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<a name="l00250"></a>00250 PCMSK1 = (1 << PCINT10) | (1 << PCINT9) | (1 << PCINT8);<a name="l00251"></a>00251 <a name="l00252"></a>00252 <span class="comment">// Initialize pin change interrupt on direction input pin.</span><a name="l00253"></a>00253 PCMSK2 = (1 << PCINT18);<a name="l00254"></a>00254 <a name="l00255"></a>00255 <span class="comment">// Enable pin change interrupt on ports with pin change signals</span><a name="l00256"></a>00256 PCICR = (1 << PCIE2) | (1 << PCIE1) | (1 << PCIE0);<a name="l00257"></a>00257 }<a name="l00258"></a>00258 <a name="l00259"></a>00259 <a name="l00266"></a><a class="code" href="main_8c.html#a14">00266</a> <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="l00267"></a>00267 {<a name="l00268"></a>00268 <span class="comment">//Select initial AD conversion channel.</span><a name="l00269"></a>00269 ADMUX = <a class="code" href="PMSM_8h.html#a24">ADMUX_SPEED_REF</a>;<a name="l00270"></a>00270 <a name="l00271"></a>00271 <span class="comment">//Initialize ADC.</span><a name="l00272"></a>00272 ADCSRA = (1 << ADEN) | (1 << ADSC) | (1 << ADATE) | (1 << ADIF) | (1 << ADIE) | <a class="code" href="PMSM_8h.html#a19">ADC_PRESCALER</a>;<a name="l00273"></a>00273 <a name="l00274"></a>00274 <span class="comment">//Set trigger source to Timer/Counter0 overflow.</span><a name="l00275"></a>00275 ADCSRB = (1 << ADTS2) | (0 << ADTS1) | (0 << ADTS0);<a name="l00276"></a>00276 }<a name="l00277"></a>00277 <a name="l00278"></a>00278 <a name="l00290"></a><a class="code" href="main_8c.html#a15">00290</a> <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="l00291"></a>00291 {<a name="l00292"></a>00292 <span class="keywordflow">if</span> ( (PINB & (1 << <a class="code" href="PMSM_8h.html#a29">EMERGENCY_SHUTDOWN_PIN</a>)) != 0)<a name="l00293"></a>00293 {<a name="l00294"></a>00294 <span class="comment">//Insert code here to handle emercency shutdown signal at startup.</span><a name="l00295"></a>00295 }<a name="l00296"></a>00296 }<a name="l00297"></a>00297 <a name="l00298"></a>00298 <a name="l00305"></a><a class="code" href="main_8c.html#a16">00305</a> <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="l00306"></a>00306 {<a name="l00307"></a>00307 <span class="preprocessor">#if (SPEED_CONTROL_METHOD == SPEED_CONTROL_CLOSED_LOOP)</span><a name="l00308"></a>00308 <span class="preprocessor"></span><a name="l00309"></a>00309 <span class="comment">//Calculate an increment setpoint from the analog speed input.</span><a name="l00310"></a>00310 <a class="code" href="stdint_8h.html#a57">int16_t</a> incrementSetpoint = ((<a class="code" href="stdint_8h.html#a60">uint32_t</a>)<a class="code" href="main_8c.html#a8">speedInput</a> * <a class="code" href="PMSM_8h.html#a49">SPEED_CONTROLLER_MAX_INCREMENT</a>) / <a class="code" href="PMSM_8h.html#a50">SPEED_CONTROLLER_MAX_INPUT</a>;<a name="l00311"></a>00311 <a name="l00312"></a>00312 <span class="comment">//PID regulator with feed forward from speed input.</span><a name="l00313"></a>00313 <a class="code" href="stdint_8h.html#a59">int32_t</a> outputValue;<a name="l00314"></a>00314 outputValue = (<a class="code" href="stdint_8h.html#a60">uint32_t</a>)<a class="code" href="main_8c.html#a8">speedInput</a>;<a name="l00315"></a>00315 outputValue += <a class="code" href="pid_8c.html#a1">PID_Controller</a>(incrementSetpoint, (<a class="code" href="stdint_8h.html#a57">int16_t</a>)<a class="code" href="main_8c.html#a1">sineTableIncrement</a>, &pidParameters);<a name="l00316"></a>00316 <a name="l00317"></a>00317 <span class="keywordflow">if</span> (outputValue < 0)<a name="l00318"></a>00318 {<a name="l00319"></a>00319 outputValue = 0;<a name="l00320"></a>00320 }<a