sensor_three_phase_BLDC.h File Reference

Detailed Description

A brief description of the file is written here.

A more detailed description of the file should written here.

Application note:
AVR443: Sensorbased control of three-phase BLDC motor
For comprehensive code documentation, supported compilers, compiler settings and supported devices see readme.html
Target device: ATmega48/88/168
Author:
Atmel Corporation: http://www.atmel.com
Support email: avr@atmel.com
$Name$
Revision
843
$RCSfile$
Date
2006-02-17 20:35:38 +0100 (fr, 17 feb 2006)

Definition in file sensor_three_phase_BLDC.h.

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ADC multiplexing

#define ADC_MUX_SHUNT_H   ((0 << REFS1) | (0 << REFS0) | (1 << ADLAR) | (1 << MUX2))
#define ADC_MUX_SHUNT_L   ((0 << REFS1) | (0 << REFS0) | (1 << ADLAR) | (1 << MUX2) | (1 << MUX0))
#define ADC_MUX_SPEED_REF   ((0 << REFS1) | (0 << REFS0) | (1 << ADLAR))

PWM output configuration (for both TC0 and TC2)

#define COM0P1_CCW   ((UL_ON)|(VL_OFF)|(1<<WGM01)|(1<<WGM00))
#define COM0P1_CW   ((UL_OFF)|(VL_OFF)|(1<<WGM01)|(1<<WGM00))
#define COM0P2_CCW   ((UL_ON)|(VL_OFF)|(1<<WGM01)|(1<<WGM00))
#define COM0P2_CW   ((UL_OFF)|(VL_OFF)|(1<<WGM01)|(1<<WGM00))
#define COM0P3_CCW   ((UL_OFF)|(VL_ON)|(1<<WGM01)|(1<<WGM00))
#define COM0P3_CW   ((UL_OFF)|(VL_ON)|(1<<WGM01)|(1<<WGM00))
#define COM0P4_CCW   ((UL_OFF)|(VL_ON)|(1<<WGM01)|(1<<WGM00))
#define COM0P4_CW   ((UL_OFF)|(VL_ON)|(1<<WGM01)|(1<<WGM00))
#define COM0P5_CCW   ((UL_OFF)|(VL_OFF)|(1<<WGM01)|(1<<WGM00))
#define COM0P5_CW   ((UL_ON)|(VL_OFF)|(1<<WGM01)|(1<<WGM00))
#define COM0P6_CCW   ((UL_OFF)|(VL_OFF)|(1<<WGM01)|(1<<WGM00))
#define COM0P6_CW   ((UL_ON)|(VL_OFF)|(1<<WGM01)|(1<<WGM00))
#define COM2P1_CCW   ((WL_OFF)|(1<<WGM21)|(1<<WGM20))
#define COM2P1_CW   ((WL_ON)|(1<<WGM21)|(1<<WGM20))
#define COM2P2_CCW   ((WL_OFF)|(1<<WGM21)|(1<<WGM20))
#define COM2P2_CW   ((WL_ON)|(1<<WGM21)|(1<<WGM20))
#define COM2P3_CCW   ((WL_OFF)|(1<<WGM21)|(1<<WGM20))
#define COM2P3_CW   ((WL_OFF)|(1<<WGM21)|(1<<WGM20))
#define COM2P4_CCW   ((WL_OFF)|(1<<WGM21)|(1<<WGM20))
#define COM2P4_CW   ((WL_OFF)|(1<<WGM21)|(1<<WGM20))
#define COM2P5_CCW   ((WL_ON)|(1<<WGM21)|(1<<WGM20))
#define COM2P5_CW   ((WL_OFF)|(1<<WGM21)|(1<<WGM20))
#define COM2P6_CCW   ((WL_ON)|(1<<WGM21)|(1<<WGM20))
#define COM2P6_CW   ((WL_OFF)|(1<<WGM21)|(1<<WGM20))
#define HP1   ((1<<HALL1)|(0<<HALL2)|(1<<HALL3))
#define HP2   ((1<<HALL1)|(0<<HALL2)|(0<<HALL3))
#define HP3   ((1<<HALL1)|(1<<HALL2)|(0<<HALL3))
#define HP4   ((0<<HALL1)|(1<<HALL2)|(0<<HALL3))
#define HP5   ((0<<HALL1)|(1<<HALL2)|(1<<HALL3))
#define HP6   ((0<<HALL1)|(0<<HALL2)|(1<<HALL3))
#define UL_OFF   ((0<<COM0A1)|(0<<COM0A0))
#define UL_ON   ((1<<COM0A1)|(0<<COM0A0))
#define VL_OFF   ((0<<COM0B1)|(0<<COM0B0))
#define VL_ON   ((1<<COM0B1)|(0<<COM0B0))
#define WL_OFF   ((0<<COM2B1)|(0<<COM2B0))
#define WL_ON   ((1<<COM2B1)|(0<<COM2B0))

Port control registers for Hall sensor inputs.

