main_8c-source.html

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。

<a name="l00233"></a>00233 
<a name="l00239"></a><a class="code" href="main_8c.html#a12">00239</a> <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="main_8c.html#a12">ADCInit</a>(<span class="keywordtype">void</span>)
<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 }
<a name="l00249"></a>00249 
<a name="l00250"></a>00250 
<a name="l00255"></a><a class="code" href="main_8c.html#a13">00255</a> <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="main_8c.html#a13">PinChangeInit</a>(<span class="keywordtype">void</span>)
<a name="l00256"></a>00256 {
<a name="l00257"></a>00257   <span class="comment">//Initialize hall change interrupt</span>
<a name="l00258"></a>00258   PCMSK1 = (1 &lt;&lt; PCINT2) | (1 &lt;&lt; PCINT1) | (1 &lt;&lt; PCINT0); <span class="comment">// Should really be PCMSK0, but the data sheet, header files and AVR studio does not agree.</span>
<a name="l00259"></a>00259 
<a name="l00260"></a>00260   <span class="comment">//Clear all other pin change interrupts.</span>
<a name="l00261"></a>00261   PCMSK0 = 0x00;
<a name="l00262"></a>00262 
<a name="l00263"></a>00263   <span class="comment">//</span>
<a name="l00264"></a>00264   GIMSK |= (1 &lt;&lt; PCIE1);
<a name="l00265"></a>00265 
<a name="l00266"></a>00266   <span class="comment">//Force the pin change interrupt to be triggered.</span>
<a name="l00267"></a>00267   DDRA |= ((1 &lt;&lt; PA2) | (1 &lt;&lt; PA1) | (1 &lt;&lt; PA0));
<a name="l00268"></a>00268   DDRA &amp;= ~((1 &lt;&lt; PA2) | (1 &lt;&lt; PA1) | (1 &lt;&lt; PA0));
<a name="l00269"></a>00269 }
<a name="l00270"></a>00270 
<a name="l00271"></a>00271 
<a name="l00278"></a><a class="code" href="main_8c.html#a14">00278</a> <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="main_8c.html#a14">SpeedController</a>(<a class="code" href="stdint_8h.html#a58">uint16_t</a> speedReference)
<a name="l00279"></a>00279 {
<a name="l00280"></a>00280 <span class="preprocessor">  #if (SPEED_CONTROL_METHOD == SPEED_CONTROL_CLOSED_LOOP)</span>
<a name="l00281"></a>00281 <span class="preprocessor"></span>
<a name="l00282"></a>00282   <span class="comment">//Calculate an increment setpoint from the analog speed input.</span>
<a name="l00283"></a>00283   <a class="code" href="stdint_8h.html#a57">int16_t</a> incrementSetpoint = ((<a class="code" href="stdint_8h.html#a60">uint32_t</a>)speedReference * <a class="code" href="PMSM_8h.html#a53">SPEED_CONTROLLER_MAX_INCREMENT</a>) / <a class="code" href="PMSM_8h.html#a54">SPEED_CONTROLLER_MAX_INPUT</a>;
<a name="l00284"></a>00284 
<a name="l00285"></a>00285   <span class="comment">//PID controller with feed forward from speed input.</span>
<a name="l00286"></a>00286   <a class="code" href="stdint_8h.html#a59">int32_t</a> outputValue;
<a name="l00287"></a>00287   outputValue = (<a class="code" href="stdint_8h.html#a60">uint32_t</a>)speedReference;
<a name="l00288"></a>00288   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>, &amp;pidParameters);
<a name="l00289"></a>00289 
<a name="l00290"></a>00290   <span class="keywordflow">if</span> (outputValue &lt; 0)
<a name="l00291"></a>00291   {
<a name="l00292"></a>00292     outputValue = 0;
<a name="l00293"></a>00293   }
<a name="l00294"></a>00294   <span class="keywordflow">else</span> <span class="keywordflow">if</span> (outputValue &gt; <a class="code" href="PMSM_8h.html#a35">PWM_TOP_VALUE</a>)
<a name="l00295"></a>00295   {
<a name="l00296"></a>00296     outputValue = <a class="code" href="PMSM_8h.html#a35">PWM_TOP_VALUE</a>;
<a name="l00297"></a>00297   }
<a name="l00298"></a>00298   __disable_interrupt();
<a name="l00299"></a>00299   <a class="code" href="main_8c.html#a4">amplitude</a> = outputValue;
<a name="l00300"></a>00300   __enable_interrupt();
<a name="l00301"></a>00301 <span class="preprocessor">#else</span>
<a name="l00302"></a>00302 <span class="preprocessor"></span>  __disable_interrupt();
