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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"><html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"><title>AVR447: Sine wave driving of three phase motor: main.c Source File</title><link href="doxygen.css" rel="stylesheet" type="text/css"></head><body><!-- Generated by Doxygen 1.4.4 --><div class="qindex"><a class="qindex" href="main.html">Main Page</a> | <a class="qindex" href="annotated.html">Data Structures</a> | <a class="qindex" href="files.html">File List</a> | <a class="qindex" href="functions.html">Data Fields</a> | <a class="qindex" href="globals.html">Globals</a> | <a class="qindex" href="pages.html">Related Pages</a></div><h1>main.c</h1><a href="main_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* This file has been prepared for Doxygen automatic documentation generation.*/</span><a name="l00028"></a>00028 <span class="preprocessor">#include <ioavr.h></span><a name="l00029"></a>00029 <span class="preprocessor">#include <inavr.h></span><a name="l00030"></a>00030 <span class="preprocessor">#include "<a class="code" href="stdint_8h.html">stdint.h</a>"</span><a name="l00031"></a>00031 <span class="preprocessor">#include "<a class="code" href="PMSM_8h.html">PMSM.h</a>"</span><a name="l00032"></a>00032 <span class="preprocessor">#include "<a class="code" href="PMSMtables_8h.html">PMSMtables.h</a>"</span><a name="l00033"></a>00033 <a name="l00034"></a>00034 <span class="preprocessor">#if (SPEED_CONTROL_METHOD == SPEED_CONTROL_CLOSED_LOOP)</span><a name="l00035"></a>00035 <span class="preprocessor"></span><span class="preprocessor">#include "<a class="code" href="pid_8h.html">pid.h</a>"</span><a name="l00036"></a>00036 <span class="preprocessor">#endif</span><a name="l00037"></a>00037 <span class="preprocessor"></span><a name="l00044"></a><a class="code" href="main_8c.html#a0">00044</a> __io <span class="keyword">volatile</span> <a class="code" href="structPMSMflags.html">PMSMflags_t</a> fastFlags @0x1e;<a name="l00045"></a>00045 <a name="l00046"></a>00046 <a name="l00052"></a><a class="code" href="main_8c.html#a1">00052</a> __no_init __regvar <span class="keyword">volatile</span> <a class="code" href="stdint_8h.html#a58">uint16_t</a> <a class="code" href="main_8c.html#a1">sineTableIncrement</a> @14;<a name="l00053"></a>00053 <a name="l00054"></a>00054 <a name="l00061"></a><a class="code" href="main_8c.html#a2">00061</a> __no_init __regvar <span class="keyword">volatile</span> <a class="code" href="stdint_8h.html#a58">uint16_t</a> <a class="code" href="main_8c.html#a2">sineTableIndex</a> @12;<a name="l00062"></a>00062 <a name="l00063"></a>00063 <a name="l00071"></a><a class="code" href="main_8c.html#a3">00071</a> __no_init __regvar <span class="keyword">volatile</span> <a class="code" href="stdint_8h.html#a58">uint16_t</a> <a class="code" href="main_8c.html#a3">commutationTicks</a> @10;<a name="l00072"></a>00072 <a name="l00073"></a>00073 <a name="l00079"></a><a class="code" href="main_8c.html#a4">00079</a> __no_init __regvar <span class="keyword">volatile</span> <a class="code" href="stdint_8h.html#a56">uint8_t</a> <a class="code" href="main_8c.html#a4">amplitude</a> @9;<a name="l00080"></a>00080 <a name="l00081"></a>00081 <a name="l00089"></a><a class="code" href="main_8c.html#a5">00089</a> __no_init __regvar <span class="keyword">volatile</span> <a class="code" href="stdint_8h.html#a56">uint8_t</a> <a class="code" href="main_8c.html#a5">advanceCommutationSteps</a> @8;<a name="l00090"></a>00090 <a name="l00091"></a>00091 <a name="l00100"></a><a class="code" href="main_8c.html#a6">00100</a> __no_init __regvar <span class="keyword">volatile</span> <a class="code" href="stdint_8h.html#a56">uint8_t</a> <a class="code" href="main_8c.html#a6">sineTableNextSectorStart</a> @7;<a name="l00101"></a>00101 <a name="l00102"></a>00102 <a name="l00109"></a><a class="code" href="main_8c.html#a7">00109</a> <span class="keyword">volatile</span> <a class="code" href="stdint_8h.html#a56">uint8_t</a> <a class="code" href="main_8c.html#a7">current</a>;<a name="l00110"></a>00110 <a name="l00111"></a>00111 <a name="l00113"></a><a class="code" href="main_8c.html#a8">00113</a> <span