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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!

<a name="l00192"></a><a class="code" href="PMSM_8h.html#a40">00192</a> <span class="preprocessor">#define BLOCK_COMMUTATION_DUTY_MULTIPLIER   3</span>
<a name="l00193"></a>00193 <span class="preprocessor"></span>
<a name="l00199"></a><a class="code" href="PMSM_8h.html#a41">00199</a> <span class="preprocessor">#define SYNCHRONIZATION_COUNT       2</span>
<a name="l00200"></a>00200 <span class="preprocessor"></span>
<a name="l00202"></a><a class="code" href="PMSM_8h.html#a42">00202</a> <span class="preprocessor">#define SPEED_CONTROL_OPEN_LOOP     0</span>
<a name="l00203"></a>00203 <span class="preprocessor"></span>
<a name="l00205"></a><a class="code" href="PMSM_8h.html#a43">00205</a> <span class="preprocessor">#define SPEED_CONTROL_CLOSED_LOOP   1</span>
<a name="l00206"></a>00206 <span class="preprocessor"></span>
<a name="l00211"></a><a class="code" href="PMSM_8h.html#a44">00211</a> <span class="preprocessor">#define SPEED_CONTROL_METHOD        SPEED_CONTROL_OPEN_LOOP</span>
<a name="l00212"></a>00212 <span class="preprocessor"></span>
<a name="l00216"></a><a class="code" href="PMSM_8h.html#a45">00216</a> <span class="preprocessor">#define SPEED_CONTROLLER_TIME_BASE   150</span>
<a name="l00217"></a>00217 <span class="preprocessor"></span>
<a name="l00221"></a><a class="code" href="PMSM_8h.html#a46">00221</a> <span class="preprocessor">#define PID_K_P    50</span>
<a name="l00222"></a>00222 <span class="preprocessor"></span>
<a name="l00226"></a><a class="code" href="PMSM_8h.html#a47">00226</a> <span class="preprocessor">#define PID_K_I    5</span>
<a name="l00227"></a>00227 <span class="preprocessor"></span>
<a name="l00231"></a><a class="code" href="PMSM_8h.html#a48">00231</a> <span class="preprocessor">#define PID_K_D    10</span>
<a name="l00232"></a>00232 <span class="preprocessor"></span>
<a name="l00238"></a><a class="code" href="PMSM_8h.html#a49">00238</a> <span class="preprocessor">#define SPEED_CONTROLLER_MAX_INCREMENT      550</span>
<a name="l00239"></a>00239 <span class="preprocessor"></span>
<a name="l00245"></a><a class="code" href="PMSM_8h.html#a50">00245</a> <span class="preprocessor">#define SPEED_CONTROLLER_MAX_INPUT          256</span>
<a name="l00246"></a>00246 <span class="preprocessor"></span>
<a name="l00247"></a>00247 
<a name="l00248"></a>00248 <span class="comment">//Typedefs</span>
<a name="l00253"></a><a class="code" href="structPMSMflags.html">00253</a> <span class="comment"></span><span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="structPMSMflags.html">PMSMflags</a>
<a name="l00254"></a>00254 {
<a name="l00255"></a><a class="code" href="structPMSMflags.html#o3">00255</a>   <a class="code" href="stdint_8h.html#a56">uint8_t</a> <a class="code" href="structPMSMflags.html#o3">motorStopped</a> : 1;     
<a name="l00256"></a><a class="code" href="structPMSMflags.html#o4">00256</a>   <a class="code" href="stdint_8h.html#a56">uint8_t</a> <a class="code" href="structPMSMflags.html#o4">motorSynchronized</a>: 1; 
<a name="l00257"></a><a class="code" href="structPMSMflags.html#o0">00257</a>   <a class="code" href="stdint_8h.html#a56">uint8_t</a> <a class="code" href="structPMSMflags.html#o0">actualDirection</a> : 2;  
<a name="l00258"></a><a class="code" href="structPMSMflags.html#o1">00258</a>   <a class="code" href="stdint_8h.html#a56">uint8_t</a> <a class="code" href="structPMSMflags.html#o1">desiredDirection</a> : 1; 
<a name="l00259"></a><a class="code" href="structPMSMflags.html#o2">00259</a>   <a class="code" href="stdint_8h.html#a56">uint8_t</a> <a class="code" href="structPMSMflags.html#o2">driveWaveform</a> : 2;    
<a name="l00260"></a>00260 } <a class="code" href="structPMSMflags.html">PMSMflags_t</a>;
<a name="l00261"></a>00261 
<a name="l00262"></a>00262 
<a name="l00263"></a>00263 <span class="comment">//Function prototypes</span>
<a name="l00264"></a>00264 <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="main_8c.html#a12">TimersInit</a>(<span class="keywordtype">void</span>);