<a name="l00303"></a>00303   <a class="code" href="main_8c.html#a4">amplitude</a> = speedReference;
<a name="l00304"></a>00304   __enable_interrupt();
<a name="l00305"></a>00305 <span class="preprocessor">#endif</span>
<a name="l00306"></a>00306 <span class="preprocessor"></span>}
<a name="l00307"></a>00307 
<a name="l00308"></a>00308 
<a name="l00316"></a>00316 <span class="preprocessor">#pragma inline = forced</span>
<a name="l00317"></a><a class="code" href="main_8c.html#a15">00317</a> <span class="preprocessor"></span><span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="main_8c.html#a15">TimerSetModeSinusoidal</a>(<span class="keywordtype">void</span>)
<a name="l00318"></a>00318 {
<a name="l00319"></a>00319   <span class="comment">//Set PWM pins to input (Hi-Z) while changing modes.</span>
<a name="l00320"></a>00320   <a class="code" href="main_8c.html#a28">DisablePWMOutputs</a>();
<a name="l00321"></a>00321 
<a name="l00322"></a>00322   <span class="comment">//Set Timer/counter1 in phase and frequency correct mode.</span>
<a name="l00323"></a>00323   TCCR1A = (0 &lt;&lt; COM1A1) | (1 &lt;&lt; COM1A0) | (0 &lt;&lt; COM1B1) | (1 &lt;&lt; COM1B0) | (1 &lt;&lt; PWM1A) | (1 &lt;&lt; PWM1B);
<a name="l00324"></a>00324   TCCR1C =  (0 &lt;&lt; COM1A1S) | (1 &lt;&lt; COM1A0S) | (0 &lt;&lt; COM1B1S) | (1 &lt;&lt; COM1B0S) | (0 &lt;&lt; COM1D1) | (1 &lt;&lt; COM1D0) | (1 &lt;&lt; PWM1D);
<a name="l00325"></a>00325   TCCR1D &amp;= ~((1 &lt;&lt; WGM11) | (1 &lt;&lt; WGM10));
<a name="l00326"></a>00326   TCCR1D |= (0 &lt;&lt; WGM11) | (1 &lt;&lt; WGM10);
<a name="l00327"></a>00327 
<a name="l00328"></a>00328   <a class="code" href="TinyX61__macros_8h.html#a16">TC1_SET_ALL_COMPARE_VALUES</a>(0x0000);
<a name="l00329"></a>00329 
<a name="l00330"></a>00330   fastFlags.driveWaveform = <a class="code" href="PMSM_8h.html#a39">WAVEFORM_SINUSOIDAL</a>;
<a name="l00331"></a>00331 
<a name="l00332"></a>00332   <span class="comment">//Wait for the PWM cycle to complete.</span>
<a name="l00333"></a>00333   TIFR = TIFR;
<a name="l00334"></a>00334   <span class="keywordflow">while</span> ( ! (TIFR &amp; (1 &lt;&lt; TOV1)) )
<a name="l00335"></a>00335   {
<a name="l00336"></a>00336 
<a name="l00337"></a>00337   }
<a name="l00338"></a>00338 
<a name="l00339"></a>00339   <span class="comment">//Change PWM pins to output again to allow PWM control.</span>
<a name="l00340"></a>00340   <a class="code" href="main_8c.html#a27">EnablePWMOutputs</a>();
<a name="l00341"></a>00341 }
<a name="l00342"></a>00342 
<a name="l00343"></a>00343 
<a name="l00352"></a>00352 <span class="preprocessor">#pragma inline = forced</span>
<a name="l00353"></a><a class="code" href="main_8c.html#a16">00353</a> <span class="preprocessor"></span><span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="main_8c.html#a16">TimerSetModeBlockCommutation</a>(<span class="keywordtype">void</span>)
<a name="l00354"></a>00354 {
<a name="l00355"></a>00355   <span class="comment">//Set PWM pins to input (Hi-Z) while changing modes.</span>
<a name="l00356"></a>00356   <a class="code" href="main_8c.html#a28">DisablePWMOutputs</a>();
<a name="l00357"></a>00357 
<a name="l00358"></a>00358   <span class="comment">//Set Timer/counter1 in dual slope PWM6 mode, clear on upcounting, set on downcounting (non-inverting).</span>
<a name="l00359"></a>00359   TCCR1A = (1 &lt;&lt; COM1A1) | (0 &lt;&lt; COM1A0) | (1 &lt;&lt; COM1B1) | (0 &lt;&lt; COM1B0) | (1 &lt;&lt; PWM1A) | (1 &lt;&lt; PWM1B);
<a name="l00360"></a>00360   TCCR1C = (1 &lt;&lt; COM1A1S) | (0 &lt;&lt; COM1A0S) | (1 &lt;&lt; COM1B1S) | (0 &lt;&lt; COM1B0S) | (1 &lt;&lt; COM1D1) | (0 &lt;&lt; COM1D0) | (1 &lt;&lt; PWM1D);
<a name="l00361"></a>00361   TCCR1D |= (1 &lt;&lt; WGM11) | (1 &lt;&lt; WGM10);
<a name="l00362"></a>00362 
<a name="l00363"></a>00363   TCCR1E = 0x00;
<a name="l00364"></a>00364 
<a name="l00365"></a>00365   <span class="comment">//Set output duty cycle to 0.</span>
<a name="l00366"></a>00366   <a class="code" href="main_8c.html#a18">BlockCommutationSetDuty</a>(0x0000);
