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

Referenced by <a class="el" href="main_8c-source.html#l01030">Timer1CaptureISR()</a>.<div class="fragment"><pre class="fragment"><a name="l00817"></a>00817 {
<a name="l00818"></a>00818   <span class="keywordflow">if</span> (<a class="code" href="main_8c.html#a3">commutationTicks</a> &lt; <a class="code" href="PMSM_8h.html#a34">COMMUTATION_TICKS_STOPPED</a>)
<a name="l00819"></a>00819   {
<a name="l00820"></a>00820     <a class="code" href="main_8c.html#a3">commutationTicks</a>++;
<a name="l00821"></a>00821   }
<a name="l00822"></a>00822   <span class="keywordflow">else</span>
<a name="l00823"></a>00823   {
<a name="l00824"></a>00824     fastFlags.motorStopped = <a class="code" href="pid_8h.html#a5">TRUE</a>;
<a name="l00825"></a>00825     fastFlags.motorSynchronized = <a class="code" href="pid_8h.html#a4">FALSE</a>;
<a name="l00826"></a>00826     <span class="keywordflow">if</span> (fastFlags.driveWaveform != <a class="code" href="PMSM_8h.html#a30">WAVEFORM_BLOCK_COMMUTATION</a>)
<a name="l00827"></a>00827     {
<a name="l00828"></a>00828       <a class="code" href="main_8c.html#a18">TimersSetModeBlockCommutation</a>();
<a name="l00829"></a>00829       <a class="code" href="main_8c.html#a24">BlockCommutate</a>(<a class="code" href="main_8c.html#a22">GetDesiredDirection</a>(), <a class="code" href="main_8c.html#a25">GetHall</a>());
<a name="l00830"></a>00830 
<a name="l00831"></a>00831 <span class="preprocessor">#if (SPEED_CONTROL_METHOD == SPEED_CONTROL_CLOSED_LOOP)</span>
<a name="l00832"></a>00832 <span class="preprocessor"></span>      <a class="code" href="pid_8c.html#a2">PID_Reset_Integrator</a>(&amp;pidParameters);
<a name="l00833"></a>00833 <span class="preprocessor">#endif</span>
<a name="l00834"></a>00834 <span class="preprocessor"></span>    }
<a name="l00835"></a>00835   }
<a name="l00836"></a>00836 }
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<a class="anchor" name="a26"></a><!-- doxytag: member="main.c::DesiredDirectionUpdate" ref="a26" args="(void)" --><p>
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          <td class="md" nowrap valign="top">static void DesiredDirectionUpdate           </td>
          <td class="md" valign="top">(&nbsp;</td>
          <td class="md" nowrap valign="top">void&nbsp;</td>
          <td class="mdname1" valign="top" nowrap>          </td>
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<p>
Updates global desired direction flag. 
<p>
Running this function triggers a reading of the direction input pin. The desiredDirection flag is set accordingly.
<p>
Definition at line <a class="el" href="main_8c-source.html#l00572">572</a> of file <a class="el" href="main_8c-source.html">main.c</a>.
<p>
References <a class="el" href="PMSM_8h-source.html#l00128">DIRECTION_COMMAND_PIN</a>, <a class="el" href="PMSM_8h-source.html#l00061">DIRECTION_FORWARD</a>, and <a class="el" href="PMSM_8h-source.html#l00064">DIRECTION_REVERSE</a>.
<p>
Referenced by <a class="el" href="main_8c-source.html#l00999">DirectionInputChangeISR()</a>, and <a class="el" href="main_8c-source.html#l00135">main()</a>.<div class="fragment"><pre class="fragment"><a name="l00573"></a>00573 {
<a name="l00574"></a>00574   <span class="keywordflow">if</span> ( (PIND &amp; (1 &lt;&lt; <a class="code" href="PMSM_8h.html#a26">DIRECTION_COMMAND_PIN</a>)) != 0 )
<a name="l00575"></a>00575   {
<a name="l00576"></a>00576     fastFlags.desiredDirection = <a class="code" href="PMSM_8h.html#a8">DIRECTION_REVERSE</a>;
<a name="l00577"></a>00577   }
<a name="l00578"></a>00578   <span class="keywordflow">else</span>
<a name="l00579"></a>00579   {
<a name="l00580"></a>00580     fastFlags.desiredDirection = <a class="code" href="PMSM_8h.html#a7">DIRECTION_FORWARD</a>;
<a name="l00581"></a>00581   }
<a name="l00582"></a>00582 }
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<a class="anchor" name="a41"></a><!-- doxytag: member="main.c::DirectionInputChangeISR" ref="a41" args="(void)" --><p>
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          <td class="md" nowrap valign="top">__interrupt void DirectionInputChangeISR           </td>
          <td class="md" valign="top">(&nbsp;</td>
          <td class="md" nowrap valign="top">void&nbsp;</td>
          <td class="mdname1" valign="top" nowrap>          </td>
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<p>
Direction input change interrupt service routine. 
<p>
This ISR is called every time the direction input pin changes state. The desired direction flag is updated accordingly. The motor control then goes into a state where it needs a stopped motor or a synchronization before any driving of the motor is performed.
<p>
Definition at line <a class="el" href="main_8c-source.html#l00999">999</a> of file <a class="el" href="main_8c-source.html">main.c</a>.
