Main Page | Data Structures | File List | Data Fields | Globals | Related Pages

PMSM.h File Reference

Detailed Description

Motor control header file.

This file contains all defines, typedefs and prototypes related to the motor control.

Application note:
AVR447: Sinusoidal driving of three-phase permanent motor using ATmega48/88/168
Documentation
For comprehensive code documentation, supported compilers, compiler settings and supported devices see readme.html
Author:
Atmel Corporation: http://www.atmel.com
Support email: avr@atmel.com
Name
RELEASE_1_0
Revision
1.9
RCSfile
PMSM.h,v
Date
2006/03/27 07:20:51

Definition in file PMSM.h.

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Data Structures

struct  PMSMflags
 Collection of all motor control flags. More...

Defines

#define ADC_CHANNEL_CURRENT   4
 The ADC channel where the motor current shunt resistor is connected.
#define ADC_CHANNEL_SPEED_REF   3
 The ADC channel where the analog speed reference is connected.
#define ADC_PRESCALER   ADC_PRESCALER_8
 ADC clock prescaler used in this application.
#define ADC_PRESCALER_64   ((1 << ADPS2) | (1 << ADPS1) | (0 << ADPS0))
 ADC clock prescaler 64 setting.
#define ADC_PRESCALER_8   ((0 << ADPS2) | (1 << ADPS1) | (0 << ADPS0))
 ADC clock prescaler 8 setting.
#define ADC_REFERENCE_VOLTAGE   ADC_REFERENCE_VOLTAGE_INTERNAL
#define ADC_REFERENCE_VOLTAGE_AREF   ((0 << REFS1) | (0 << REFS0))
 ADC AREF voltage reference channel value.
#define ADC_REFERENCE_VOLTAGE_INTERNAL   ((1 << REFS1) | (1 << REFS0))
 ADC internal voltage reference channel value.
#define ADC_REFERENCE_VOLTAGE_VCC   ((0 << REFS1) | (1 << REFS0))
 ADC VCC voltage reference channel value.
#define ADMUX_CURRENT   (ADC_REFERENCE_VOLTAGE | (1 << ADLAR) | (ADC_CHANNEL_CURRENT << MUX0))
 ADMUX settings for motor current measurement.
#define ADMUX_SPEED_REF   (ADC_REFERENCE_VOLTAGE | (1 << ADLAR) | (ADC_CHANNEL_SPEED_REF << MUX0))
 ADMUX settings for analog speed reference measurement.
#define BLOCK_COMMUTATION_DUTY_MULTIPLIER   3
 The number to multiply speed input with to produce duty cycle compare value (0-255).
#define COMMUTATION_TICKS_STOPPED   6000
#define DEAD_TIME_HALF   4
#define DIRECTION_COMMAND_PIN   PD2
#define DIRECTION_FORWARD   0
 Forward direction flag value.
#define DIRECTION_REVERSE   1
 Reverse direction flag value.
#define DIRECTION_UNKNOWN   3
 Unknown direction flag value.
#define EMERGENCY_SHUTDOWN_PIN   PB5
#define FALSE   0
 FALSE constant value.
#define H1_PIN   PC0
 Pin where H1 is connected.
#define H2_PIN   PC1
 Pin where H2 is connected.
#define H3_PIN   PC2
 Pin where H3 is connected.
#define HALL_PIN   PINC
 PIN register for Hall sensor input.
#define HALL_PULLUP_ENABLE   FALSE
#define PID_K_D   10
#define PID_K_I   5
#define PID_K_P   50
#define PWM_PATTERN_PORTB   ((1 << PB1) | (1 << PB2) | (1 << PB3))
 Bit pattern of PWM pins placed on PORTB.
#define PWM_PATTERN_PORTD   ((1 << PD3) | (1 << PD5) | (1 << PD6))
 Bit pattern of PWM pins placed on PORTD.
#define REV_ROTATION_PIN   PD4
#define REVERSE_ROTATION_SIGNAL_ENABLE   TRUE
#define SINE_TABLE_LENGTH   192U
 The number of elements in the sine modulation table per phase.
#define SPEED_CONTROL_CLOSED_LOOP   1
 Speed control selection for closed loop control.
#define SPEED_CONTROL_METHOD   SPEED_CONTROL_OPEN_LOOP
#define SPEED_CONTROL_OPEN_LOOP   0
 Speed control selection for open loop control.
#define SPEED_CONTROLLER_MAX_INCREMENT   550
#define SPEED_CONTROLLER_MAX_INPUT   256
#define SPEED_CONTROLLER_TIME_BASE   150
#define SYNCHRONIZATION_COUNT   2
#define TABLE_ELEMENTS_PER_COMMUTATION_SECTOR   (SINE_TABLE_LENGTH / 6)
 The number of elements in the sine modulation table for each phase per commutation sector.
#define TACHO_OUTPUT_ENABLED   TRUE
#define TACHO_OUTPUT_PIN   PD7
#define TRUE   (!FALSE)
 TRUE constant value, defined to be compatible with comparisons.
#define TURN_MODE   TURN_MODE_BRAKE
#define TURN_MODE_BRAKE   1
 TURN_MODE value for braking (drivers connected to ground).
#define TURN_MODE_COAST   0
 TURN_MODE value for coasting (disabled drivers).
#define WAVEFORM_BLOCK_COMMUTATION   0
 Waveform constant for block commutation. Used as status flag.
#define WAVEFORM_BRAKING   2
 Waveform status flag for braking.
#define WAVEFORM_SINUSOIDAL   1
 Waveform status flag for sinusoidal driving.
#define WAVEFORM_UNDEFINED   3
 Waveform status flag used in transitions between different types of driving.