#define DDR_HALL   DDRB
#define PIN_HALL   PINB
#define PORT_HALL   PORTB

Port control registers for drive stages.

#define DDR_MC   DDRD
#define PIN_MC   PIND
#define PORT_MC   PORTD

Hall sensor input pins.

#define HALL1   PB1
#define HALL2   PB2
#define HALL3   PB3
#define HALL_MASK   ((1<<HALL1)|(1<<HALL2)|(1<<HALL3))

Output pins to drive stages.

#define MC_MASK   ((1<<UL)|(1<<VL)|(1<<WL)|(1<<UH)|(1<<VH)|(1<<WH))
#define UH   PD7
#define UL   PD6
#define VH   PD4
#define VL   PD5
#define WH   PD2
#define WL   PD3

CCW driving configuration

IO driving configuration (driving enabled by setting IO to output)for counter clockwise rotation.

#define PDP1_CCW   ((1<<UL)|(0<<VL)|(0<<WL)|(0<<UH)|(1<<VH)|(0<<WH))
#define PDP2_CCW   ((1<<UL)|(0<<VL)|(0<<WL)|(0<<UH)|(0<<VH)|(1<<WH))
#define PDP3_CCW   ((0<<UL)|(1<<VL)|(0<<WL)|(0<<UH)|(0<<VH)|(1<<WH))
#define PDP4_CCW   ((0<<UL)|(1<<VL)|(0<<WL)|(1<<UH)|(0<<VH)|(0<<WH))
#define PDP5_CCW   ((0<<UL)|(0<<VL)|(1<<WL)|(1<<UH)|(0<<VH)|(0<<WH))
#define PDP6_CCW   ((0<<UL)|(0<<VL)|(1<<WL)|(0<<UH)|(1<<VH)|(0<<WH))

CW driving configuration

IO driving configuration (driving enabled by setting IO to output)for clockwise rotation.

#define PDP1_CW   ((0<<UL)|(0<<VL)|(1<<WL)|(0<<UH)|(1<<VH)|(0<<WH))
#define PDP2_CW   ((0<<UL)|(0<<VL)|(1<<WL)|(1<<UH)|(0<<VH)|(0<<WH))
#define PDP3_CW   ((0<<UL)|(1<<VL)|(0<<WL)|(1<<UH)|(0<<VH)|(0<<WH))
#define PDP4_CW   ((0<<UL)|(1<<VL)|(0<<WL)|(0<<UH)|(0<<VH)|(1<<WH))
#define PDP5_CW   ((1<<UL)|(0<<VL)|(0<<WL)|(0<<UH)|(0<<VH)|(1<<WH))
#define PDP6_CW   ((1<<UL)|(0<<VL)|(0<<WL)|(0<<UH)|(1<<VH)|(0<<WH))

Defines

#define ADC_REF_VOLTAGE   5.0f
 ADC reference voltage in Volts.
#define CLOCKWISE   1
 Used by Set_Direction() for CW rotation.
#define COUNTERCLOCKWISE   0
 Used by Set_Direction() for CCW rotation.
#define CURRENT_SHUNT_RESISTANCE   0.22f
 Current shunt resistanse in Ohms.
#define MAX_CURRENT   1.0f
 Max motor current in Amperes.
#define MAX_CURRENT_ADC   (signed int)(MAX_SHUNT_VOLTAGE / VOLTS_PER_ADC_STEP)
 Calc max value for raw ADC reading.
#define MAX_SHUNT_VOLTAGE   (MAX_CURRENT * CURRENT_SHUNT_RESISTANCE)
 Max current shunt voltage.
#define OVERCURRENT_PIN   PC1
 Over-current LED signalling (active low).
#define PATTERN_COM0_OFFSET   6
 Offset for Timer 0 Output Compare config pattern in table.
#define PATTERN_COM2_OFFSET   12
 Offset for Timer 2 Output Compare config pattern in table.
#define PATTERN_DRV_OFFSET   0
 Offset for drive pattern in table.
#define VOLTS_PER_ADC_STEP   (ADC_REF_VOLTAGE / 256)
 Volts per LSB with 8-bit ADC.