name="l00321"></a>00321 <span class="keywordflow">else</span> <span class="keywordflow">if</span> (outputValue > 255)<a name="l00322"></a>00322 {<a name="l00323"></a>00323 outputValue = 255;<a name="l00324"></a>00324 }<a name="l00325"></a>00325 <a name="l00326"></a>00326 <a class="code" href="main_8c.html#a4">amplitude</a> = outputValue;<a name="l00327"></a>00327 <span class="preprocessor">#else</span><a name="l00328"></a>00328 <span class="preprocessor"></span> <a class="code" href="main_8c.html#a4">amplitude</a> = <a class="code" href="main_8c.html#a8">speedInput</a>;<a name="l00329"></a>00329 <span class="preprocessor">#endif</span><a name="l00330"></a>00330 <span class="preprocessor"></span>}<a name="l00331"></a>00331 <a name="l00332"></a>00332 <a name="l00340"></a>00340 <span class="preprocessor">#pragma inline=forced</span><a name="l00341"></a><a class="code" href="main_8c.html#a17">00341</a> <span class="preprocessor"></span><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="l00342"></a>00342 {<a name="l00343"></a>00343 <span class="comment">//Set PWM pins to input (Hi-Z) while changing modes.</span><a name="l00344"></a>00344 <a class="code" href="main_8c.html#a35">DisablePWMOutputs</a>();<a name="l00345"></a>00345 <a name="l00346"></a>00346 <span class="comment">//Sets all 3 timers in inverted pair mode.</span><a name="l00347"></a>00347 TCCR0A = (1 << COM0A1) | (0 << COM0A0) | (1 << COM0B1) | (1 << COM0B0) | (1 << WGM00);<a name="l00348"></a>00348 TCCR1A = (1 << COM1A1) | (0 << COM1A0) | (1 << COM1B1) | (1 << COM1B0) | (1 << WGM11);<a name="l00349"></a>00349 TCCR2A = (1 << COM2A1) | (0 << COM2A0) | (1 << COM2B1) | (1 << COM2B0) | (1 << WGM20);<a name="l00350"></a>00350 <a name="l00351"></a>00351 <span class="comment">//Make sure all outputs are turned off before PWM outputs are enabled.</span><a name="l00352"></a>00352 OCR0A = OCR1AL = OCR2A = 0;<a name="l00353"></a>00353 OCR0B = OCR1BL = OCR2B = 0xff;<a name="l00354"></a>00354 <a name="l00355"></a>00355 <span class="comment">//Wait for next PWM cycle to ensure that all outputs are updated.</span><a name="l00356"></a>00356 <a class="code" href="main_8c.html#a20">TimersWaitForNextPWMCycle</a>();<a name="l00357"></a>00357 <a name="l00358"></a>00358 fastFlags.driveWaveform = <a class="code" href="PMSM_8h.html#a31">WAVEFORM_SINUSOIDAL</a>;<a name="l00359"></a>00359 <a name="l00360"></a>00360 <span class="comment">//Change PWM pins to output again to allow PWM control.</span><a name="l00361"></a>00361 <a class="code" href="main_8c.html#a34">EnablePWMOutputs</a>();<a name="l00362"></a>00362 }<a name="l00363"></a>00363 <a name="l00364"></a>00364 <a name="l00372"></a>00372 <span class="preprocessor">#pragma inline=forced</span><a name="l00373"></a><a class="code" href="main_8c.html#a18">00373</a> <span class="preprocessor"></span><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="l00374"></a>00374 {<a name="l00375"></a>00375 <span class="comment">//Set PWM pins to input (Hi-Z) while changing modes.</span><a name="l00376"></a>00376 <a class="code" href="main_8c.html#a35">DisablePWMOutputs</a>();<a name="l00377"></a>00377 <a name="l00378"></a>00378 <span class="comment">//Sets both outputs of all 3 timers in "clear on up-counting, set on down-counting" mode.</span><a name="l00379"></a>00379 TCCR0A = (1 << COM0A1) | (0 << COM0A0) | (1 << COM0B1) | (0 << COM0B0) | (1 << WGM00);<a name="l00380"></a>00380 TCCR1A = (1 << COM1A1) | (0 << COM1A0) | (1 << COM1B1) | (0 << COM1B0) | (1 << WGM11);<a name="l00381"></a>00381 TCCR2A = (1 << COM2A1) | (0 << COM2A0) | (1 << COM2B1) | (0 << COM2B0) | (1 << WGM20);<a name="l00382"></a>00382 <a name="l00383"></a>00383 <span class="comment">//Set output duty cycle to zero for now.