<p>
References <a class="el" href="main_8c-source.html#l00572">DesiredDirectionUpdate()</a>, <a class="el" href="main_8c-source.html#l00800">DisablePWMOutputs()</a>, <a class="el" href="pid_8h-source.html#l00079">FALSE</a>, <a class="el" href="main_8c-source.html#l00404">TimersSetModeBrake()</a>, and <a class="el" href="PMSM_8h-source.html#l00158">WAVEFORM_UNDEFINED</a>.<div class="fragment"><pre class="fragment"><a name="l01000"></a>01000 {
<a name="l01001"></a>01001   <span class="comment">//Update desired direction flag.</span>
<a name="l01002"></a>01002   <a class="code" href="main_8c.html#a26">DesiredDirectionUpdate</a>();
<a name="l01003"></a>01003 
<a name="l01004"></a>01004 <span class="preprocessor">#if (TURN_MODE == TURN_MODE_COAST)</span>
<a name="l01005"></a>01005 <span class="preprocessor"></span>  <span class="comment">//Disable driver signals to let motor coast. The motor will automatically</span>
<a name="l01006"></a>01006   <span class="comment">//start once it is synchronized or stopped.</span>
<a name="l01007"></a>01007   <a class="code" href="main_8c.html#a35">DisablePWMOutputs</a>();
<a name="l01008"></a>01008   fastFlags.motorSynchronized = <a class="code" href="pid_8h.html#a4">FALSE</a>;
<a name="l01009"></a>01009   fastFlags.motorStopped = <a class="code" href="pid_8h.html#a4">FALSE</a>;
<a name="l01010"></a>01010   fastFlags.driveWaveform = <a class="code" href="PMSM_8h.html#a33">WAVEFORM_UNDEFINED</a>;
<a name="l01011"></a>01011 <span class="preprocessor">#endif</span>
<a name="l01012"></a>01012 <span class="preprocessor"></span>
<a name="l01013"></a>01013 <span class="preprocessor">#if (TURN_MODE == TURN_MODE_BRAKE)</span>
<a name="l01014"></a>01014 <span class="preprocessor"></span>  <span class="comment">//Set motor in brake mode. The motor will automatically start once it is</span>
<a name="l01015"></a>01015   <span class="comment">//synchronized or stopped.</span>
<a name="l01016"></a>01016   fastFlags.motorSynchronized = <a class="code" href="pid_8h.html#a4">FALSE</a>;
<a name="l01017"></a>01017   fastFlags.motorStopped = <a class="code" href="pid_8h.html#a4">FALSE</a>;
<a name="l01018"></a>01018   <a class="code" href="main_8c.html#a19">TimersSetModeBrake</a>(); <span class="comment">// Automatically sets driveWaveform.</span>
<a name="l01019"></a>01019 <span class="preprocessor">#endif</span>
<a name="l01020"></a>01020 <span class="preprocessor"></span>}
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<a class="anchor" name="a35"></a><!-- doxytag: member="main.c::DisablePWMOutputs" ref="a35" args="(void)" --><p>
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          <td class="md" nowrap valign="top">static void DisablePWMOutputs           </td>
          <td class="md" valign="top">(&nbsp;</td>
          <td class="md" nowrap valign="top">void&nbsp;</td>
          <td class="mdname1" valign="top" nowrap>          </td>
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<p>
Disables PWM output pins. 
<p>
This function disables PWM outputs by setting the port dierction for all PWM pins as inputs, thus overriding the PWM. The PWM configuration itself is not altered in any way by running this function.
<p>
Definition at line <a class="el" href="main_8c-source.html#l00800">800</a> of file <a class="el" href="main_8c-source.html">main.c</a>.
<p>
References <a class="el" href="PMSM_8h-source.html#l00055">PWM_PATTERN_PORTB</a>, and <a class="el" href="PMSM_8h-source.html#l00058">PWM_PATTERN_PORTD</a>.
<p>
Referenced by <a class="el" href="main_8c-source.html#l00520">BlockCommutate()</a>, <a class="el" href="main_8c-source.html#l00999">DirectionInputChangeISR()</a>, <a class="el" href="main_8c-source.html#l00901">EmergencyInterruptISR()</a>, <a class="el" href="main_8c-source.html#l00373">TimersSetModeBlockCommutation()</a>, <a class="el" href="main_8c-source.html#l00404">TimersSetModeBrake()</a>, and <a class="el" href="main_8c-source.html#l00341">TimersSetModeSinusoidal()</a>.<div class="fragment"><pre class="fragment"><a name="l00801"></a>00801 {
<a name="l00802"></a>00802   DDRB &amp;= ~<a class="code" href="PMSM_8h.html#a5">PWM_PATTERN_PORTB</a>;
<a name="l00803"></a>00803   DDRD &amp;= ~<a class="code" href="PMSM_8h.html#a6">PWM_PATTERN_PORTD</a>;
<a name="l00804"></a>00804 }
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<a class="anchor" name="a39"></a><!-- doxytag: member="main.c::EmergencyInterruptISR" ref="a39" args="(void)" --><p>
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          <td class="md" nowrap valign="top">__interrupt void EmergencyInterruptISR           </td>
          <td class="md" valign="top">(&nbsp;</td>
          <td class="md" nowrap valign="top">void&nbsp;</td>
          <td class="mdname1" valign="top" nowrap>          </td>
          <td class="md" valign="top">&nbsp;)&nbsp;</td>
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