Typedefs

typedef PMSMflags PMSMflags_t
 Collection of all motor control flags.

Functions

static void ActualDirectionUpdate (uint8_t lastHall, const uint8_t newHall)
__interrupt void ADCCompleteISR (void)
 AD conversion complete interrupt service routine.
static void ADCInit (void)
static void AdjustSineTableIndex (const uint16_t increment)
static void BlockCommutate (const uint8_t direction, uint8_t hall)
static void BlockCommutationSetDuty (const uint8_t duty)
static uint8_t CalculateActualDirection (const uint8_t lastHall, const uint8_t newHall)
static void CheckEmergencyShutdown (void)
static void CommutationTicksUpdate (void)
static void DesiredDirectionUpdate (void)
__interrupt void DirectionInputChangeISR (void)
 Direction input change interrupt service routine.
static void DisablePWMOutputs (void)
__interrupt void EmergencyInterruptISR (void)
 Emergency shut-off interrupt service routine.
static void EnablePWMOutputs (void)
static uint8_t GetActualDirection (void)
static uint8_t GetDesiredDirection (void)
static uint8_t GetHall (void)
__interrupt void HallChangeISR (void)
 Hall sensor change interrupt service routine.
static void InsertDeadband (const uint8_t compareValue, uint8_t *compareHighPtr, uint8_t *compareLowPtr)
static uint8_t IsMotorSynchronized (void)
static void MotorSynchronizedUpdate (void)
static void PinChangeIntInit (void)
static void PortsInit (void)
static void ReverseRotationSignalUpdate (void)
static void SetAdvanceCommutation (const uint8_t leadAngle)
static uint16_t SineTableIncrementCalculate (const uint16_t ticks)
static void SpeedController (void)
static void TachoOutputUpdate (const uint8_t hall)
__interrupt void Timer1CaptureISR (void)
 Timer1 Capture Evente interrupt service routine.
__interrupt void Timer2OverflowISR (void)
static void TimersInit (void)
static void TimersSetModeBlockCommutation (void)
static void TimersSetModeBrake (void)
static void TimersSetModeSinusoidal (void)
static void TimersWaitForNextPWMCycle (void)
__interrupt void WatchdogISR (void)

Define Documentation

#define ADC_CHANNEL_CURRENT   4
 

The ADC channel where the motor current shunt resistor is connected.

Definition at line 92 of file PMSM.h.

#define ADC_CHANNEL_SPEED_REF   3
 

The ADC channel where the analog speed reference is connected.

