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ATtiny261 461 861 这份资料介绍了执行Attiny261 461 861微控制器系列正弦波驱动三相无刷直流电动机霍尔传感器。

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    <tr><td valign="top"></td><td valign="top"><em>lastHall</em>&nbsp;</td><td>The last hall value. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>newHall</em>&nbsp;</td><td>The current hall value.</td></tr>
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<p>
Definition at line <a class="el" href="main_8c-source.html#l00522">522</a> of file <a class="el" href="main_8c-source.html">main.c</a>.
<p>
References <a class="el" href="PMSM_8h-source.html#l00042">PMSMflags::actualDirection</a>, <a class="el" href="PMSM_8h-source.html#l00141">DIRECTION_FORWARD</a>, <a class="el" href="PMSM_8h-source.html#l00144">DIRECTION_REVERSE</a>, <a class="el" href="PMSM_8h-source.html#l00147">DIRECTION_UNKNOWN</a>, <a class="el" href="PMSM__tables_8h-source.html#l00295">expectedHallSequenceForward</a>, <a class="el" href="PMSM__tables_8h-source.html#l00308">expectedHallSequenceReverse</a>, <a class="el" href="pid_8h-source.html#l00058">FALSE</a>, and <a class="el" href="PMSM_8h-source.html#l00041">PMSMflags::motorSynchronized</a>.
<p>
Referenced by <a class="el" href="main_8c-source.html#l00888">HallChangeISR()</a>.<div class="fragment"><pre class="fragment"><a name="l00523"></a>00523 {
<a name="l00524"></a>00524   <span class="comment">//Make sure that lastHall is within bounds of table. If not, set to an</span>
<a name="l00525"></a>00525   <span class="comment">//illegal hall value, but legal table index.</span>
<a name="l00526"></a>00526   <span class="keywordflow">if</span> (lastHall &gt; 7)
<a name="l00527"></a>00527   {
<a name="l00528"></a>00528     lastHall = 0;
<a name="l00529"></a>00529   }
<a name="l00530"></a>00530   <span class="keywordflow">if</span> (<a class="code" href="PMSM__tables_8h.html#a3">expectedHallSequenceForward</a>[lastHall] == newHall)
<a name="l00531"></a>00531   {
<a name="l00532"></a>00532     fastFlags.actualDirection = <a class="code" href="PMSM_8h.html#a27">DIRECTION_FORWARD</a>;
<a name="l00533"></a>00533   }
<a name="l00534"></a>00534   <span class="keywordflow">else</span> <span class="keywordflow">if</span> (<a class="code" href="PMSM__tables_8h.html#a4">expectedHallSequenceReverse</a>[lastHall] == newHall)
<a name="l00535"></a>00535   {
<a name="l00536"></a>00536    fastFlags.actualDirection = <a class="code" href="PMSM_8h.html#a28">DIRECTION_REVERSE</a>;
<a name="l00537"></a>00537   }
<a name="l00538"></a>00538   <span class="keywordflow">else</span>
<a name="l00539"></a>00539   {
<a name="l00540"></a>00540     <a class="code" href="structPMSMflags.html">PMSMflags_t</a> tempFlags = fastFlags;
<a name="l00541"></a>00541     tempFlags.<a class="code" href="structPMSMflags.html#o0">actualDirection</a> = <a class="code" href="PMSM_8h.html#a29">DIRECTION_UNKNOWN</a>;
<a name="l00542"></a>00542     tempFlags.<a class="code" href="structPMSMflags.html#o4">motorSynchronized</a> = <a class="code" href="pid_8h.html#a4">FALSE</a>;
<a name="l00543"></a>00543     fastFlags = tempFlags;
<a name="l00544"></a>00544   }
<a name="l00545"></a>00545 }
</pre></div>
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<a class="anchor" name="a12"></a><!-- doxytag: member="main.c::ADCInit" ref="a12" args="(void)" --><p>
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          <td class="md" nowrap valign="top">static void ADCInit           </td>
          <td class="md" valign="top">(&nbsp;</td>
          <td class="md" nowrap valign="top">void&nbsp;</td>
          <td class="mdname1" valign="top" nowrap>          </td>
          <td class="md" valign="top">&nbsp;)&nbsp;</td>
          <td class="md" nowrap><code> [static]</code></td>
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<p>
Sets up the ADC for speed reference input on PA7. 
