AVR447: Sine wave driving of three phase motor: PMSMtables.h Source File

00001 /* This file has been prepared for Doxygen automatic documentation generation.*/
00027 #ifndef _PMSM_TABLES_H_
00028 #define _PMSM_TABLES_H_
00029 
00037 __flash const uint8_t sineTable[SINE_TABLE_LENGTH * 3] = {
00038 0,       0,      221,
00039 8,       0,      225,
00040 17,      0,      229,
00041 25,      0,      232,
00042 33,      0,      236,
00043 42,      0,      239,
00044 50,      0,      241,
00045 58,      0,      244,
00046 66,      0,      246,
00047 74,      0,      248,
00048 82,      0,      250,
00049 90,      0,      252,
00050 98,      0,      253,
00051 105,     0,      254,
00052 113,     0,      254,
00053 120,     0,      255,
00054 128,     0,      255,
00055 135,     0,      255,
00056 142,     0,      254,
00057 149,     0,      254,
00058 155,     0,      253,
00059 162,     0,      252,
00060 168,     0,      250,
00061 174,     0,      248,
00062 180,     0,      246,
00063 186,     0,      244,
00064 192,     0,      241,
00065 197,     0,      239,
00066 202,     0,      236,
00067 207,     0,      232,
00068 212,     0,      229,
00069 217,     0,      225,
00070 221,     0,      221,
00071 225,     0,      217,
00072 229,     0,      212,
00073 232,     0,      207,
00074 236,     0,      202,
00075 239,     0,      197,
00076 241,     0,      192,
00077 244,     0,      186,
00078 246,     0,      180,
00079 248,     0,      174,
00080 250,     0,      168,
00081 252,     0,      162,
00082 253,     0,      155,
00083 254,     0,      149,
00084 254,     0,      142,
00085 255,     0,      135,
00086 255,     0,      127,
00087 255,     0,      120,
00088 254,     0,      113,
00089 254,     0,      105,
00090 253,     0,      98,
00091 252,     0,      90,
00092 250,     0,      82,
00093 248,     0,      74,
00094 246,     0,      66,
00095 244,     0,      58,
00096 241,     0,      50,
00097 239,     0,      42,
00098 236,     0,      33,
00099 232,     0,      25,
00100 229,     0,      17,
00101 225,     0,      8,
00102 221,     0,      0,
00103 225,     8,      0,
00104 229,     17,     0,
00105 232,     25,     0,
00106 236,     33,     0,
00107 239,     42,     0,
00108 241,     50,     0,
00109 244,     58,     0,
00110 246,     66,     0,
00111 248,     74,     0,
00112 250,     82,     0,
00113 252,     90,     0,
00114 253,     98,     0,
00115 254,     105,    0,
00116 254,     113,    0,
