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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。

<a name="l00683"></a>00683   <span class="keywordflow">if</span> ((tempFlags.<a class="code" href="structPMSMflags.html#o1">desiredDirection</a> == tempFlags.<a class="code" href="structPMSMflags.html#o0">actualDirection</a>) &amp;&amp;
<a name="l00684"></a>00684       (tempFlags.<a class="code" href="structPMSMflags.html#o3">motorStopped</a> == <a class="code" href="pid_8h.html#a4">FALSE</a>) &amp;&amp; (tempFlags.<a class="code" href="structPMSMflags.html#o4">motorSynchronized</a> == <a class="code" href="pid_8h.html#a4">FALSE</a>))
<a name="l00685"></a>00685   {
<a name="l00686"></a>00686     synchCount++;
<a name="l00687"></a>00687     <span class="keywordflow">if</span> (synchCount &gt;= <a class="code" href="PMSM_8h.html#a37">SYNCHRONIZATION_COUNT</a>)
<a name="l00688"></a>00688     {
<a name="l00689"></a>00689       fastFlags.<a class="code" href="structPMSMflags.html#o4">motorSynchronized</a> = <a class="code" href="pid_8h.html#a5">TRUE</a>;
<a name="l00690"></a>00690     }
<a name="l00691"></a>00691   }
<a name="l00692"></a>00692   <span class="keywordflow">else</span>
<a name="l00693"></a>00693   {
<a name="l00694"></a>00694     synchCount = 0;
<a name="l00695"></a>00695   }
<a name="l00696"></a>00696 }
<a name="l00697"></a>00697 
<a name="l00698"></a>00698 
<a name="l00708"></a>00708 <span class="preprocessor">#pragma inline = forced</span>
<a name="l00709"></a><a class="code" href="main_8c.html#a31">00709</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#a31">IsMotorSynchronized</a>(<span class="keywordtype">void</span>)
<a name="l00710"></a>00710 {
<a name="l00711"></a>00711   <span class="keywordflow">return</span> (<a class="code" href="stdint_8h.html#a56">uint8_t</a>)(fastFlags.motorSynchronized);
<a name="l00712"></a>00712 }
<a name="l00713"></a>00713 
<a name="l00714"></a>00714 
<a name="l00722"></a>00722 <span class="preprocessor">#if (SINE_TABLE_SIZE == SINE_TABLE_SIZE_SMALL)</span>
<a name="l00723"></a>00723 <span class="preprocessor"></span><span class="preprocessor">#pragma inline = forced</span>
<a name="l00724"></a>00724 <span class="preprocessor"></span><a class="code" href="stdint_8h.html#a56">uint8_t</a> <a class="code" href="PMSM_8h.html#a83">SineTableSmallGetValue</a>(<a class="code" href="stdint_8h.html#a56">uint8_t</a> index)
<a name="l00725"></a>00725 {
<a name="l00726"></a>00726   <span class="comment">//The last 3rd of the table is zero.</span>
<a name="l00727"></a>00727   <span class="keywordflow">if</span> (index &gt;= (<a class="code" href="PMSM_8h.html#a30">SINE_TABLE_LENGTH</a> * 2 / 3) )
<a name="l00728"></a>00728   {
<a name="l00729"></a>00729     <span class="keywordflow">return</span> 0;
<a name="l00730"></a>00730   }
<a name="l00731"></a>00731 
<a name="l00732"></a>00732   <span class="comment">//The second third of the table is a mirror of the first third.</span>
<a name="l00733"></a>00733   <span class="keywordflow">if</span> (index &gt;= (<a class="code" href="PMSM_8h.html#a30">SINE_TABLE_LENGTH</a> / 3) )
<a name="l00734"></a>00734   {