<p>
This function initializes the ADC for speed reference measurements. The ADC will operate in single conversion mode.
<p>
Definition at line <a class="el" href="main_8c-source.html#l00239">239</a> of file <a class="el" href="main_8c-source.html">main.c</a>.
<p>
Referenced by <a class="el" href="main_8c-source.html#l00120">main()</a>.<div class="fragment"><pre class="fragment"><a name="l00240"></a>00240 {
<a name="l00241"></a>00241   <span class="comment">//Use PA7 as ADC input, 2.56V internal voltage reference without bypass capacitor.</span>
<a name="l00242"></a>00242   ADMUX = (1 &lt;&lt; REFS1) | (0 &lt;&lt; MUX4) | (0 &lt;&lt; MUX3) | (1 &lt;&lt; MUX2) | (1 &lt;&lt; MUX1) | (0 &lt;&lt; MUX0);
<a name="l00243"></a>00243 
<a name="l00244"></a>00244   ADCSRA = (1 &lt;&lt; ADEN) |                  <span class="comment">//Enable the ADC.</span>
<a name="l00245"></a>00245            (1 &lt;&lt; ADSC) |                  <span class="comment">//Start the first converssion.</span>
<a name="l00246"></a>00246            (1 &lt;&lt; ADPS2) | (1 &lt;&lt; ADPS1) | (1 &lt;&lt; ADPS0);   <span class="comment">// Prescaler CK/128.</span>
<a name="l00247"></a>00247   ADCSRB = (1 &lt;&lt; REFS2); <span class="comment">//2.56V internal reference.</span>
<a name="l00248"></a>00248 }
</pre></div>
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<a class="anchor" name="a25"></a><!-- doxytag: member="main.c::AdjustSineTableIndex" ref="a25" args="(const uint16_t increment)" --><p>
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          <td class="md" nowrap valign="top">static void AdjustSineTableIndex           </td>
          <td class="md" valign="top">(&nbsp;</td>
          <td class="md" nowrap valign="top">const <a class="el" href="stdint_8h.html#a58">uint16_t</a>&nbsp;</td>
          <td class="mdname1" valign="top" nowrap> <em>increment</em>          </td>
          <td class="md" valign="top">&nbsp;)&nbsp;</td>
          <td class="md" nowrap><code> [static]</code></td>
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<p>
Adjusts the sine table index according to the current increment. 
<p>
This function increases the sine table index with the given increment The index is then adjusted to be within the table length.<p>
<dl compact><dt><b>Parameters:</b></dt><dd>
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    <tr><td valign="top"></td><td valign="top"><em>increment</em>&nbsp;</td><td>The increment (in 8.8 format) added to the sine table index.</td></tr>
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<p>
Definition at line <a class="el" href="main_8c-source.html#l00573">573</a> of file <a class="el" href="main_8c-source.html">main.c</a>.
<p>
References <a class="el" href="PMSM_8h-source.html#l00156">SINE_TABLE_LENGTH</a>, <a class="el" href="main_8c-source.html#l00064">sineTableIndex</a>, and <a class="el" href="main_8c-source.html#l00103">sineTableNextSectorStart</a>.