Definition at line 89 of file PMSM.h.

#define ADC_PRESCALER   ADC_PRESCALER_8
 

ADC clock prescaler used in this application.

Definition at line 101 of file PMSM.h.

Referenced by ADCInit().

#define ADC_PRESCALER_64   ((1 << ADPS2) | (1 << ADPS1) | (0 << ADPS0))
 

ADC clock prescaler 64 setting.

Definition at line 98 of file PMSM.h.

#define ADC_PRESCALER_8   ((0 << ADPS2) | (1 << ADPS1) | (0 << ADPS0))
 

ADC clock prescaler 8 setting.

Definition at line 95 of file PMSM.h.

#define ADC_REFERENCE_VOLTAGE   ADC_REFERENCE_VOLTAGE_INTERNAL
 

ADC voltage reference used in this application.

Todo:
Select ADC voltage reference channel.

Definition at line 116 of file PMSM.h.

#define ADC_REFERENCE_VOLTAGE_AREF   ((0 << REFS1) | (0 << REFS0))
 

ADC AREF voltage reference channel value.

Definition at line 110 of file PMSM.h.

#define ADC_REFERENCE_VOLTAGE_INTERNAL   ((1 << REFS1) | (1 << REFS0))
 

ADC internal voltage reference channel value.

Definition at line 104 of file PMSM.h.

#define ADC_REFERENCE_VOLTAGE_VCC   ((0 << REFS1) | (1 << REFS0))
 

ADC VCC voltage reference channel value.

Definition at line 107 of file PMSM.h.

#define ADMUX_CURRENT   (ADC_REFERENCE_VOLTAGE | (1 << ADLAR) | (ADC_CHANNEL_CURRENT << MUX0))
 

ADMUX settings for motor current measurement.

Definition at line 122 of file PMSM.h.

Referenced by ADCCompleteISR().

#define ADMUX_SPEED_REF   (ADC_REFERENCE_VOLTAGE | (1 << ADLAR) | (ADC_CHANNEL_SPEED_REF << MUX0))
 

ADMUX settings for analog speed reference measurement.

Definition at line 119 of file PMSM.h.

Referenced by ADCCompleteISR(), and ADCInit().

#define BLOCK_COMMUTATION_DUTY_MULTIPLIER   3
 

The number to multiply speed input with to produce duty cycle compare value (0-255).

Definition at line 192 of file PMSM.h.

Referenced by Timer1CaptureISR().

#define COMMUTATION_TICKS_STOPPED   6000
 

The number of commutation 'ticks' that must pass without any hall changes before the motor is considered to be stopped.

Todo:
Adjust the motor stopped limit.

Definition at line 165 of file PMSM.h.

Referenced by CommutationTicksUpdate().

#define DEAD_TIME_HALF   4
 

This value specifies half the dead time in number of clock cycles. Divide by frequency to get duration.

Todo:
Specify the dead time.

Definition at line 42 of file PMSM.h.

Referenced by InsertDeadband().

#define DIRECTION_COMMAND_PIN   PD2
 

Pin where direction command input is located.

Do not change to pin on a different PORT!

Definition at line 128 of file PMSM.h.

Referenced by DesiredDirectionUpdate(), and PortsInit().

#define DIRECTION_FORWARD   0
 

Forward direction flag value.

Definition at line 61 of file PMSM.h.

Referenced by ActualDirectionUpdate(), BlockCommutate(), DesiredDirectionUpdate(), HallChangeISR(), and Timer1CaptureISR().

#define DIRECTION_REVERSE   1
 

Reverse direction flag value.

Definition at line 64 of file PMSM.h.

Referenced by ActualDirectionUpdate(), and DesiredDirectionUpdate().

#define DIRECTION_UNKNOWN   3
 

Unknown direction flag value.

Definition at line 67 of file PMSM.h.

Referenced by ActualDirectionUpdate(), and main().

#define EMERGENCY_SHUTDOWN_PIN   PB5
 

Emergency shutdown input pin

Do not change to pin on a different PORT!