00117 255,     120,    0,
00118 255,     127,    0,
00119 255,     135,    0,
00120 254,     142,    0,
00121 254,     149,    0,
00122 253,     155,    0,
00123 252,     162,    0,
00124 250,     168,    0,
00125 248,     174,    0,
00126 246,     180,    0,
00127 244,     186,    0,
00128 241,     192,    0,
00129 239,     197,    0,
00130 236,     202,    0,
00131 232,     207,    0,
00132 229,     212,    0,
00133 225,     217,    0,
00134 221,     221,    0,
00135 217,     225,    0,
00136 212,     229,    0,
00137 207,     232,    0,
00138 202,     236,    0,
00139 197,     239,    0,
00140 192,     241,    0,
00141 186,     244,    0,
00142 180,     246,    0,
00143 174,     248,    0,
00144 168,     250,    0,
00145 162,     252,    0,
00146 155,     253,    0,
00147 149,     254,    0,
00148 142,     254,    0,
00149 135,     255,    0,
00150 128,     255,    0,
00151 120,     255,    0,
00152 113,     254,    0,
00153 105,     254,    0,
00154 98,      253,    0,
00155 90,      252,    0,
00156 82,      250,    0,
00157 74,      248,    0,
00158 66,      246,    0,
00159 58,      244,    0,
00160 50,      241,    0,
00161 42,      239,    0,
00162 33,      236,    0,
00163 25,      232,    0,
00164 17,      229,    0,
00165 8,       225,    0,
00166 0,       221,    0,
00167 0,       225,    8,
00168 0,       229,    17,
00169 0,       232,    25,
00170 0,       236,    33,
00171 0,       239,    42,
00172 0,       241,    50,
00173 0,       244,    58,
00174 0,       246,    66,
00175 0,       248,    74,
00176 0,       250,    82,
00177 0,       252,    90,
00178 0,       253,    98,
00179 0,       254,    105,
00180 0,       254,    113,
00181 0,       255,    120,
00182 0,       255,    128,
00183 0,       255,    135,
00184 0,       254,    142,
00185 0,       254,    149,
00186 0,       253,    155,
00187 0,       252,    162,
00188 0,       250,    168,
00189 0,       248,    174,
00190 0,       246,    180,
00191 0,       244,    186,
00192 0,       241,    192,
00193 0,       239,    197,
00194 0,       236,    202,
00195 0,       232,    207,
00196 0,       229,    212,
00197 0,       225,    217,
00198 0,       221,    221,
00199 0,       217,    225,
00200 0,       212,    229,
00201 0,       207,    232,
00202 0,       202,    236,
00203 0,       197,    239,
00204 0,       192,    241,
00205 0,       186,    244,
00206 0,       180,    246,
00207 0,       174,    248,
00208 0,       168,    250,
00209 0,       162,    252,