<p>
Referenced by <a class="el" href="main_8c-source.html#l00965">Timer1OverflowISR()</a>.<div class="fragment"><pre class="fragment"><a name="l00574"></a>00574 {
<a name="l00575"></a>00575   <a class="code" href="main_8c.html#a2">sineTableIndex</a> += increment;
<a name="l00576"></a>00576 
<a name="l00577"></a>00577   <span class="comment">// If the table index is out of bounds, wrap the index around the table end</span>
<a name="l00578"></a>00578   <span class="comment">// to continue from the beginning. Also wrap the next sector start index.</span>
<a name="l00579"></a>00579   <span class="keywordflow">if</span> ((<a class="code" href="main_8c.html#a2">sineTableIndex</a> &gt;&gt; 8) &gt;= <a class="code" href="PMSM_8h.html#a30">SINE_TABLE_LENGTH</a>)
<a name="l00580"></a>00580   {
<a name="l00581"></a>00581     <a class="code" href="main_8c.html#a2">sineTableIndex</a> -= (<a class="code" href="PMSM_8h.html#a30">SINE_TABLE_LENGTH</a> &lt;&lt; 8);
<a name="l00582"></a>00582     <a class="code" href="main_8c.html#a6">sineTableNextSectorStart</a> -= <a class="code" href="PMSM_8h.html#a30">SINE_TABLE_LENGTH</a>;
<a name="l00583"></a>00583   }
<a name="l00584"></a>00584 
<a name="l00585"></a>00585   <span class="comment">//Make copy of sineNextSectorStart to specify order of volatile access.</span>
<a name="l00586"></a>00586   <a class="code" href="stdint_8h.html#a56">uint8_t</a> nextSectorStart = <a class="code" href="main_8c.html#a6">sineTableNextSectorStart</a>;
<a name="l00587"></a>00587   <span class="keywordflow">if</span> ((<a class="code" href="main_8c.html#a2">sineTableIndex</a> &gt;&gt; 8) &gt; nextSectorStart)
<a name="l00588"></a>00588   {
<a name="l00589"></a>00589     <a class="code" href="main_8c.html#a2">sineTableIndex</a> = (nextSectorStart &lt;&lt; 8);
<a name="l00590"></a>00590   }
<a name="l00591"></a>00591 }
</pre></div>
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<a class="anchor" name="a20"></a><!-- doxytag: member="main.c::BlockCommutate" ref="a20" args="(const uint8_t direction, const uint8_t hall)" --><p>
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          <td class="md" nowrap valign="top">static void BlockCommutate           </td>
          <td class="md" valign="top">(&nbsp;</td>
          <td class="md" nowrap valign="top">const <a class="el" href="stdint_8h.html#a56">uint8_t</a>&nbsp;</td>
          <td class="mdname" nowrap> <em>direction</em>, </td>
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          <td class="md" nowrap align="right"></td>
          <td class="md"></td>
          <td class="md" nowrap>const <a class="el" href="stdint_8h.html#a56">uint8_t</a>&nbsp;</td>
          <td class="mdname" nowrap> <em>hall</em></td>
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          <td class="md"></td>
          <td class="md">)&nbsp;</td>
          <td class="md" colspan="2"><code> [static]</code></td>
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<p>
Performs block commutation according to running direction and hall sensor input. 
<p>
This function performs a block commutation according to the specified running direction and hall sensor input.<p>
<dl compact><dt><b>Note:</b></dt><dd>Do not use this function while the timers are configured for sine wave driving.</dd></dl>
<dl compact><dt><b>Parameters:</b></dt><dd>
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    <tr><td valign="top"></td><td valign="top"><em>direction</em>&nbsp;</td><td>Direction of rotation. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>hall</em>&nbsp;</td><td>Hall sensor value at the same form as returned by <a class="el" href="main_8c.html#a21">GetHall()</a>.</td></tr>
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<p>
Definition at line <a class="el" href="main_8c-source.html#l00455">455</a> of file <a class="el" href="main_8c-source.html">main.c</a>.
<p>
References <a class="el" href="PMSM__tables_8h-source.html#l00257">blockCommutationTableForward</a>, <a class="el" href="PMSM__tables_8h-source.html#l00275">blockCommutationTableReverse</a>, and <a class="el" href="PMSM_8h-source.html#l00141">DIRECTION_FORWARD</a>.
<p>
Referenced by <a class="el" href="main_8c-source.html#l00643">CommutationTicksUpdate()</a>, and <a class="el" href="main_8c-source.html#l00888">HallChangeISR()</a>.<div class="fragment"><pre class="fragment"><a name="l00456"></a>00456 {
<a name="l00457"></a>00457   <span class="keywordflow">if</span> (direction == <a class="code" href="PMSM_8h.html#a27">DIRECTION_FORWARD</a>)
<a name="l00458"></a>00458   {
<a name="l00459"></a>00459     TCCR1E = <a class="code" href="PMSM__tables_8h.html#a1">blockCommutationTableForward</a>[hall];
<a name="l00460"></a>00460   }
<a name="l00461"></a>00461   <span class="keywordflow">else</span>
<a name="l00462"></a>00462   {