Definition at line 146 of file PMSM.h.

Referenced by CheckEmergencyShutdown().

#define FALSE   0
 

FALSE constant value.

Definition at line 33 of file PMSM.h.

#define H1_PIN   PC0
 

Pin where H1 is connected.

Definition at line 80 of file PMSM.h.

Referenced by GetHall(), and PortsInit().

#define H2_PIN   PC1
 

Pin where H2 is connected.

Definition at line 83 of file PMSM.h.

Referenced by GetHall(), and PortsInit().

#define H3_PIN   PC2
 

Pin where H3 is connected.

Definition at line 86 of file PMSM.h.

Referenced by GetHall(), and PortsInit().

#define HALL_PIN   PINC
 

PIN register for Hall sensor input.

Definition at line 77 of file PMSM.h.

#define HALL_PULLUP_ENABLE   FALSE
 

Uncomment this to disable internal pullup resistors on hall sensor inputs.

Todo:
Select whether internal pull-ups on hall sensor inputs should be enabled.

Definition at line 74 of file PMSM.h.

#define PID_K_D   10
 

PID controller derivative gain constant.

Todo:
Adjust PID controller derivative gain. (Only for closed loop)

Definition at line 231 of file PMSM.h.

Referenced by main().

#define PID_K_I   5
 

PID controller integral gain constant.

Todo:
Adjust PID controller integral gain. (Only for closed loop)

Definition at line 226 of file PMSM.h.

Referenced by main().

#define PID_K_P   50
 

PID controller proportional gain constant.

Todo:
Adjust PID controller proportional gain. (Only for closed loop)

Definition at line 221 of file PMSM.h.

Referenced by main().

#define PWM_PATTERN_PORTB   ((1 << PB1) | (1 << PB2) | (1 << PB3))
 

Bit pattern of PWM pins placed on PORTB.

Definition at line 55 of file PMSM.h.

Referenced by DisablePWMOutputs(), and EnablePWMOutputs().

#define PWM_PATTERN_PORTD   ((1 << PD3) | (1 << PD5) | (1 << PD6))
 

Bit pattern of PWM pins placed on PORTD.

Definition at line 58 of file PMSM.h.

Referenced by DisablePWMOutputs(), and EnablePWMOutputs().

#define REV_ROTATION_PIN   PD4
 

Pin where reverse rotation signal output is located.

Do not change to pin on a different PORT!

Definition at line 134 of file PMSM.h.

Referenced by PortsInit(), and ReverseRotationSignalUpdate().

#define REVERSE_ROTATION_SIGNAL_ENABLE   TRUE
 

Enables/disables the reverse rotation signal output. TRUE = enabled, FALSE = disabled.

Todo:
Select whether the 'Reverse rotation' signal should be enabled.

Definition at line 177 of file PMSM.h.

#define SINE_TABLE_LENGTH   192U
 

The number of elements in the sine modulation table per phase.

Definition at line 45 of file PMSM.h.

Referenced by AdjustSineTableIndex(), and SineTableIncrementCalculate().

#define SPEED_CONTROL_CLOSED_LOOP   1
 

Speed control selection for closed loop control.

Definition at line 205 of file PMSM.h.

#define SPEED_CONTROL_METHOD   SPEED_CONTROL_OPEN_LOOP
 

Type of speed control. select either SPEED_CONTROL_OPEN_LOOP or SPEED_CONTROL_CLOSED_LOOP.

Todo:
Select speed control method.

Definition at line 211 of file PMSM.h.

#define SPEED_CONTROL_OPEN_LOOP   0
 

Speed control selection for open loop control.

Definition at line 202 of file PMSM.h.

#define SPEED_CONTROLLER_MAX_INCREMENT   550
 

The maximum increment (maximum speed) to use as setpoint when the maximum speed reference value is input.

Todo:
Adjust maximum increment. (Maximum speed, used by speed controller)

Definition at line 238 of file PMSM.h.

Referenced by SpeedController().

#define SPEED_CONTROLLER_MAX_INPUT   256
 

Max speed reference input. (Rounded up to closest power of 2 in this case, which is recommended to speed up division.