<a name="l00735"></a>00735     index = ((<a class="code" href="PMSM_8h.html#a30">SINE_TABLE_LENGTH</a> * 2 / 3) - 1) - index;
<a name="l00736"></a>00736   }
<a name="l00737"></a>00737 
<a name="l00738"></a>00738   <span class="keywordflow">return</span> <a class="code" href="PMSM__tables_8h.html#a0">sineTable</a>[index];
<a name="l00739"></a>00739 }
<a name="l00740"></a>00740 <span class="preprocessor">#endif</span>
<a name="l00741"></a>00741 <span class="preprocessor"></span>
<a name="l00742"></a>00742 
<a name="l00748"></a>00748 <span class="preprocessor">#if (SINE_TABLE_SIZE == SINE_TABLE_SIZE_LARGE)</span>
<a name="l00749"></a>00749 <span class="preprocessor"></span><span class="preprocessor">#pragma inline = forced</span>
<a name="l00750"></a><a class="code" href="main_8c.html#a32">00750</a> <span class="preprocessor"></span><span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="main_8c.html#a32">SineOutputUpdate</a>(<span class="keywordtype">void</span>)
<a name="l00751"></a>00751 {
<a name="l00752"></a>00752   <a class="code" href="stdint_8h.html#a56">uint8_t</a> <span class="keyword">const</span> __flash * sineTablePtr = <a class="code" href="PMSM__tables_8h.html#a0">sineTable</a>;
<a name="l00753"></a>00753   <a class="code" href="stdint_8h.html#a58">uint16_t</a> temp;
<a name="l00754"></a>00754 
<a name="l00755"></a>00755   <span class="comment">//Add sine table offset to pointer. Must be multiplied by 3, since one</span>
<a name="l00756"></a>00756   <span class="comment">//value for each phase is stored in the table.</span>
<a name="l00757"></a>00757   <span class="comment">//sineTablePtr += (uint8_t)(sineTableIndex &gt;&gt; 8) * 3;</span>
<a name="l00758"></a>00758   {
<a name="l00759"></a>00759     <a class="code" href="stdint_8h.html#a56">uint8_t</a> tempIndex = (<a class="code" href="stdint_8h.html#a56">uint8_t</a>)(<a class="code" href="main_8c.html#a2">sineTableIndex</a> &gt;&gt; 8);
<a name="l00760"></a>00760     sineTablePtr += tempIndex;
<a name="l00761"></a>00761     sineTablePtr += tempIndex;
<a name="l00762"></a>00762     sineTablePtr += tempIndex;
<a name="l00763"></a>00763   }
<a name="l00764"></a>00764 
<a name="l00765"></a>00765   <span class="comment">//Calculate output duty cycles. Since one phase is always zero, the scaling</span>
<a name="l00766"></a>00766   <span class="comment">//is only performed on the two non-zero phases, saving one multiply.</span>
<a name="l00767"></a>00767 
<a name="l00768"></a>00768   <span class="comment">//Calculate U phase output duty cycle.</span>
<a name="l00769"></a>00769   temp = *sineTablePtr++;
<a name="l00770"></a>00770   <span class="keywordflow">if</span> (temp != 0)
<a name="l00771"></a>00771   {
<a name="l00772"></a>00772     temp = <a class="code" href="main_8c.html#a36">MultiplyUS15x8</a>(<a class="code" href="main_8c.html#a4">amplitude</a>, temp);
<a name="l00773"></a>00773   }
<a name="l00774"></a>00774   <a class="code" href="TinyX61__macros_8h.html#a12">TC1_WRITE_10_BIT_REGISTER</a>(<a class="code" href="PMSM_8h.html#a23">COMPARE_REGISTER_PHASE_U</a>, temp);
<a name="l00775"></a>00775 
<a name="l00776"></a>00776   <span class="comment">//Calculate U + 240 degree phase output duty cycle.</span>
<a name="l00777"></a>00777   temp = *sineTablePtr++;