00210 0,       155,    253,
00211 0,       149,    254,
00212 0,       142,    254,
00213 0,       135,    255,
00214 0,       128,    255,
00215 0,       120,    255,
00216 0,       113,    254,
00217 0,       105,    254,
00218 0,       98,     253,
00219 0,       90,     252,
00220 0,       82,     250,
00221 0,       74,     248,
00222 0,       66,     246,
00223 0,       58,     244,
00224 0,       50,     241,
00225 0,       42,     239,
00226 0,       33,     236,
00227 0,       25,     232,
00228 0,       17,     229,
00229 0,       8,      225
00230 };
00231 
00232 
00239 __flash const uint16_t divisionTable[256] = {
00240 0,
00241 ((SINE_TABLE_LENGTH / 6) << 8) / 1,
00242 ((SINE_TABLE_LENGTH / 6) << 8) / 2,
00243 ((SINE_TABLE_LENGTH / 6) << 8) / 3,
00244 ((SINE_TABLE_LENGTH / 6) << 8) / 4,
00245 ((SINE_TABLE_LENGTH / 6) << 8) / 5,
00246 ((SINE_TABLE_LENGTH / 6) << 8) / 6,
00247 ((SINE_TABLE_LENGTH / 6) << 8) / 7,
00248 ((SINE_TABLE_LENGTH / 6) << 8) / 8,
00249 ((SINE_TABLE_LENGTH / 6) << 8) / 9,
00250 ((SINE_TABLE_LENGTH / 6) << 8) / 10,
00251 ((SINE_TABLE_LENGTH / 6) << 8) / 11,
00252 ((SINE_TABLE_LENGTH / 6) << 8) / 12,
00253 ((SINE_TABLE_LENGTH / 6) << 8) / 13,
00254 ((SINE_TABLE_LENGTH / 6) << 8) / 14,
00255 ((SINE_TABLE_LENGTH / 6) << 8) / 15,
00256 ((SINE_TABLE_LENGTH / 6) << 8) / 16,
00257 ((SINE_TABLE_LENGTH / 6) << 8) / 17,
00258 ((SINE_TABLE_LENGTH / 6) << 8) / 18,
00259 ((SINE_TABLE_LENGTH / 6) << 8) / 19,
00260 ((SINE_TABLE_LENGTH / 6) << 8) / 20,
00261 ((SINE_TABLE_LENGTH / 6) << 8) / 21,
00262 ((SINE_TABLE_LENGTH / 6) << 8) / 22,
00263 ((SINE_TABLE_LENGTH / 6) << 8) / 23,
00264 ((SINE_TABLE_LENGTH / 6) << 8) / 24,
00265 ((SINE_TABLE_LENGTH / 6) << 8) / 25,
00266 ((SINE_TABLE_LENGTH / 6) << 8) / 26,
00267 ((SINE_TABLE_LENGTH / 6) << 8) / 27,
00268 ((SINE_TABLE_LENGTH / 6) << 8) / 28,
00269 ((SINE_TABLE_LENGTH / 6) << 8) / 29,
00270 ((SINE_TABLE_LENGTH / 6) << 8) / 30,
00271 ((SINE_TABLE_LENGTH / 6) << 8) / 31,
00272 ((SINE_TABLE_LENGTH / 6) << 8) / 32,
00273 ((SINE_TABLE_LENGTH / 6) << 8) / 33,
00274 ((SINE_TABLE_LENGTH / 6) << 8) / 34,
00275 ((SINE_TABLE_LENGTH / 6) << 8) / 35,
00276 ((SINE_TABLE_LENGTH / 6) << 8) / 36,
00277 ((SINE_TABLE_LENGTH / 6) << 8) / 37,
00278 ((SINE_TABLE_LENGTH / 6) << 8) / 38,
00279 ((SINE_TABLE_LENGTH / 6) << 8) / 39,
00280 ((SINE_TABLE_LENGTH / 6) << 8) / 40,
00281 ((SINE_TABLE_LENGTH / 6) << 8) / 41,
00282 ((SINE_TABLE_LENGTH / 6) << 8) / 42,
00283 ((SINE_TABLE_LENGTH / 6) << 8) / 43,