<a name="l00367"></a>00367 
<a name="l00368"></a>00368   fastFlags.driveWaveform = <a class="code" href="PMSM_8h.html#a38">WAVEFORM_BLOCK_COMMUTATION</a>;
<a name="l00369"></a>00369 
<a name="l00370"></a>00370     <span class="comment">//Change PWM pins to output again to allow PWM control.</span>
<a name="l00371"></a>00371   <a class="code" href="main_8c.html#a27">EnablePWMOutputs</a>();
<a name="l00372"></a>00372 }
<a name="l00373"></a>00373 
<a name="l00374"></a>00374 
<a name="l00383"></a>00383 <span class="preprocessor">#if (TURN_MODE == TURN_MODE_BRAKE)</span>
<a name="l00384"></a>00384 <span class="preprocessor"></span><span class="preprocessor">#pragma inline = forced</span>
<a name="l00385"></a><a class="code" href="main_8c.html#a17">00385</a> <span class="preprocessor"></span><span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="main_8c.html#a17">TimerSetModeBrake</a>(<span class="keywordtype">void</span>)
<a name="l00386"></a>00386 {
<a name="l00387"></a>00387   <span class="comment">//Set PWM pins to input (Hi-Z) while changing modes.</span>
<a name="l00388"></a>00388   <a class="code" href="main_8c.html#a28">DisablePWMOutputs</a>();
<a name="l00389"></a>00389 
<a name="l00390"></a>00390   <span class="comment">//Set Timer/counter1 in phase and frequency correct mode.</span>
<a name="l00391"></a>00391   TCCR1A = (0 &lt;&lt; COM1A1) | (1 &lt;&lt; COM1A0) | (0 &lt;&lt; COM1B1) | (1 &lt;&lt; COM1B0) | (1 &lt;&lt; PWM1A) | (1 &lt;&lt; PWM1B);
<a name="l00392"></a>00392   TCCR1C =  (0 &lt;&lt; COM1A1S) | (1 &lt;&lt; COM1A0S) | (0 &lt;&lt; COM1B1S) | (1 &lt;&lt; COM1B0S) | (0 &lt;&lt; COM1D1) | (1 &lt;&lt; COM1D0) | (1 &lt;&lt; PWM1D);
<a name="l00393"></a>00393   TCCR1D &amp;= ~((1 &lt;&lt; WGM11) | (1 &lt;&lt; WGM10));
<a name="l00394"></a>00394   TCCR1D |= (0 &lt;&lt; WGM11) | (1 &lt;&lt; WGM10);
<a name="l00395"></a>00395 
<a name="l00396"></a>00396   <span class="comment">//All output duty cycles at 0 creates a braking force. (Low side braking)</span>
<a name="l00397"></a>00397   <a class="code" href="TinyX61__macros_8h.html#a16">TC1_SET_ALL_COMPARE_VALUES</a>(0x0000);
<a name="l00398"></a>00398 
<a name="l00399"></a>00399   fastFlags.driveWaveform = <a class="code" href="PMSM_8h.html#a40">WAVEFORM_BRAKING</a>;
<a name="l00400"></a>00400 
<a name="l00401"></a>00401   <span class="comment">//Change PWM pins to output again to allow PWM control.</span>
<a name="l00402"></a>00402   <a class="code" href="main_8c.html#a27">EnablePWMOutputs</a>();
<a name="l00403"></a>00403 }
<a name="l00404"></a>00404 <span class="preprocessor">#endif</span>
<a name="l00405"></a>00405 <span class="preprocessor"></span>
<a name="l00406"></a>00406 
<a name="l00419"></a>00419 <span class="preprocessor">#pragma inline = forced</span>
<a name="l00420"></a><a class="code" href="main_8c.html#a18">00420</a> <span class="preprocessor"></span><span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="main_8c.html#a18">BlockCommutationSetDuty</a>(<span class="keyword">const</span> <a class="code" href="stdint_8h.html#a58">uint16_t</a> compareValue)
<a name="l00421"></a>00421 {
<a name="l00422"></a>00422   <a class="code" href="PMSM_8h.html#a55">TC1_PWM6_SET_DUTY_CYCLE</a>(compareValue);
<a name="l00423"></a>00423 }
<a name="l00424"></a>00424 
<a name="l00425"></a>00425 
<a name="l00436"></a>00436 <span class="preprocessor">#pragma inline = forced</span>
<a name="l00437"></a><a class="code" href="main_8c.html#a19">00437</a> <span class="preprocessor"></span><span class="keyword">static</span> <a class="code" href="stdint_8h.html#a56">uint8_t</a> <a class="code" href="main_8c.html#a19">GetDesiredDirection</a>(<span class="keywordtype">void</span>)
<a name="l00438"></a>00438 {
<a name="l00439"></a>00439   <span class="keywordflow">return</span> (<a class="code" href="stdint_8h.html#a56">uint8_t</a>)fastFlags.desiredDirection;
<a name="l00440"></a>00440 }
<a name="l00441"></a>00441 
<a name="l00442"></a>00442