Todo:
Adjust Maximum speed reference input value.

Definition at line 245 of file PMSM.h.

Referenced by SpeedController().

#define SPEED_CONTROLLER_TIME_BASE   150
 

The number of ticks between each iteration of the speed loop.

Todo:
Adjust speed control loop time base.

Definition at line 216 of file PMSM.h.

Referenced by Timer1CaptureISR().

#define SYNCHRONIZATION_COUNT   2
 

This constant specifies the number of subsequent detections of correct direction of rotation needed before the firmware is considered synchronized with the motor. (SYNCHRONIZATION_COUNT + 1) hall sensor changes in the same direction are needed.

Definition at line 199 of file PMSM.h.

Referenced by MotorSynchronizedUpdate().

#define TABLE_ELEMENTS_PER_COMMUTATION_SECTOR   (SINE_TABLE_LENGTH / 6)
 

The number of elements in the sine modulation table for each phase per commutation sector.

Definition at line 52 of file PMSM.h.

Referenced by HallChangeISR().

#define TACHO_OUTPUT_ENABLED   TRUE
 

Enables/disables the tacho signal output. TRUE = enabled, FALSE = disabled.

Todo:
Select whether the Tacho output signal should be enabled.

Definition at line 171 of file PMSM.h.

#define TACHO_OUTPUT_PIN   PD7
 

Pin where tacho signal output is located.

Do not change to pin on a different PORT!

Definition at line 140 of file PMSM.h.

Referenced by PortsInit(), and TachoOutputUpdate().

#define TRUE   (!FALSE)
 

TRUE constant value, defined to be compatible with comparisons.

Definition at line 36 of file PMSM.h.

#define TURN_MODE   TURN_MODE_BRAKE
 

Turn mode. Set to either TURN_MODE_COAST or TURN_MODE_BRAKE.

Todo:
Select turn mode.

Definition at line 189 of file PMSM.h.

#define TURN_MODE_BRAKE   1
 

TURN_MODE value for braking (drivers connected to ground).

Definition at line 183 of file PMSM.h.

#define TURN_MODE_COAST   0
 

TURN_MODE value for coasting (disabled drivers).

Definition at line 180 of file PMSM.h.

#define WAVEFORM_BLOCK_COMMUTATION   0
 

Waveform constant for block commutation. Used as status flag.

Definition at line 149 of file PMSM.h.

Referenced by CommutationTicksUpdate(), HallChangeISR(), Timer1CaptureISR(), and TimersSetModeBlockCommutation().

#define WAVEFORM_BRAKING   2
 

Waveform status flag for braking.

Definition at line 155 of file PMSM.h.

Referenced by TimersSetModeBrake().

#define WAVEFORM_SINUSOIDAL   1
 

Waveform status flag for sinusoidal driving.

Definition at line 152 of file PMSM.h.

Referenced by HallChangeISR(), Timer1CaptureISR(), and TimersSetModeSinusoidal().

#define WAVEFORM_UNDEFINED   3
 

Waveform status flag used in transitions between different types of driving.

Definition at line 158 of file PMSM.h.

Referenced by DirectionInputChangeISR(), and main().

Typedef Documentation

typedef struct PMSMflags PMSMflags_t
 

Collection of all motor control flags.

This struct contains all motor control flags used in this implementation.

Function Documentation

static void ActualDirectionUpdate (  uint8_t  lastHall,
const uint8_t  newHall
)  [static]
 

__interrupt void ADCCompleteISR (  void   ) 
 

AD conversion complete interrupt service routine.

This interrupt service routine is automatically executed every time an AD conversion is finished and the converted result is available in the ADC data register.

The switch/case construct makes sure the converted value is stored in the variable corresponding to the selected channel and changes the channel for the next ADC measurement.

More ADC measurements can be added to the cycle by extending the switch/ case construct.

Only the 8 most significant bits of the ADC result are used.

Definition at line 1122 of file main.c.

References ADMUX_CURRENT, ADMUX_SPEED_REF, current, and speedInput.