00284 ((SINE_TABLE_LENGTH / 6) << 8) / 44,
00285 ((SINE_TABLE_LENGTH / 6) << 8) / 45,
00286 ((SINE_TABLE_LENGTH / 6) << 8) / 46,
00287 ((SINE_TABLE_LENGTH / 6) << 8) / 47,
00288 ((SINE_TABLE_LENGTH / 6) << 8) / 48,
00289 ((SINE_TABLE_LENGTH / 6) << 8) / 49,
00290 ((SINE_TABLE_LENGTH / 6) << 8) / 50,
00291 ((SINE_TABLE_LENGTH / 6) << 8) / 51,
00292 ((SINE_TABLE_LENGTH / 6) << 8) / 52,
00293 ((SINE_TABLE_LENGTH / 6) << 8) / 53,
00294 ((SINE_TABLE_LENGTH / 6) << 8) / 54,
00295 ((SINE_TABLE_LENGTH / 6) << 8) / 55,
00296 ((SINE_TABLE_LENGTH / 6) << 8) / 56,
00297 ((SINE_TABLE_LENGTH / 6) << 8) / 57,
00298 ((SINE_TABLE_LENGTH / 6) << 8) / 58,
00299 ((SINE_TABLE_LENGTH / 6) << 8) / 59,
00300 ((SINE_TABLE_LENGTH / 6) << 8) / 60,
00301 ((SINE_TABLE_LENGTH / 6) << 8) / 61,
00302 ((SINE_TABLE_LENGTH / 6) << 8) / 62,
00303 ((SINE_TABLE_LENGTH / 6) << 8) / 63,
00304 ((SINE_TABLE_LENGTH / 6) << 8) / 64,
00305 ((SINE_TABLE_LENGTH / 6) << 8) / 65,
00306 ((SINE_TABLE_LENGTH / 6) << 8) / 66,
00307 ((SINE_TABLE_LENGTH / 6) << 8) / 67,
00308 ((SINE_TABLE_LENGTH / 6) << 8) / 68,
00309 ((SINE_TABLE_LENGTH / 6) << 8) / 69,
00310 ((SINE_TABLE_LENGTH / 6) << 8) / 70,
00311 ((SINE_TABLE_LENGTH / 6) << 8) / 71,
00312 ((SINE_TABLE_LENGTH / 6) << 8) / 72,
00313 ((SINE_TABLE_LENGTH / 6) << 8) / 73,
00314 ((SINE_TABLE_LENGTH / 6) << 8) / 74,
00315 ((SINE_TABLE_LENGTH / 6) << 8) / 75,
00316 ((SINE_TABLE_LENGTH / 6) << 8) / 76,
00317 ((SINE_TABLE_LENGTH / 6) << 8) / 77,
00318 ((SINE_TABLE_LENGTH / 6) << 8) / 78,
00319 ((SINE_TABLE_LENGTH / 6) << 8) / 79,
00320 ((SINE_TABLE_LENGTH / 6) << 8) / 80,
00321 ((SINE_TABLE_LENGTH / 6) << 8) / 81,
00322 ((SINE_TABLE_LENGTH / 6) << 8) / 82,
00323 ((SINE_TABLE_LENGTH / 6) << 8) / 83,
00324 ((SINE_TABLE_LENGTH / 6) << 8) / 84,
00325 ((SINE_TABLE_LENGTH / 6) << 8) / 85,
00326 ((SINE_TABLE_LENGTH / 6) << 8) / 86,
00327 ((SINE_TABLE_LENGTH / 6) << 8) / 87,
00328 ((SINE_TABLE_LENGTH / 6) << 8) / 88,
00329 ((SINE_TABLE_LENGTH / 6) << 8) / 89,
00330 ((SINE_TABLE_LENGTH / 6) << 8) / 90,
00331 ((SINE_TABLE_LENGTH / 6) << 8) / 91,
00332 ((SINE_TABLE_LENGTH / 6) << 8) / 92,
00333 ((SINE_TABLE_LENGTH / 6) << 8) / 93,
00334 ((SINE_TABLE_LENGTH / 6) << 8) / 94,
00335 ((SINE_TABLE_LENGTH / 6) << 8) / 95,
00336 ((SINE_TABLE_LENGTH / 6) << 8) / 96,
00337 ((SINE_TABLE_LENGTH / 6) << 8) / 97,
00338 ((SINE_TABLE_LENGTH / 6) << 8) / 98,
00339 ((SINE_TABLE_LENGTH / 6) << 8) / 99,
00340 ((SINE_TABLE_LENGTH / 6) << 8) / 100,