Define Documentation

#define ADC_MUX_SHUNT_H   ((0 << REFS1) | (0 << REFS0) | (1 << ADLAR) | (1 << MUX2))

Definition at line 156 of file sensor_three_phase_BLDC.h.

Referenced by main().

#define ADC_MUX_SHUNT_L   ((0 << REFS1) | (0 << REFS0) | (1 << ADLAR) | (1 << MUX2) | (1 << MUX0))

Definition at line 157 of file sensor_three_phase_BLDC.h.

#define ADC_MUX_SPEED_REF   ((0 << REFS1) | (0 << REFS0) | (1 << ADLAR))

Definition at line 155 of file sensor_three_phase_BLDC.h.

Referenced by main().

#define ADC_REF_VOLTAGE   5.0f

ADC reference voltage in Volts.

Definition at line 165 of file sensor_three_phase_BLDC.h.

#define CLOCKWISE   1

Used by Set_Direction() for CW rotation.

Definition at line 148 of file sensor_three_phase_BLDC.h.

Referenced by main(), and Set_Direction().

#define COM0P1_CCW   ((UL_ON)|(VL_OFF)|(1<<WGM01)|(1<<WGM00))

Definition at line 112 of file sensor_three_phase_BLDC.h.

#define COM0P1_CW   ((UL_OFF)|(VL_OFF)|(1<<WGM01)|(1<<WGM00))

Definition at line 125 of file sensor_three_phase_BLDC.h.

#define COM0P2_CCW   ((UL_ON)|(VL_OFF)|(1<<WGM01)|(1<<WGM00))

Definition at line 114 of file sensor_three_phase_BLDC.h.

#define COM0P2_CW   ((UL_OFF)|(VL_OFF)|(1<<WGM01)|(1<<WGM00))

Definition at line 127 of file sensor_three_phase_BLDC.h.

#define COM0P3_CCW   ((UL_OFF)|(VL_ON)|(1<<WGM01)|(1<<WGM00))

Definition at line 116 of file sensor_three_phase_BLDC.h.

#define COM0P3_CW   ((UL_OFF)|(VL_ON)|(1<<WGM01)|(1<<WGM00))

Definition at line 129 of file sensor_three_phase_BLDC.h.

#define COM0P4_CCW   ((UL_OFF)|(VL_ON)|(1<<WGM01)|(1<<WGM00))

Definition at line 118 of file sensor_three_phase_BLDC.h.

#define COM0P4_CW   ((UL_OFF)|(VL_ON)|(1<<WGM01)|(1<<WGM00))

Definition at line 131 of file sensor_three_phase_BLDC.h.

#define COM0P5_CCW   ((UL_OFF)|(VL_OFF)|(1<<WGM01)|(1<<WGM00))

Definition at line 120 of file sensor_three_phase_BLDC.h.

#define COM0P5_CW   ((UL_ON)|(VL_OFF)|(1<<WGM01)|(1<<WGM00))

Definition at line 133 of file sensor_three_phase_BLDC.h.

#define COM0P6_CCW   ((UL_OFF)|(VL_OFF)|(1<<WGM01)|(1<<WGM00))

Definition at line 122 of file sensor_three_phase_BLDC.h.

#define COM0P6_CW   ((UL_ON)|(VL_OFF)|(1<<WGM01)|(1<<WGM00))

Definition at line 135 of file sensor_three_phase_BLDC.h.

#define COM2P1_CCW   ((WL_OFF)|(1<<WGM21)|(1<<WGM20))

Definition at line 113 of file sensor_three_phase_BLDC.h.

#define COM2P1_CW   ((WL_ON)|(1<<WGM21)|(1<<WGM20))

Definition at line 126 of file sensor_three_phase_BLDC.h.

#define COM2P2_CCW   ((WL_OFF)|(1<<WGM21)|(1<<WGM20))

Definition at line 115 of file sensor_three_phase_BLDC.h.

#define COM2P2_CW   ((WL_ON)|(1<<WGM21)|(1<<WGM20))

Definition at line 128 of file sensor_three_phase_BLDC.h.

#define COM2P3_CCW   ((WL_OFF)|(1<<WGM21)|(1<<WGM20))

Definition at line 117 of file sensor_three_phase_BLDC.h.

#define COM2P3_CW   ((WL_OFF)|(1<<WGM21)|(1<<WGM20))

Definition at line 130 of file sensor_three_phase_BLDC.h.

#define COM2P4_CCW   ((WL_OFF)|(1<<WGM21)|(1<<WGM20))

Definition at line 119 of file sensor_three_phase_BLDC.h.

#define COM2P4_CW   ((WL_OFF)|(1<<WGM21)|(1<<WGM20))

Definition at line 132 of file sensor_three_phase_BLDC.h.