<a name="l00265"></a>00265 <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="main_8c.html#a17">TimersSetModeSinusoidal</a>(<span class="keywordtype">void</span>);
<a name="l00266"></a>00266 <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="main_8c.html#a18">TimersSetModeBlockCommutation</a>(<span class="keywordtype">void</span>);
<a name="l00267"></a>00267 <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="main_8c.html#a19">TimersSetModeBrake</a>(<span class="keywordtype">void</span>);
<a name="l00268"></a>00268 <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="main_8c.html#a20">TimersWaitForNextPWMCycle</a>(<span class="keywordtype">void</span>);
<a name="l00269"></a>00269 <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="main_8c.html#a21">BlockCommutationSetDuty</a>(<span class="keyword">const</span> <a class="code" href="stdint_8h.html#a56">uint8_t</a> duty);
<a name="l00270"></a>00270 <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="main_8c.html#a11">PortsInit</a>(<span class="keywordtype">void</span>);
<a name="l00271"></a>00271 <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="main_8c.html#a13">PinChangeIntInit</a>(<span class="keywordtype">void</span>);
<a name="l00272"></a>00272 <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="main_8c.html#a14">ADCInit</a>(<span class="keywordtype">void</span>);
<a name="l00273"></a>00273 <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="main_8c.html#a15">CheckEmergencyShutdown</a>(<span class="keywordtype">void</span>);
<a name="l00274"></a>00274 <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="main_8c.html#a16">SpeedController</a>(<span class="keywordtype">void</span>);
<a name="l00275"></a>00275 <span class="keyword">static</span> <a class="code" href="stdint_8h.html#a56">uint8_t</a> <a class="code" href="main_8c.html#a22">GetDesiredDirection</a>(<span class="keywordtype">void</span>);
<a name="l00276"></a>00276 <span class="keyword">static</span> <a class="code" href="stdint_8h.html#a56">uint8_t</a> <a class="code" href="main_8c.html#a23">GetActualDirection</a>(<span class="keywordtype">void</span>);
<a name="l00277"></a>00277 <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="main_8c.html#a24">BlockCommutate</a>(<span class="keyword">const</span> <a class="code" href="stdint_8h.html#a56">uint8_t</a> direction, <a class="code" href="stdint_8h.html#a56">uint8_t</a> hall);
<a name="l00278"></a>00278 <span class="keyword">static</span> <a class="code" href="stdint_8h.html#a56">uint8_t</a> <a class="code" href="main_8c.html#a25">GetHall</a>(<span class="keywordtype">void</span>);
<a name="l00279"></a>00279 <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="main_8c.html#a26">DesiredDirectionUpdate</a>(<span class="keywordtype">void</span>);
<a name="l00280"></a>00280 <span class="keyword">static</span> <a class="code" href="stdint_8h.html#a56">uint8_t</a> <a class="code" href="PMSM_8h.html#a68">CalculateActualDirection</a>(<span class="keyword">const</span> <a class="code" href="stdint_8h.html#a56">uint8_t</a> lastHall, <span class="keyword">const</span> <a class="code" href="stdint_8h.html#a56">uint8_t</a> newHall);
<a name="l00281"></a>00281 <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="main_8c.html#a27">ActualDirectionUpdate</a>(<a class="code" href="stdint_8h.html#a56">uint8_t</a> lastHall, <span class="keyword">const</span> <a class="code" href="stdint_8h.html#a56">uint8_t</a> newHall);
<a name="l00282"></a>00282 <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="main_8c.html#a28">ReverseRotationSignalUpdate</a>(<span class="keywordtype">void</span>);
<a name="l00283"></a>00283 <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="main_8c.html#a29">InsertDeadband</a>(<span class="keyword">const</span> <a class="code" href="stdint_8h.html#a56">uint8_t</a> compareValue, <a class="code" href="stdint_8h.html#a56">uint8_t</a> * compareHighPtr, <a class="code" href="stdint_8h.html#a56">uint8_t</a> * compareLowPtr);
<a name="l00284"></a>00284 <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="main_8c.html#a31">AdjustSineTableIndex</a>(<span class="keyword">const</span> <a class="code" href="stdint_8h.html#a58">uint16_t</a> increment);
