
  ((1 << PB2) | (1 << PB3)),  0x00,                       // VL, WH
  (1 << PB2),                 (1 << PD6),                 // UH, VL
  (1 << PB3),                 (1 << PD5),                 // UL, WH
  0,  0
};


/*! \brief Table of next expected hall sensor value when running forward.
 *
 *  This array contains the next expected hall sensor value when
 *  running in the forward direction. The value at the index pointed
 *  to by the current hall sensor value is the next expected hall
 *  sensor value in the forward direction.
 */
__flash const uint8_t expectedHallSequenceForward[7] =
{
  0xff,    3,    6,    2,    5,    1,    4
};



/*! \brief Table of next expected hall sensor value when running in the reverse direction.
 *
 *  This array contains the next expected hall sensor value when
 *  running in the reverse direction. The value at the index pointed
 *  to by the current hall sensor value is the next expected hall
 *  sensor value in the reverse direction.
 */
__flash const uint8_t expectedHallSequenceReverse[7] =
{
  0xff,    5,    3,    1,    6,    4,    2
};


/*! \brief Sine table offset values corresponding to hall sensor values when running in the forward direction.
 *
 *  This array contains the sine table offset that corresponds to
 *  the hall sensor values when running in the forward direction.
 *  At the moment of a hall change, using the new hall sensor value
 *  as index into this table returns the sine table offset that will
 *  synchronize the generated sine waves to the back-EMF of the motor.
 */
__flash const uint16_t CSOffsetsForward[8] =
{
  0,
  5 * (SINE_TABLE_LENGTH / 6),
  1 * (SINE_TABLE_LENGTH / 6),
  0 * (SINE_TABLE_LENGTH / 6),
  3 * (SINE_TABLE_LENGTH / 6),
  4 * (SINE_TABLE_LENGTH / 6),
  2 * (SINE_TABLE_LENGTH / 6),
  0
};


/*! \brief Sine table offset values corresponding to hall sensor values when running in the reverse direction.
 *
 *  This array contains the sine table offset that corresponds to
 *  the hall sensor values when running in the reverse direction.
 *  At the moment of a hall change, using the new hall sensor value
 *  as index into this table returns the sine table offset that will
 *  synchronize the generated sine waves to the back-EMF of the motor.
 */
__flash const uint16_t CSOffsetsReverse[8] =
{
  0,
  1 * (SINE_TABLE_LENGTH / 6),
  5 * (SINE_TABLE_LENGTH / 6),
  0 * (SINE_TABLE_LENGTH / 6),
  3 * (SINE_TABLE_LENGTH / 6),
  2 * (SINE_TABLE_LENGTH / 6),
  4 * (SINE_TABLE_LENGTH / 6),
  0
};


#endif