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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 class="anchor" name="a36"></a><!-- doxytag: member="PMSM.h::REVERSE_ROTATION_SIGNAL_ENABLE" ref="a36" args="" --><p>
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          <td class="md" nowrap valign="top">#define REVERSE_ROTATION_SIGNAL_ENABLE&nbsp;&nbsp;&nbsp;TRUE          </td>
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Enables/disables the reverse rotation signal output. TRUE = enabled, FALSE = disabled.<p>
<dl compact><dt><b><a class="el" href="todo.html#_todo000008">Todo:</a></b></dt><dd>Select whether the 'Reverse rotation' signal should be enabled. </dd></dl>

<p>
Definition at line <a class="el" href="PMSM_8h-source.html#l00177">177</a> of file <a class="el" href="PMSM_8h-source.html">PMSM.h</a>.    </td>
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<a class="anchor" name="a3"></a><!-- doxytag: member="PMSM.h::SINE_TABLE_LENGTH" ref="a3" args="" --><p>
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          <td class="md" nowrap valign="top">#define SINE_TABLE_LENGTH&nbsp;&nbsp;&nbsp;192U          </td>
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The number of elements in the sine modulation table per phase. 
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Definition at line <a class="el" href="PMSM_8h-source.html#l00045">45</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#l00713">AdjustSineTableIndex()</a>, and <a class="el" href="main_8c-source.html#l00695">SineTableIncrementCalculate()</a>.    </td>
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<a class="anchor" name="a43"></a><!-- doxytag: member="PMSM.h::SPEED_CONTROL_CLOSED_LOOP" ref="a43" args="" --><p>
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          <td class="md" nowrap valign="top">#define SPEED_CONTROL_CLOSED_LOOP&nbsp;&nbsp;&nbsp;1          </td>
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Speed control selection for closed loop control. 
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Definition at line <a class="el" href="PMSM_8h-source.html#l00205">205</a> of file <a class="el" href="PMSM_8h-source.html">PMSM.h</a>.    </td>
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<a class="anchor" name="a44"></a><!-- doxytag: member="PMSM.h::SPEED_CONTROL_METHOD" ref="a44" args="" --><p>
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          <td class="md" nowrap valign="top">#define SPEED_CONTROL_METHOD&nbsp;&nbsp;&nbsp;SPEED_CONTROL_OPEN_LOOP          </td>
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Type of speed control. select either SPEED_CONTROL_OPEN_LOOP or SPEED_CONTROL_CLOSED_LOOP. <dl compact><dt><b><a class="el" href="todo.html#_todo000010">Todo:</a></b></dt><dd>Select speed control method. </dd></dl>

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Definition at line <a class="el" href="PMSM_8h-source.html#l00211">211</a> of file <a class="el" href="PMSM_8h-source.html">PMSM.h</a>.    </td>
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<a class="anchor" name="a42"></a><!-- doxytag: member="PMSM.h::SPEED_CONTROL_OPEN_LOOP" ref="a42" args="" --><p>
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          <td class="md" nowrap valign="top">#define SPEED_CONTROL_OPEN_LOOP&nbsp;&nbsp;&nbsp;0          </td>
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Speed control selection for open loop control. 
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Definition at line <a class="el" href="PMSM_8h-source.html#l00202">202</a> of file <a class="el" href="PMSM_8h-source.html">PMSM.h</a>.    </td>
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<a class="anchor" name="a49"></a><!-- doxytag: member="PMSM.h::SPEED_CONTROLLER_MAX_INCREMENT" ref="a49" args="" --><p>
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          <td class="md" nowrap valign="top">#define SPEED_CONTROLLER_MAX_INCREMENT&nbsp;&nbsp;&nbsp;550          </td>
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The maximum increment (maximum speed) to use as setpoint when the maximum speed reference value is input.<p>
<dl compact><dt><b><a class="el" href="todo.html#_todo000015">Todo:</a></b></dt><dd>Adjust maximum increment. (Maximum speed, used by speed controller) </dd></dl>

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Definition at line <a class="el" href="PMSM_8h-source.html#l00238">238</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#l00305">SpeedController()</a>.    </td>
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<a class="anchor" name="a50"></a><!-- doxytag: member="PMSM.h::SPEED_CONTROLLER_MAX_INPUT" ref="a50" args="" --><p>
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          <td class="md" nowrap valign="top">#define SPEED_CONTROLLER_MAX_INPUT&nbsp;&nbsp;&nbsp;256          </td>
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Max speed reference input. (Rounded up to closest power of 2 in this case, which is recommended to speed up division.<p>
<dl compact><dt><b><a class="el" href="todo.html#_todo000016">Todo:</a></b></dt><dd>Adjust Maximum speed reference input value. </dd></dl>

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Definition at line <a class="el" href="PMSM_8h-source.html#l00245">245</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#l00305">SpeedController()</a>.    </td>
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<a class="anchor" name="a45"></a><!-- doxytag: member="PMSM.h::SPEED_CONTROLLER_TIME_BASE" ref="a45" args="" --><p>
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          <td class="md" nowrap valign="top">#define SPEED_CONTROLLER_TIME_BASE&nbsp;&nbsp;&nbsp;150          </td>
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The number of ticks between each iteration of the speed loop. <dl compact><dt><b><a class="el" href="todo.html#_todo000011">Todo:</a></b></dt><dd>Adjust speed control loop time base. </dd></dl>

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Definition at line <a class="el" href="PMSM_8h-source.html#l00216">216</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#l01030">Timer1CaptureISR()</a>.    </td>
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<a class="anchor" name="a41"></a><!-- doxytag: member="PMSM.h::SYNCHRONIZATION_COUNT" ref="a41" args="" --><p>
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          <td class="md" nowrap valign="top">#define SYNCHRONIZATION_COUNT&nbsp;&nbsp;&nbsp;2          </td>
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<p>
This constant specifies the number of subsequent detections of correct direction of rotation needed before the firmware is considered synchronized with the motor. (SYNCHRONIZATION_COUNT + 1) hall sensor changes in the same direction are needed.
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Definition at line <a class="el" href="PMSM_8h-source.html#l00199">199</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#l00847">MotorSynchronizedUpdate()</a>.    </td>
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<a class="anchor" name="a4"></a><!-- doxytag: member="PMSM.h::TABLE_ELEMENTS_PER_COMMUTATION_SECTOR" ref="a4" args="" --><p>
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          <td class="md" nowrap valign="top">#define TABLE_ELEMENTS_PER_COMMUTATION_SECTOR&nbsp;&nbsp;&nbsp;(SINE_TABLE_LENGTH / 6)          </td>
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The number of elements in the sine modulation table for each phase per commutation sector. 
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Definition at line <a class="el" href="PMSM_8h-source.html#l00052">52</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#l00930">HallChangeISR()</a>.    </td>
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