<a name="l00778"></a>00778   <span class="keywordflow">if</span> (temp != 0)
<a name="l00779"></a>00779   {
<a name="l00780"></a>00780     temp = <a class="code" href="main_8c.html#a36">MultiplyUS15x8</a>(<a class="code" href="main_8c.html#a4">amplitude</a>, temp);
<a name="l00781"></a>00781   }
<a name="l00782"></a>00782   <span class="keywordflow">if</span> (<a class="code" href="main_8c.html#a19">GetDesiredDirection</a>() == <a class="code" href="PMSM_8h.html#a27">DIRECTION_FORWARD</a>)
<a name="l00783"></a>00783   {
<a name="l00784"></a>00784     <a class="code" href="TinyX61__macros_8h.html#a12">TC1_WRITE_10_BIT_REGISTER</a>(<a class="code" href="PMSM_8h.html#a24">COMPARE_REGISTER_PHASE_V</a>, temp);
<a name="l00785"></a>00785   }
<a name="l00786"></a>00786   <span class="keywordflow">else</span>
<a name="l00787"></a>00787   {
<a name="l00788"></a>00788     <a class="code" href="TinyX61__macros_8h.html#a12">TC1_WRITE_10_BIT_REGISTER</a>(<a class="code" href="PMSM_8h.html#a25">COMPARE_REGISTER_PHASE_W</a>, temp);
<a name="l00789"></a>00789   }
<a name="l00790"></a>00790 
<a name="l00791"></a>00791   <span class="comment">//Calculate U + 120 degree phase output duty cycle.</span>
<a name="l00792"></a>00792   temp = *sineTablePtr++;
<a name="l00793"></a>00793   <span class="keywordflow">if</span> (temp != 0)
<a name="l00794"></a>00794   {
<a name="l00795"></a>00795     temp = <a class="code" href="main_8c.html#a36">MultiplyUS15x8</a>(<a class="code" href="main_8c.html#a4">amplitude</a>, temp);
<a name="l00796"></a>00796   }
<a name="l00797"></a>00797   <span class="keywordflow">if</span> (<a class="code" href="main_8c.html#a19">GetDesiredDirection</a>() == <a class="code" href="PMSM_8h.html#a27">DIRECTION_FORWARD</a>)
<a name="l00798"></a>00798   {
<a name="l00799"></a>00799     <a class="code" href="TinyX61__macros_8h.html#a12">TC1_WRITE_10_BIT_REGISTER</a>(<a class="code" href="PMSM_8h.html#a25">COMPARE_REGISTER_PHASE_W</a>, temp);
<a name="l00800"></a>00800   }
<a name="l00801"></a>00801   <span class="keywordflow">else</span>
<a name="l00802"></a>00802   {
<a name="l00803"></a>00803     <a class="code" href="TinyX61__macros_8h.html#a12">TC1_WRITE_10_BIT_REGISTER</a>(<a class="code" href="PMSM_8h.html#a24">COMPARE_REGISTER_PHASE_V</a>, temp);
<a name="l00804"></a>00804   }
<a name="l00805"></a>00805 }
<a name="l00806"></a>00806 <span class="preprocessor">#endif</span>
<a name="l00807"></a>00807 <span class="preprocessor"></span>
<a name="l00808"></a>00808 
<a name="l00814"></a>00814 <span class="preprocessor">#if (SINE_TABLE_SIZE == SINE_TABLE_SIZE_SMALL)</span>
<a name="l00815"></a>00815 <span class="preprocessor"></span><span class="preprocessor">#pragma inline = forced</span>
<a name="l00816"></a>00816 <span class="preprocessor"></span><span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="main_8c.html#a32">SineOutputUpdate</a>(<span class="keywordtype">void</span>)
<a name="l00817"></a>00817 {
<a name="l00818"></a>00818   <a class="code" href="stdint_8h.html#a58">uint16_t</a> temp;
<a name="l00819"></a>00819   <a class="code" href="stdint_8h.html#a56">uint8_t</a> tempIndex;
<a name="l00820"></a>00820 