<a name="l00285"></a>00285 <span class="keyword">static</span> <a class="code" href="stdint_8h.html#a58">uint16_t</a> <a class="code" href="main_8c.html#a30">SineTableIncrementCalculate</a>(<span class="keyword">const</span> <a class="code" href="stdint_8h.html#a58">uint16_t</a> ticks);
<a name="l00286"></a>00286 <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="main_8c.html#a32">SetAdvanceCommutation</a>(<span class="keyword">const</span> <a class="code" href="stdint_8h.html#a56">uint8_t</a> leadAngle);
<a name="l00287"></a>00287 <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="main_8c.html#a33">TachoOutputUpdate</a>(<span class="keyword">const</span> <a class="code" href="stdint_8h.html#a56">uint8_t</a> hall);
<a name="l00288"></a>00288 <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="main_8c.html#a34">EnablePWMOutputs</a>(<span class="keywordtype">void</span>);
<a name="l00289"></a>00289 <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="main_8c.html#a35">DisablePWMOutputs</a>(<span class="keywordtype">void</span>);
<a name="l00290"></a>00290 <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="main_8c.html#a36">CommutationTicksUpdate</a>(<span class="keywordtype">void</span>);
<a name="l00291"></a>00291 <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="main_8c.html#a37">MotorSynchronizedUpdate</a>(<span class="keywordtype">void</span>);
<a name="l00292"></a>00292 <span class="keyword">static</span> <a class="code" href="stdint_8h.html#a56">uint8_t</a> <a class="code" href="main_8c.html#a38">IsMotorSynchronized</a>(<span class="keywordtype">void</span>);
<a name="l00293"></a>00293 
<a name="l00294"></a>00294 <span class="comment">//Prototypes for ISRs, required by MISRA</span>
<a name="l00295"></a>00295 <span class="preprocessor">#pragma vector=PCINT0_vect</span>
<a name="l00296"></a>00296 <span class="preprocessor"></span>__interrupt <span class="keywordtype">void</span> <a class="code" href="main_8c.html#a39">EmergencyInterruptISR</a>(<span class="keywordtype">void</span>);
<a name="l00297"></a>00297 
<a name="l00298"></a>00298 <span class="preprocessor">#pragma vector=PCINT1_vect</span>
<a name="l00299"></a>00299 <span class="preprocessor"></span>__interrupt <span class="keywordtype">void</span> <a class="code" href="main_8c.html#a40">HallChangeISR</a>(<span class="keywordtype">void</span>);
<a name="l00300"></a>00300 
<a name="l00301"></a>00301 <span class="preprocessor">#pragma vector=PCINT2_vect</span>
<a name="l00302"></a>00302 <span class="preprocessor"></span>__interrupt <span class="keywordtype">void</span> <a class="code" href="main_8c.html#a41">DirectionInputChangeISR</a>(<span class="keywordtype">void</span>);
<a name="l00303"></a>00303 
<a name="l00304"></a>00304 <span class="preprocessor">#pragma vector=TIMER1_CAPT_vect</span>
<a name="l00305"></a>00305 <span class="preprocessor"></span>__interrupt <span class="keywordtype">void</span> <a class="code" href="main_8c.html#a42">Timer1CaptureISR</a>(<span class="keywordtype">void</span>);
<a name="l00306"></a>00306 
<a name="l00307"></a>00307 <span class="preprocessor">#pragma vector=TIMER2_OVF_vect</span>
<a name="l00308"></a>00308 <span class="preprocessor"></span>__interrupt <span class="keywordtype">void</span> <a class="code" href="PMSM_8h.html#a85">Timer2OverflowISR</a>(<span class="keywordtype">void</span>);
<a name="l00309"></a>00309 
<a name="l00310"></a>00310 <span class="preprocessor">#pragma vector=WDT_vect</span>
<a name="l00311"></a>00311 <span class="preprocessor"></span>__interrupt <span class="keywordtype">void</span> <a class="code" href="PMSM_8h.html#a86">WatchdogISR</a>(<span class="keywordtype">void</span>);
<a name="l00312"></a>00312 
<a name="l00313"></a>00313 <span class="preprocessor">#pragma vector=ADC_vect</span>
<a name="l00314"></a>00314 <span class="preprocessor"></span>__interrupt <span class="keywordtype">void</span> <a class="code" href="main_8c.html#a43">ADCCompleteISR</a>(<span class="keywordtype">void</span>);
<a name="l00315"></a>00315 
<a name="l00316"></a>00316 
<a name="l00353"></a>00353 <span class="preprocessor">#endif</span>
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