01123 {
01124   switch (ADMUX)
01125   {
01126   case ADMUX_SPEED_REF:
01127     speedInput = ADCH;
01128     ADMUX = ADMUX_CURRENT;
01129     break;
01130   case ADMUX_CURRENT:
01131     current = ADCH;
01132     ADMUX = ADMUX_SPEED_REF;
01133     break;
01134   default:
01135     //This is probably an error and should be handled.
01136     break;
01137   }
01138 
01139   //Clear Timer/counter0 overflow flag.
01140   TIFR0 = (1 << TOV0);
01141 }

static void ADCInit (  void   )  [static]
 

static void AdjustSineTableIndex (  const uint16_t  increment  )  [static]
 

static void BlockCommutate (  const uint8_t  direction,
uint8_t  hall
)  [static]
 

static void BlockCommutationSetDuty (  const uint8_t  duty  )  [static]
 

static uint8_t CalculateActualDirection (  const uint8_t  lastHall,
const uint8_t  newHall
)  [static]
 

static void CheckEmergencyShutdown (  void   )  [static]
 

static void CommutationTicksUpdate (  void   )  [static]
 

static void DesiredDirectionUpdate (  void   )  [static]
 

__interrupt void DirectionInputChangeISR (  void   ) 
 

Direction input change interrupt service routine.

This ISR is called every time the direction input pin changes state. The desired direction flag is updated accordingly. The motor control then goes into a state where it needs a stopped motor or a synchronization before any driving of the motor is performed.

Definition at line 999 of file main.c.

References DesiredDirectionUpdate(), DisablePWMOutputs(), FALSE, TimersSetModeBrake(), and WAVEFORM_UNDEFINED.

01000 {
01001   //Update desired direction flag.
01002   DesiredDirectionUpdate();
01003 
01004 #if (TURN_MODE == TURN_MODE_COAST)
01005   //Disable driver signals to let motor coast. The motor will automatically
01006   //start once it is synchronized or stopped.
01007   DisablePWMOutputs();
01008   fastFlags.motorSynchronized = FALSE;
01009   fastFlags.motorStopped = FALSE;
01010   fastFlags.driveWaveform = WAVEFORM_UNDEFINED;
01011 #endif
01012 
01013 #if (TURN_MODE == TURN_MODE_BRAKE)
01014   //Set motor in brake mode. The motor will automatically start once it is
01015   //synchronized or stopped.
01016   fastFlags.motorSynchronized = FALSE;
01017   fastFlags.motorStopped = FALSE;
01018   TimersSetModeBrake(); // Automatically sets driveWaveform.
01019 #endif
01020 }

Here is the call graph for this function:

static void DisablePWMOutputs (  void   )  [static]
 

__interrupt void EmergencyInterruptISR (  void   ) 
 

Emergency shut-off interrupt service routine.

This ISR is triggered if the emergency shutdown input changes state.

Note:
In the current implementation, the motor driver outputs are simply disabled and the program goes into an eternal loop on any change at this input. Custom code should be made here that handles such situation in a more intelligent way, adapted to the motor and driver stage.
Todo:
Change how emergency shut-off is handled.

Definition at line 901 of file main.c.

References DisablePWMOutputs().

00902 {
00903   DisablePWMOutputs();
00904   for (;;)
00905   {
00906 
00907   }
00908 }

Here is the call graph for this function:

static void EnablePWMOutputs (  void   )  [static]
 

static uint8_t GetActualDirection (  void   )  [static]
 

static uint8_t GetDesiredDirection (  void   )  [static]
 

static uint8_t GetHall (  void   )  [static]
 

__interrupt void HallChangeISR (  void   ) 
 

Hall sensor change interrupt service routine.

This interrupt service routine is called every time any of the hall sensors change. The sine table index is updated to reflect the position indicated by the hall sensors.

A new increment is calculated, based on the time since last hall sensor change.

The Tacho output signal is updated.

The actual direction is updated.

The reverse rotation output signal is updated.

The motor stopped flag is set to false, since the motor is obviously not stopped when there is a hall change.

Definition at line 930 of file main.c.