00341 ((SINE_TABLE_LENGTH / 6) << 8) / 101,
00342 ((SINE_TABLE_LENGTH / 6) << 8) / 102,
00343 ((SINE_TABLE_LENGTH / 6) << 8) / 103,
00344 ((SINE_TABLE_LENGTH / 6) << 8) / 104,
00345 ((SINE_TABLE_LENGTH / 6) << 8) / 105,
00346 ((SINE_TABLE_LENGTH / 6) << 8) / 106,
00347 ((SINE_TABLE_LENGTH / 6) << 8) / 107,
00348 ((SINE_TABLE_LENGTH / 6) << 8) / 108,
00349 ((SINE_TABLE_LENGTH / 6) << 8) / 109,
00350 ((SINE_TABLE_LENGTH / 6) << 8) / 110,
00351 ((SINE_TABLE_LENGTH / 6) << 8) / 111,
00352 ((SINE_TABLE_LENGTH / 6) << 8) / 112,
00353 ((SINE_TABLE_LENGTH / 6) << 8) / 113,
00354 ((SINE_TABLE_LENGTH / 6) << 8) / 114,
00355 ((SINE_TABLE_LENGTH / 6) << 8) / 115,
00356 ((SINE_TABLE_LENGTH / 6) << 8) / 116,
00357 ((SINE_TABLE_LENGTH / 6) << 8) / 117,
00358 ((SINE_TABLE_LENGTH / 6) << 8) / 118,
00359 ((SINE_TABLE_LENGTH / 6) << 8) / 119,
00360 ((SINE_TABLE_LENGTH / 6) << 8) / 120,
00361 ((SINE_TABLE_LENGTH / 6) << 8) / 121,
00362 ((SINE_TABLE_LENGTH / 6) << 8) / 122,
00363 ((SINE_TABLE_LENGTH / 6) << 8) / 123,
00364 ((SINE_TABLE_LENGTH / 6) << 8) / 124,
00365 ((SINE_TABLE_LENGTH / 6) << 8) / 125,
00366 ((SINE_TABLE_LENGTH / 6) << 8) / 126,
00367 ((SINE_TABLE_LENGTH / 6) << 8) / 127,
00368 ((SINE_TABLE_LENGTH / 6) << 8) / 128,
00369 ((SINE_TABLE_LENGTH / 6) << 8) / 129,
00370 ((SINE_TABLE_LENGTH / 6) << 8) / 130,
00371 ((SINE_TABLE_LENGTH / 6) << 8) / 131,
00372 ((SINE_TABLE_LENGTH / 6) << 8) / 132,
00373 ((SINE_TABLE_LENGTH / 6) << 8) / 133,
00374 ((SINE_TABLE_LENGTH / 6) << 8) / 134,
00375 ((SINE_TABLE_LENGTH / 6) << 8) / 135,
00376 ((SINE_TABLE_LENGTH / 6) << 8) / 136,
00377 ((SINE_TABLE_LENGTH / 6) << 8) / 137,
00378 ((SINE_TABLE_LENGTH / 6) << 8) / 138,
00379 ((SINE_TABLE_LENGTH / 6) << 8) / 139,
00380 ((SINE_TABLE_LENGTH / 6) << 8) / 140,
00381 ((SINE_TABLE_LENGTH / 6) << 8) / 141,
00382 ((SINE_TABLE_LENGTH / 6) << 8) / 142,
00383 ((SINE_TABLE_LENGTH / 6) << 8) / 143,
00384 ((SINE_TABLE_LENGTH / 6) << 8) / 144,
00385 ((SINE_TABLE_LENGTH / 6) << 8) / 145,
00386 ((SINE_TABLE_LENGTH / 6) << 8) / 146,
00387 ((SINE_TABLE_LENGTH / 6) << 8) / 147,
00388 ((SINE_TABLE_LENGTH / 6) << 8) / 148,
00389 ((SINE_TABLE_LENGTH / 6) << 8) / 149,
00390 ((SINE_TABLE_LENGTH / 6) << 8) / 150,
00391 ((SINE_TABLE_LENGTH / 6) << 8) / 151,
00392 ((SINE_TABLE_LENGTH / 6) << 8) / 152,
00393 ((SINE_TABLE_LENGTH / 6) << 8) / 153,
00394 ((SINE_TABLE_LENGTH / 6) << 8) / 154,
00395 ((SINE_TABLE_LENGTH / 6) << 8) / 155,
00396 ((SINE_TABLE_LENGTH / 6) << 8) / 156,