class="keyword">volatile</span> <a class="code" href="stdint_8h.html#a56">uint8_t</a> <a class="code" href="main_8c.html#a8">speedInput</a>;<a name="l00114"></a>00114 <a name="l00119"></a><a class="code" href="main_8c.html#a9">00119</a> <span class="keyword">volatile</span> <a class="code" href="stdint_8h.html#a56">uint8_t</a> <a class="code" href="main_8c.html#a9">SpeedControllerRun</a> = <a class="code" href="pid_8h.html#a4">FALSE</a>;<a name="l00120"></a>00120 <a name="l00121"></a>00121 <a name="l00122"></a>00122 <span class="preprocessor">#if (SPEED_CONTROL_METHOD == SPEED_CONTROL_CLOSED_LOOP)</span><a name="l00123"></a>00123 <span class="preprocessor"></span><a name="l00124"></a>00124 <a class="code" href="structpidData.html">pidData_t</a> pidParameters;<a name="l00125"></a>00125 <span class="preprocessor">#endif</span><a name="l00126"></a>00126 <span class="preprocessor"></span><a name="l00127"></a>00127 <a name="l00135"></a><a class="code" href="main_8c.html#a10">00135</a> <span class="keywordtype">void</span> <a class="code" href="main_8c.html#a10">main</a>(<span class="keywordtype">void</span>)<a name="l00136"></a>00136 {<a name="l00137"></a>00137 <span class="comment">//Initialize peripherals.</span><a name="l00138"></a>00138 <a class="code" href="main_8c.html#a11">PortsInit</a>();<a name="l00139"></a>00139 <a class="code" href="main_8c.html#a12">TimersInit</a>();<a name="l00140"></a>00140 <a class="code" href="main_8c.html#a13">PinChangeIntInit</a>();<a name="l00141"></a>00141 <a class="code" href="main_8c.html#a14">ADCInit</a>();<a name="l00142"></a>00142 <a name="l00143"></a>00143 <a class="code" href="main_8c.html#a32">SetAdvanceCommutation</a>(0);<a name="l00144"></a>00144 <a name="l00145"></a>00145 <span class="preprocessor">#if (SPEED_CONTROL_METHOD == SPEED_CONTROL_CLOSED_LOOP)</span><a name="l00146"></a>00146 <span class="preprocessor"></span> <a class="code" href="pid_8c.html#a0">PID_Init</a>(<a class="code" href="PMSM_8h.html#a46">PID_K_P</a>, <a class="code" href="PMSM_8h.html#a47">PID_K_I</a>, <a class="code" href="PMSM_8h.html#a48">PID_K_D</a>, &pidParameters);<a name="l00147"></a>00147 <span class="preprocessor">#endif</span><a name="l00148"></a>00148 <span class="preprocessor"></span><a name="l00149"></a>00149 <span class="comment">//Do not start until everything is ready.</span><a name="l00150"></a>00150 <a class="code" href="main_8c.html#a15">CheckEmergencyShutdown</a>();<a name="l00151"></a>00151 <a name="l00152"></a>00152 <span class="comment">//Initialize fastflags. Use temporary variable to avoid several accesses to</span><a name="l00153"></a>00153 <span class="comment">//volatile variable.</span><a name="l00154"></a>00154 {<a name="l00155"></a>00155 <a class="code" href="structPMSMflags.html">PMSMflags_t</a> fastFlagsInitial;<a name="l00156"></a>00156 <a name="l00157"></a>00157 <span class="comment">// Set motorStopped to FALSE at startup. This will make sure that the motor</span><a name="l00158"></a>00158 <span class="comment">// is not started if it is not really stopped. If it is stopped, this variable</span><a name="l00159"></a>00159 <span class="comment">// will quickly be updated.</span><a name="l00160"></a>00160 fastFlagsInitial.<a class="code" href="structPMSMflags.html#o3">motorStopped</a> = <a class="code" href="pid_8h.html#a4">FALSE</a>;<a name="l00161"></a>00161 <a name="l00162"></a>00162 <span class="comment">// Set motorSyncronized to FALSE at startup. This will prevent the motor from being</span><a name="l00163"></a>00163 <span class="comment">// driven until the motor is in synch or stopped.</span><a name="l00164"></a>00164 fastFlagsInitial.<a class="code" href="structPMSMflags.html#o4">motorSynchronized</a> = <a class="code" href="pid_8h.html#a4">FALSE</a>;<a name="l00165"></a>00165 fastFlagsInitial.<a class="code" href="structPMSMflags.html#o0">actualDirection</a> = <a class="code" href="PMSM_8h.html#a9">DIRECTION_UNKNOWN</a>;<a name="l00166"></a>00166 fastFlagsInitial.<a class="code" href="structPMSMflags.html#o1">desiredDirection</a> = 0;<a name="l00167"></a>00167 fastFlagsInitial.