References ActualDirectionUpdate(), advanceCommutationSteps, BlockCommutate(), commutationTicks, CSOffsetsForward, CSOffsetsReverse, DIRECTION_FORWARD, FALSE, GetDesiredDirection(), GetHall(), IsMotorSynchronized(), MotorSynchronizedUpdate(), ReverseRotationSignalUpdate(), sineTableIncrement, SineTableIncrementCalculate(), sineTableIndex, sineTableNextSectorStart, TABLE_ELEMENTS_PER_COMMUTATION_SECTOR, TachoOutputUpdate(), TimersSetModeSinusoidal(), WAVEFORM_BLOCK_COMMUTATION, and WAVEFORM_SINUSOIDAL.

00931 {
00932   static uint8_t lastHall = 0xff;
00933   uint8_t hall;
00934 
00935   hall = GetHall();
00936 
00937   MotorSynchronizedUpdate();
00938   uint8_t synch = IsMotorSynchronized();
00939   if ((fastFlags.driveWaveform != WAVEFORM_SINUSOIDAL) && (synch))
00940   {
00941     TimersSetModeSinusoidal();
00942   }
00943 
00944   //If sinusoidal driving is used, synchronize sine wave generation to the
00945   //current hall sensor value. Advance commutation is also
00946   //added in the process.
00947   if (fastFlags.driveWaveform == WAVEFORM_SINUSOIDAL)
00948   {
00949     uint16_t tempIndex;
00950     if (GetDesiredDirection() == DIRECTION_FORWARD)
00951     {
00952       tempIndex = (CSOffsetsForward[hall] + advanceCommutationSteps) << 8;
00953     }
00954     else
00955     {
00956       tempIndex = (CSOffsetsReverse[hall] + advanceCommutationSteps) << 8;
00957     }
00958     sineTableIndex = tempIndex;
00959 
00960     //Adjust next sector start index. It might be set to a value larger than
00961     //SINE_TABLE_LENGTH at this point. This is adjusted in AdjustSineTableIndex
00962     //and should not be done here, as it will cause problems when advance
00963     //commutation is used.
00964     sineTableNextSectorStart = (tempIndex >> 8) + TABLE_ELEMENTS_PER_COMMUTATION_SECTOR;
00965   }
00966 
00967   //If block commutation is used. Commutate according to hall signal.
00968   else if (fastFlags.driveWaveform == WAVEFORM_BLOCK_COMMUTATION)
00969   {
00970     BlockCommutate(GetDesiredDirection(), hall);
00971   }
00972 
00973   //Update internal and external signals that depend on hall sensor value.
00974   TachoOutputUpdate(hall);
00975   ActualDirectionUpdate(lastHall, hall);
00976   ReverseRotationSignalUpdate();
00977 
00978   lastHall = hall;
00979 
00980   //Calculate new increment for sine wave generation and reset commutation
00981   //timer.
00982   sineTableIncrement = SineTableIncrementCalculate(commutationTicks);
00983   commutationTicks = 0;
00984 
00985   //Since the hall sensors are changing, the motor can not be stopped.
00986   fastFlags.motorStopped = FALSE;
00987 }

Here is the call graph for this function:

static void InsertDeadband (  const uint8_t  compareValue,
uint8_t *  compareHighPtr,
uint8_t *  compareLowPtr
)  [static]
 

static uint8_t IsMotorSynchronized (  void   )  [static]
 

static void MotorSynchronizedUpdate (  void   )  [static]
 

static void PinChangeIntInit (  void   )  [static]
 

static void PortsInit (  void   )  [static]
 

static void ReverseRotationSignalUpdate (  void   )  [static]
 

static void SetAdvanceCommutation (  const uint8_t  leadAngle  )  [static]
 

static uint16_t SineTableIncrementCalculate (  const uint16_t  ticks  )  [static]
 

static void SpeedController (  void   )  [static]
 

static void TachoOutputUpdate (  const uint8_t  hall  )  [static]
 

__interrupt void Timer1CaptureISR (  void   ) 
 

Timer1 Capture Evente interrupt service routine.

