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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!

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          <td class="md" nowrap valign="top">#define H2_PIN&nbsp;&nbsp;&nbsp;PC1          </td>
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Pin where H2 is connected. 
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Definition at line <a class="el" href="PMSM_8h-source.html#l00083">83</a> of file <a class="el" href="PMSM_8h-source.html">PMSM.h</a>.
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Referenced by <a class="el" href="main_8c-source.html#l00556">GetHall()</a>, and <a class="el" href="main_8c-source.html#l00195">PortsInit()</a>.    </td>
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          <td class="md" nowrap valign="top">#define H3_PIN&nbsp;&nbsp;&nbsp;PC2          </td>
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Pin where H3 is connected. 
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Definition at line <a class="el" href="PMSM_8h-source.html#l00086">86</a> of file <a class="el" href="PMSM_8h-source.html">PMSM.h</a>.
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Referenced by <a class="el" href="main_8c-source.html#l00556">GetHall()</a>, and <a class="el" href="main_8c-source.html#l00195">PortsInit()</a>.    </td>
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<a class="anchor" name="a11"></a><!-- doxytag: member="PMSM.h::HALL_PIN" ref="a11" args="" --><p>
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          <td class="md" nowrap valign="top">#define HALL_PIN&nbsp;&nbsp;&nbsp;PINC          </td>
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PIN register for Hall sensor input. 
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Definition at line <a class="el" href="PMSM_8h-source.html#l00077">77</a> of file <a class="el" href="PMSM_8h-source.html">PMSM.h</a>.    </td>
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<a class="anchor" name="a10"></a><!-- doxytag: member="PMSM.h::HALL_PULLUP_ENABLE" ref="a10" args="" --><p>
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          <td class="md" nowrap valign="top">#define HALL_PULLUP_ENABLE&nbsp;&nbsp;&nbsp;FALSE          </td>
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Uncomment this to disable internal pullup resistors on hall sensor inputs.<p>
<dl compact><dt><b><a class="el" href="todo.html#_todo000004">Todo:</a></b></dt><dd>Select whether internal pull-ups on hall sensor inputs should be enabled. </dd></dl>

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Definition at line <a class="el" href="PMSM_8h-source.html#l00074">74</a> of file <a class="el" href="PMSM_8h-source.html">PMSM.h</a>.    </td>
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<a class="anchor" name="a48"></a><!-- doxytag: member="PMSM.h::PID_K_D" ref="a48" args="" --><p>
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          <td class="md" nowrap valign="top">#define PID_K_D&nbsp;&nbsp;&nbsp;10          </td>
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PID controller derivative gain constant. <dl compact><dt><b><a class="el" href="todo.html#_todo000014">Todo:</a></b></dt><dd>Adjust PID controller derivative gain. (Only for closed loop) </dd></dl>

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Definition at line <a class="el" href="PMSM_8h-source.html#l00231">231</a> of file <a class="el" href="PMSM_8h-source.html">PMSM.h</a>.
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Referenced by <a class="el" href="main_8c-source.html#l00135">main()</a>.    </td>
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          <td class="md" nowrap valign="top">#define PID_K_I&nbsp;&nbsp;&nbsp;5          </td>
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PID controller integral gain constant. <dl compact><dt><b><a class="el" href="todo.html#_todo000013">Todo:</a></b></dt><dd>Adjust PID controller integral gain. (Only for closed loop) </dd></dl>

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Definition at line <a class="el" href="PMSM_8h-source.html#l00226">226</a> of file <a class="el" href="PMSM_8h-source.html">PMSM.h</a>.
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Referenced by <a class="el" href="main_8c-source.html#l00135">main()</a>.    </td>
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<a class="anchor" name="a46"></a><!-- doxytag: member="PMSM.h::PID_K_P" ref="a46" args="" --><p>
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          <td class="md" nowrap valign="top">#define PID_K_P&nbsp;&nbsp;&nbsp;50          </td>
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PID controller proportional gain constant. <dl compact><dt><b><a class="el" href="todo.html#_todo000012">Todo:</a></b></dt><dd>Adjust PID controller proportional gain. (Only for closed loop) </dd></dl>

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Definition at line <a class="el" href="PMSM_8h-source.html#l00221">221</a> of file <a class="el" href="PMSM_8h-source.html">PMSM.h</a>.
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Referenced by <a class="el" href="main_8c-source.html#l00135">main()</a>.    </td>
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<a class="anchor" name="a5"></a><!-- doxytag: member="PMSM.h::PWM_PATTERN_PORTB" ref="a5" args="" --><p>
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          <td class="md" nowrap valign="top">#define PWM_PATTERN_PORTB&nbsp;&nbsp;&nbsp;((1 &lt;&lt; PB1) | (1 &lt;&lt; PB2) | (1 &lt;&lt; PB3))          </td>
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Bit pattern of PWM pins placed on PORTB. 
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Definition at line <a class="el" href="PMSM_8h-source.html#l00055">55</a> of file <a class="el" href="PMSM_8h-source.html">PMSM.h</a>.
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Referenced by <a class="el" href="main_8c-source.html#l00800">DisablePWMOutputs()</a>, and <a class="el" href="main_8c-source.html#l00786">EnablePWMOutputs()</a>.    </td>
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<a class="anchor" name="a6"></a><!-- doxytag: member="PMSM.h::PWM_PATTERN_PORTD" ref="a6" args="" --><p>
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          <td class="md" nowrap valign="top">#define PWM_PATTERN_PORTD&nbsp;&nbsp;&nbsp;((1 &lt;&lt; PD3) | (1 &lt;&lt; PD5) | (1 &lt;&lt; PD6))          </td>
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Bit pattern of PWM pins placed on PORTD. 
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Definition at line <a class="el" href="PMSM_8h-source.html#l00058">58</a> of file <a class="el" href="PMSM_8h-source.html">PMSM.h</a>.
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Referenced by <a class="el" href="main_8c-source.html#l00800">DisablePWMOutputs()</a>, and <a class="el" href="main_8c-source.html#l00786">EnablePWMOutputs()</a>.    </td>
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<a class="anchor" name="a27"></a><!-- doxytag: member="PMSM.h::REV_ROTATION_PIN" ref="a27" args="" --><p>
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          <td class="md" nowrap valign="top">#define REV_ROTATION_PIN&nbsp;&nbsp;&nbsp;PD4          </td>
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Pin where reverse rotation signal output is located.<p>
Do not change to pin on a different PORT!
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Definition at line <a class="el" href="PMSM_8h-source.html#l00134">134</a> of file <a class="el" href="PMSM_8h-source.html">PMSM.h</a>.
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Referenced by <a class="el" href="main_8c-source.html#l00195">PortsInit()</a>, and <a class="el" href="main_8c-source.html#l00633">ReverseRotationSignalUpdate()</a>.    </td>
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