<a class="code" href="structPMSMflags.html#o2">driveWaveform</a> = <a class="code" href="PMSM_8h.html#a33">WAVEFORM_UNDEFINED</a>;<a name="l00168"></a>00168 <a name="l00169"></a>00169 fastFlags = fastFlagsInitial;<a name="l00170"></a>00170 }<a name="l00171"></a>00171 <a name="l00172"></a>00172 <a class="code" href="main_8c.html#a26">DesiredDirectionUpdate</a>();<a name="l00173"></a>00173 <a name="l00174"></a>00174 <span class="comment">// Enable Timer1 capture event interrupt.</span><a name="l00175"></a>00175 TIMSK1 |= (1 << ICIE1);<a name="l00176"></a>00176 <a name="l00177"></a>00177 <span class="comment">//Enable interrupts globally and let motor driver take over.</span><a name="l00178"></a>00178 __enable_interrupt();<a name="l00179"></a>00179 <span class="keywordflow">for</span>(;;)<a name="l00180"></a>00180 {<a name="l00181"></a>00181 <span class="keywordflow">if</span> (<a class="code" href="main_8c.html#a9">SpeedControllerRun</a>)<a name="l00182"></a>00182 {<a name="l00183"></a>00183 <a class="code" href="main_8c.html#a16">SpeedController</a>();<a name="l00184"></a>00184 <a class="code" href="main_8c.html#a9">SpeedControllerRun</a> = <a class="code" href="pid_8h.html#a4">FALSE</a>;<a name="l00185"></a>00185 }<a name="l00186"></a>00186 }<a name="l00187"></a>00187 }<a name="l00188"></a>00188 <a name="l00189"></a>00189 <a name="l00195"></a><a class="code" href="main_8c.html#a11">00195</a> <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="l00196"></a>00196 {<a name="l00197"></a>00197 <span class="preprocessor">#if (HALL_PULLUP_ENABLE == TRUE)</span><a name="l00198"></a>00198 <span class="preprocessor"></span> <span class="comment">// Set hall sensor pins as input, pullups enabled.</span><a name="l00199"></a>00199 PORTC = (1 << <a class="code" href="PMSM_8h.html#a12">H1_PIN</a>) | (1 << <a class="code" href="PMSM_8h.html#a13">H2_PIN</a>) | (1 << <a class="code" href="PMSM_8h.html#a14">H3_PIN</a>);<a name="l00200"></a>00200 <span class="preprocessor">#endif</span><a name="l00201"></a>00201 <span class="preprocessor"></span><a name="l00202"></a>00202 <span class="comment">// PORTD outputs</span><a name="l00203"></a>00203 DDRD = (1 << <a class="code" href="PMSM_8h.html#a27">REV_ROTATION_PIN</a>) | (1 << <a class="code" href="PMSM_8h.html#a28">TACHO_OUTPUT_PIN</a>);<a name="l00204"></a>00204 <a name="l00205"></a>00205 <span class="comment">//Enable pull-up on direction signal.</span><a name="l00206"></a>00206 PORTD |= (1 << <a class="code" href="PMSM_8h.html#a26">DIRECTION_COMMAND_PIN</a>);<a name="l00207"></a>00207 }<a name="l00208"></a>00208 <a name="l00209"></a>00209 <a name="l00216"></a><a class="code" href="main_8c.html#a12">00216</a> <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="l00217"></a>00217 {<a name="l00218"></a>00218 <span class="comment">//Set all timers in "Phase correct mode". Do not enable outputs yet.</span><a name="l00219"></a>00219 TCCR0A = (1 << WGM00);<a name="l00220"></a>00220 TCCR1A = (1 << WGM11);<a name="l00221"></a>00221 TCCR2A = (1 << WGM20);<a name="l00222"></a>00222 <a name="l00223"></a>00223 <span class="comment">//Set top value of Timer/counter1.</span><a name="l00224"></a>00224 ICR1 = 0xff;<a name="l00225"></a>00225 <a name="l00226"></a>00226 <span class="comment">//Synchronize timers</span><a name="l00227"></a>00227 TCNT0 = 0;<a name="l00228"></a>00228 TCNT1 = 2;<a name="l00229"></a>00229 TCNT2 = 4;<a name="l00230"></a>00230 <a name="l00231"></a>00231 <span class="comment">// Start all 3 timers.</span><a name="l00232"></a>00232 TCCR0B = (0 << CS01) | (1 << CS00);<a name="l00233"></a>00233 TCCR1B = (1 << WGM13) | (0 << CS11) | (1 << CS10);<a name="l00234"></a>00234 TCCR2B = (0 << CS21) | (1 << CS20);<a name="l00235"></a>00235 }<a name="l00236"></a>00236 <a name="l00237"></a>00237 <a name="l00244"></a><a class="code" href="main_8c.html#a13">00244</a> <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="l00245"></a>00245 {<a name="l00246"></a>00246 <span class="comment">// Initialize pin change interrupt on emergency shutdown pin.</span><a name="l00247"></a>00247 PCMSK0 = (1 << PCINT5);<a name="l00248"></a>00248 <a name="l00249"></a>00249 <span class="comment">// Initialize pin change interrupt on hall sensor inputs.</span>⌨️ 快捷键说明
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