#define COM2P5_CCW   ((WL_ON)|(1<<WGM21)|(1<<WGM20))

Definition at line 121 of file sensor_three_phase_BLDC.h.

#define COM2P5_CW   ((WL_OFF)|(1<<WGM21)|(1<<WGM20))

Definition at line 134 of file sensor_three_phase_BLDC.h.

#define COM2P6_CCW   ((WL_ON)|(1<<WGM21)|(1<<WGM20))

Definition at line 123 of file sensor_three_phase_BLDC.h.

#define COM2P6_CW   ((WL_OFF)|(1<<WGM21)|(1<<WGM20))

Definition at line 136 of file sensor_three_phase_BLDC.h.

#define COUNTERCLOCKWISE   0

Used by Set_Direction() for CCW rotation.

Definition at line 149 of file sensor_three_phase_BLDC.h.

#define CURRENT_SHUNT_RESISTANCE   0.22f

Current shunt resistanse in Ohms.

Definition at line 164 of file sensor_three_phase_BLDC.h.

#define DDR_HALL   DDRB

Definition at line 59 of file sensor_three_phase_BLDC.h.

Referenced by main().

#define DDR_MC   DDRD

Definition at line 40 of file sensor_three_phase_BLDC.h.

Referenced by main().

#define HALL1   PB1

Definition at line 48 of file sensor_three_phase_BLDC.h.

#define HALL2   PB2

Definition at line 49 of file sensor_three_phase_BLDC.h.

#define HALL3   PB3

Definition at line 50 of file sensor_three_phase_BLDC.h.

#define HALL_MASK   ((1<<HALL1)|(1<<HALL2)|(1<<HALL3))

Definition at line 51 of file sensor_three_phase_BLDC.h.

Referenced by main().

#define HP1   ((1<<HALL1)|(0<<HALL2)|(1<<HALL3))

Definition at line 138 of file sensor_three_phase_BLDC.h.

#define HP2   ((1<<HALL1)|(0<<HALL2)|(0<<HALL3))

Definition at line 139 of file sensor_three_phase_BLDC.h.

#define HP3   ((1<<HALL1)|(1<<HALL2)|(0<<HALL3))

Definition at line 140 of file sensor_three_phase_BLDC.h.

#define HP4   ((0<<HALL1)|(1<<HALL2)|(0<<HALL3))

Definition at line 141 of file sensor_three_phase_BLDC.h.

#define HP5   ((0<<HALL1)|(1<<HALL2)|(1<<HALL3))

Definition at line 142 of file sensor_three_phase_BLDC.h.

#define HP6   ((0<<HALL1)|(0<<HALL2)|(1<<HALL3))

Definition at line 143 of file sensor_three_phase_BLDC.h.

#define MAX_CURRENT   1.0f

Max motor current in Amperes.

Definition at line 163 of file sensor_three_phase_BLDC.h.

#define MAX_CURRENT_ADC   (signed int)(MAX_SHUNT_VOLTAGE / VOLTS_PER_ADC_STEP)

Calc max value for raw ADC reading.

Definition at line 169 of file sensor_three_phase_BLDC.h.

Referenced by main().

#define MAX_SHUNT_VOLTAGE   (MAX_CURRENT * CURRENT_SHUNT_RESISTANCE)

Max current shunt voltage.

Definition at line 168 of file sensor_three_phase_BLDC.h.

#define MC_MASK   ((1<<UL)|(1<<VL)|(1<<WL)|(1<<UH)|(1<<VH)|(1<<WH))

Definition at line 32 of file sensor_three_phase_BLDC.h.

Referenced by main().

#define OVERCURRENT_PIN   PC1

Over-current LED signalling (active low).

Definition at line 101 of file sensor_three_phase_BLDC.h.

Referenced by main().

#define PATTERN_COM0_OFFSET   6

Offset for Timer 0 Output Compare config pattern in table.

Definition at line 66 of file sensor_three_phase_BLDC.h.

Referenced by PCINT0_ISR().

#define PATTERN_COM2_OFFSET   12

Offset for Timer 2 Output Compare config pattern in table.

Definition at line 67 of file sensor_three_phase_BLDC.h.

Referenced by PCINT0_ISR().

#define PATTERN_DRV_OFFSET   0

Offset for drive pattern in table.

Definition at line 65 of file sensor_three_phase_BLDC.h.

#define PDP1_CCW   ((1<<UL)|(0<<VL)|(0<<WL)|(0<<UH)|(1<<VH)|(0<<WH))

Definition at line 77 of file sensor_three_phase_BLDC.h.