</span><a name="l00384"></a>00384 <a class="code" href="main_8c.html#a21">BlockCommutationSetDuty</a>(0);<a name="l00385"></a>00385 <a name="l00386"></a>00386 <span class="comment">//Wait for next PWM cycle to ensure that all outputs are updated.</span><a name="l00387"></a>00387 <a class="code" href="main_8c.html#a20">TimersWaitForNextPWMCycle</a>();<a name="l00388"></a>00388 <a name="l00389"></a>00389 fastFlags.driveWaveform = <a class="code" href="PMSM_8h.html#a30">WAVEFORM_BLOCK_COMMUTATION</a>;<a name="l00390"></a>00390 <a name="l00391"></a>00391 <span class="comment">//Change PWM pins to output again to allow PWM control.</span><a name="l00392"></a>00392 <a class="code" href="main_8c.html#a34">EnablePWMOutputs</a>();<a name="l00393"></a>00393 }<a name="l00394"></a>00394 <a name="l00395"></a>00395 <a name="l00402"></a>00402 <span class="preprocessor">#if (TURN_MODE == TURN_MODE_BRAKE)</span><a name="l00403"></a>00403 <span class="preprocessor"></span><span class="preprocessor">#pragma inline=forced</span><a name="l00404"></a><a class="code" href="main_8c.html#a19">00404</a> <span class="preprocessor"></span><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="l00405"></a>00405 {<a name="l00406"></a>00406 <span class="comment">//Set PWM pins to input (Hi-Z) while changing modes.</span><a name="l00407"></a>00407 <a class="code" href="main_8c.html#a35">DisablePWMOutputs</a>();<a name="l00408"></a>00408 <a name="l00409"></a>00409 <span class="comment">//Sets both outputs of all 3 timers in "clear on up-counting, set on down-counting" mode.</span><a name="l00410"></a>00410 TCCR0A = (1 << COM0A1) | (0 << COM0A0) | (1 << COM0B1) | (0 << COM0B0) | (1 << WGM00);<a name="l00411"></a>00411 TCCR1A = (1 << COM1A1) | (0 << COM1A0) | (1 << COM1B1) | (0 << COM1B0) | (1 << WGM11);<a name="l00412"></a>00412 TCCR2A = (1 << COM2A1) | (0 << COM2A0) | (1 << COM2B1) | (0 << COM2B0) | (1 << WGM20);<a name="l00413"></a>00413 <a name="l00414"></a>00414 <span class="comment">// High side</span><a name="l00415"></a>00415 OCR0A = OCR1A = OCR2A = 0x00;<a name="l00416"></a>00416 <a name="l00417"></a>00417 <span class="comment">// Low side</span><a name="l00418"></a>00418 OCR0B = OCR1B = OCR2B = 0xff;<a name="l00419"></a>00419 <a name="l00420"></a>00420 <span class="comment">//Wait for next PWM cycle to ensure that all outputs are updated.</span><a name="l00421"></a>00421 <a class="code" href="main_8c.html#a20">TimersWaitForNextPWMCycle</a>();<a name="l00422"></a>00422 <a name="l00423"></a>00423 fastFlags.driveWaveform = <a class="code" href="PMSM_8h.html#a32">WAVEFORM_BRAKING</a>;<a name="l00424"></a>00424 <a name="l00425"></a>00425 <a class="code" href="main_8c.html#a34">EnablePWMOutputs</a>();<a name="l00426"></a>00426 }<a name="l00427"></a>00427 <span class="preprocessor">#endif</span><a name="l00428"></a>00428 <span class="preprocessor"></span><a name="l00429"></a>00429 <a name="l00436"></a>00436 <span class="preprocessor">#pragma inline=forced</span><a name="l00437"></a><a class="code" href="main_8c.html#a20">00437</a> <span class="preprocessor"></span><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="l00438"></a>00438 {<a name="l00439"></a>00439 <span class="comment">//Clear Timer1 Capture event flag.</span><a name="l00440"></a>00440 TIFR1 = (1 << ICF1);<a name="l00441"></a>00441 <a name="l00442"></a>00442 <span class="comment">//Wait for new Timer1 Capture event flag.</span><a name="l00443"></a>00443 <span class="keywordflow">while</span> ( !(TIFR1 & (1 << ICF1)) )<a name="l00444"></a>00444 {<a name="l00445"></a>00445 <a name="l00446"></a>00446 }<a name="l00447"></a>00447 }<a name="l00448"></a>00448 <a name="l00449"></a>00449 ⌨️ 快捷键说明
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