<a name="l00821"></a>00821   <span class="comment">//Calculate U phase output duty cycle.</span>
<a name="l00822"></a>00822   tempIndex = (<a class="code" href="stdint_8h.html#a56">uint8_t</a>)(<a class="code" href="main_8c.html#a2">sineTableIndex</a> &gt;&gt; 8);
<a name="l00823"></a>00823 
<a name="l00824"></a>00824   temp = <a class="code" href="PMSM_8h.html#a83">SineTableSmallGetValue</a>(tempIndex);
<a name="l00825"></a>00825   <span class="keywordflow">if</span> (temp != 0)
<a name="l00826"></a>00826   {
<a name="l00827"></a>00827     temp = <a class="code" href="main_8c.html#a36">MultiplyUS15x8</a>(<a class="code" href="main_8c.html#a4">amplitude</a>, temp);
<a name="l00828"></a>00828   }
<a name="l00829"></a>00829   <a class="code" href="TinyX61__macros_8h.html#a12">TC1_WRITE_10_BIT_REGISTER</a>(<a class="code" href="PMSM_8h.html#a23">COMPARE_REGISTER_PHASE_U</a>, temp);
<a name="l00830"></a>00830 
<a name="l00831"></a>00831   <span class="comment">//Calculate U phase + 120 degree output duty cycle.</span>
<a name="l00832"></a>00832   tempIndex += (<a class="code" href="PMSM_8h.html#a30">SINE_TABLE_LENGTH</a> / 3);
<a name="l00833"></a>00833   <span class="keywordflow">if</span> (tempIndex &gt;= <a class="code" href="PMSM_8h.html#a30">SINE_TABLE_LENGTH</a>)
<a name="l00834"></a>00834   {
<a name="l00835"></a>00835     tempIndex -= <a class="code" href="PMSM_8h.html#a30">SINE_TABLE_LENGTH</a>;
<a name="l00836"></a>00836   }
<a name="l00837"></a>00837 
<a name="l00838"></a>00838   temp = <a class="code" href="PMSM_8h.html#a83">SineTableSmallGetValue</a>(tempIndex);
<a name="l00839"></a>00839   <span class="keywordflow">if</span> (temp != 0)
<a name="l00840"></a>00840   {
<a name="l00841"></a>00841     temp = <a class="code" href="main_8c.html#a36">MultiplyUS15x8</a>(<a class="code" href="main_8c.html#a4">amplitude</a>, temp);
<a name="l00842"></a>00842   }
<a name="l00843"></a>00843   <span class="keywordflow">if</span> (<a class="code" href="main_8c.html#a19">GetDesiredDirection</a>() == <a class="code" href="PMSM_8h.html#a27">DIRECTION_FORWARD</a>)
<a name="l00844"></a>00844   {
<a name="l00845"></a>00845     <a class="code" href="TinyX61__macros_8h.html#a12">TC1_WRITE_10_BIT_REGISTER</a>(<a class="code" href="PMSM_8h.html#a25">COMPARE_REGISTER_PHASE_W</a>, temp);
<a name="l00846"></a>00846   }
<a name="l00847"></a>00847   <span class="keywordflow">else</span>
<a name="l00848"></a>00848   {
<a name="l00849"></a>00849     <a class="code" href="TinyX61__macros_8h.html#a12">TC1_WRITE_10_BIT_REGISTER</a>(<a class="code" href="PMSM_8h.html#a24">COMPARE_REGISTER_PHASE_V</a>, temp);
<a name="l00850"></a>00850   }
<a name="l00851"></a>00851 
<a name="l00852"></a>00852   <span class="comment">//Calculate U phase + 240 degree output duty cycle.</span>
<a name="l00853"></a>00853   tempIndex += (<a class="code" href="PMSM_8h.html#a30">SINE_TABLE_LENGTH</a> / 3);
<a name="l00854"></a>00854   <span class="keywordflow">if</span> (tempIndex &gt;= <a class="code" href="PMSM_8h.html#a30">SINE_TABLE_LENGTH</a>)
<a name="l00855"></a>00855   {
<a name="l00856"></a>00856     tempIndex -= <a class="code" href="PMSM_8h.html#a30">SINE_TABLE_LENGTH</a>;
<a name="l00857"></a>00857   }
<a name="l00858"></a>00858