#define PDP1_CW   ((0<<UL)|(0<<VL)|(1<<WL)|(0<<UH)|(1<<VH)|(0<<WH))

Definition at line 93 of file sensor_three_phase_BLDC.h.

#define PDP2_CCW   ((1<<UL)|(0<<VL)|(0<<WL)|(0<<UH)|(0<<VH)|(1<<WH))

Definition at line 78 of file sensor_three_phase_BLDC.h.

#define PDP2_CW   ((0<<UL)|(0<<VL)|(1<<WL)|(1<<UH)|(0<<VH)|(0<<WH))

Definition at line 94 of file sensor_three_phase_BLDC.h.

#define PDP3_CCW   ((0<<UL)|(1<<VL)|(0<<WL)|(0<<UH)|(0<<VH)|(1<<WH))

Definition at line 79 of file sensor_three_phase_BLDC.h.

#define PDP3_CW   ((0<<UL)|(1<<VL)|(0<<WL)|(1<<UH)|(0<<VH)|(0<<WH))

Definition at line 95 of file sensor_three_phase_BLDC.h.

#define PDP4_CCW   ((0<<UL)|(1<<VL)|(0<<WL)|(1<<UH)|(0<<VH)|(0<<WH))

Definition at line 80 of file sensor_three_phase_BLDC.h.

#define PDP4_CW   ((0<<UL)|(1<<VL)|(0<<WL)|(0<<UH)|(0<<VH)|(1<<WH))

Definition at line 96 of file sensor_three_phase_BLDC.h.

#define PDP5_CCW   ((0<<UL)|(0<<VL)|(1<<WL)|(1<<UH)|(0<<VH)|(0<<WH))

Definition at line 81 of file sensor_three_phase_BLDC.h.

#define PDP5_CW   ((1<<UL)|(0<<VL)|(0<<WL)|(0<<UH)|(0<<VH)|(1<<WH))

Definition at line 97 of file sensor_three_phase_BLDC.h.

#define PDP6_CCW   ((0<<UL)|(0<<VL)|(1<<WL)|(0<<UH)|(1<<VH)|(0<<WH))

Definition at line 82 of file sensor_three_phase_BLDC.h.

#define PDP6_CW   ((1<<UL)|(0<<VL)|(0<<WL)|(0<<UH)|(1<<VH)|(0<<WH))

Definition at line 98 of file sensor_three_phase_BLDC.h.

#define PIN_HALL   PINB

Definition at line 60 of file sensor_three_phase_BLDC.h.

Referenced by PCINT0_ISR().

#define PIN_MC   PIND

Definition at line 41 of file sensor_three_phase_BLDC.h.

#define PORT_HALL   PORTB

Definition at line 58 of file sensor_three_phase_BLDC.h.

Referenced by main().

#define PORT_MC   PORTD

Definition at line 39 of file sensor_three_phase_BLDC.h.

Referenced by PCINT0_ISR().

#define UH   PD7

Definition at line 29 of file sensor_three_phase_BLDC.h.

#define UL   PD6

Definition at line 26 of file sensor_three_phase_BLDC.h.

#define UL_OFF   ((0<<COM0A1)|(0<<COM0A0))

Definition at line 106 of file sensor_three_phase_BLDC.h.

#define UL_ON   ((1<<COM0A1)|(0<<COM0A0))

Definition at line 105 of file sensor_three_phase_BLDC.h.

#define VH   PD4

Definition at line 30 of file sensor_three_phase_BLDC.h.

#define VL   PD5

Definition at line 27 of file sensor_three_phase_BLDC.h.

#define VL_OFF   ((0<<COM0B1)|(0<<COM0B0))

Definition at line 108 of file sensor_three_phase_BLDC.h.

#define VL_ON   ((1<<COM0B1)|(0<<COM0B0))

Definition at line 107 of file sensor_three_phase_BLDC.h.

#define VOLTS_PER_ADC_STEP   (ADC_REF_VOLTAGE / 256)

Volts per LSB with 8-bit ADC.

Definition at line 167 of file sensor_three_phase_BLDC.h.

#define WH   PD2

Definition at line 31 of file sensor_three_phase_BLDC.h.

#define WL   PD3

Definition at line 28 of file sensor_three_phase_BLDC.h.

#define WL_OFF   ((0<<COM2B1)|(0<<COM2B0))

Definition at line 110 of file sensor_three_phase_BLDC.h.

#define WL_ON   ((1<<COM2B1)|(0<<COM2B0))

Definition at line 109 of file sensor_three_phase_BLDC.h.

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