This interrupt service routine is run everytime the up-down counting timer0 reaches TOP (0xff). New sinusoidal output values are calculated and the timers are updated to reflect the new values.

Definition at line 1030 of file main.c.

References AdjustSineTableIndex(), amplitude, BLOCK_COMMUTATION_DUTY_MULTIPLIER, BlockCommutationSetDuty(), CommutationTicksUpdate(), DIRECTION_FORWARD, GetDesiredDirection(), InsertDeadband(), sineTable, sineTableIncrement, sineTableIndex, SPEED_CONTROLLER_TIME_BASE, SpeedControllerRun, TRUE, WAVEFORM_BLOCK_COMMUTATION, and WAVEFORM_SINUSOIDAL.

01031 {
01032   if (fastFlags.driveWaveform == WAVEFORM_SINUSOIDAL)
01033   {
01034     uint8_t tempU, tempV, tempW;
01035     {
01036       uint8_t const __flash * sineTablePtr = sineTable;
01037 
01038       AdjustSineTableIndex(sineTableIncrement);
01039 
01040       //Add sine table offset to pointer. Must be multiplied by 3, since one
01041       //value for each phase is stored in the table.
01042       sineTablePtr += (sineTableIndex >> 8) * 3;
01043 
01044       tempU = *sineTablePtr++;
01045       if (GetDesiredDirection() == DIRECTION_FORWARD)
01046       {
01047         tempV = *sineTablePtr++;
01048         tempW = *sineTablePtr;
01049       }
01050       else
01051       {
01052         tempW = *sineTablePtr++;
01053         tempV = *sineTablePtr;
01054       }
01055     }
01056 
01057     //Scale sine modulation values to the current amplitude.
01058     tempU = ((uint16_t)(amplitude * tempU) >> 8);
01059     tempV = ((uint16_t)(amplitude * tempV) >> 8);
01060     tempW = ((uint16_t)(amplitude * tempW) >> 8);
01061 
01062     {
01063       uint8_t compareHigh, compareLow;
01064 
01065 
01066       InsertDeadband(tempU, &compareHigh, &compareLow);
01067       OCR0A = compareHigh;
01068       OCR0B = compareLow;
01069 
01070       InsertDeadband(tempV, &compareHigh, &compareLow);
01071       OCR1AL = compareHigh;
01072       OCR1BL = compareLow;
01073 
01074       InsertDeadband(tempW, &compareHigh, &compareLow);
01075       OCR2A = compareHigh;
01076       OCR2B = compareLow;
01077     }
01078   }
01079   else if (fastFlags.driveWaveform == WAVEFORM_BLOCK_COMMUTATION)
01080   {
01081     uint16_t blockCommutationDuty = amplitude * BLOCK_COMMUTATION_DUTY_MULTIPLIER;
01082 
01083     if (blockCommutationDuty > 255)
01084     {
01085       blockCommutationDuty = 255;
01086     }
01087 
01088     BlockCommutationSetDuty((uint8_t)blockCommutationDuty);
01089   }
01090 
01091   CommutationTicksUpdate();
01092 
01093   {
01094     //Run the speed regulation loop with constant intervals.
01095     static uint8_t speedRegTicks = 0;
01096     speedRegTicks++;
01097     if (speedRegTicks >= SPEED_CONTROLLER_TIME_BASE)
01098     {
01099       SpeedControllerRun = TRUE;
01100       speedRegTicks -= SPEED_CONTROLLER_TIME_BASE;
01101     }
01102   }
01103 }

Here is the call graph for this function:

__interrupt void Timer2OverflowISR (  void   ) 
 

static void TimersInit (  void   )  [static]
 

static void TimersSetModeBlockCommutation (  void   )  [static]
 

static void TimersSetModeBrake (  void   )  [static]
 

static void TimersSetModeSinusoidal (  void   )  [static]
 

static void TimersWaitForNextPWMCycle (  void   )  [static]
 

__interrupt void WatchdogISR (  void   ) 
 

Generated on Mon Mar 27 09:31:33 2006 for AVR447: Sine wave driving of three phase motor by  doxygen 1.4.4