00397 ((SINE_TABLE_LENGTH / 6) << 8) / 157,
00398 ((SINE_TABLE_LENGTH / 6) << 8) / 158,
00399 ((SINE_TABLE_LENGTH / 6) << 8) / 159,
00400 ((SINE_TABLE_LENGTH / 6) << 8) / 160,
00401 ((SINE_TABLE_LENGTH / 6) << 8) / 161,
00402 ((SINE_TABLE_LENGTH / 6) << 8) / 162,
00403 ((SINE_TABLE_LENGTH / 6) << 8) / 163,
00404 ((SINE_TABLE_LENGTH / 6) << 8) / 164,
00405 ((SINE_TABLE_LENGTH / 6) << 8) / 165,
00406 ((SINE_TABLE_LENGTH / 6) << 8) / 166,
00407 ((SINE_TABLE_LENGTH / 6) << 8) / 167,
00408 ((SINE_TABLE_LENGTH / 6) << 8) / 168,
00409 ((SINE_TABLE_LENGTH / 6) << 8) / 169,
00410 ((SINE_TABLE_LENGTH / 6) << 8) / 170,
00411 ((SINE_TABLE_LENGTH / 6) << 8) / 171,
00412 ((SINE_TABLE_LENGTH / 6) << 8) / 172,
00413 ((SINE_TABLE_LENGTH / 6) << 8) / 173,
00414 ((SINE_TABLE_LENGTH / 6) << 8) / 174,
00415 ((SINE_TABLE_LENGTH / 6) << 8) / 175,
00416 ((SINE_TABLE_LENGTH / 6) << 8) / 176,
00417 ((SINE_TABLE_LENGTH / 6) << 8) / 177,
00418 ((SINE_TABLE_LENGTH / 6) << 8) / 178,
00419 ((SINE_TABLE_LENGTH / 6) << 8) / 179,
00420 ((SINE_TABLE_LENGTH / 6) << 8) / 180,
00421 ((SINE_TABLE_LENGTH / 6) << 8) / 181,
00422 ((SINE_TABLE_LENGTH / 6) << 8) / 182,
00423 ((SINE_TABLE_LENGTH / 6) << 8) / 183,
00424 ((SINE_TABLE_LENGTH / 6) << 8) / 184,
00425 ((SINE_TABLE_LENGTH / 6) << 8) / 185,
00426 ((SINE_TABLE_LENGTH / 6) << 8) / 186,
00427 ((SINE_TABLE_LENGTH / 6) << 8) / 187,
00428 ((SINE_TABLE_LENGTH / 6) << 8) / 188,
00429 ((SINE_TABLE_LENGTH / 6) << 8) / 189,
00430 ((SINE_TABLE_LENGTH / 6) << 8) / 190,
00431 ((SINE_TABLE_LENGTH / 6) << 8) / 191,
00432 ((SINE_TABLE_LENGTH / 6) << 8) / 192,
00433 ((SINE_TABLE_LENGTH / 6) << 8) / 193,
00434 ((SINE_TABLE_LENGTH / 6) << 8) / 194,
00435 ((SINE_TABLE_LENGTH / 6) << 8) / 195,
00436 ((SINE_TABLE_LENGTH / 6) << 8) / 196,
00437 ((SINE_TABLE_LENGTH / 6) << 8) / 197,
00438 ((SINE_TABLE_LENGTH / 6) << 8) / 198,
00439 ((SINE_TABLE_LENGTH / 6) << 8) / 199,
00440 ((SINE_TABLE_LENGTH / 6) << 8) / 200,
00441 ((SINE_TABLE_LENGTH / 6) << 8) / 201,
00442 ((SINE_TABLE_LENGTH / 6) << 8) / 202,
00443 ((SINE_TABLE_LENGTH / 6) << 8) / 203,
00444 ((SINE_TABLE_LENGTH / 6) << 8) / 204,
00445 ((SINE_TABLE_LENGTH / 6) << 8) / 205,
00446 ((SINE_TABLE_LENGTH / 6) << 8) / 206,
00447 ((SINE_TABLE_LENGTH / 6) << 8) / 207,
00448 ((SINE_TABLE_LENGTH / 6) << 8) / 208,
00449 ((SINE_TABLE_LENGTH / 6) << 8) / 209,
00450 ((SINE_TABLE_LENGTH / 6) << 8) / 210,
00451 ((SINE_TABLE_LENGTH / 6) << 8) / 211,
00452 ((SINE_TABLE_LENGTH / 6) << 8) / 212,
00453 ((SINE_TABLE_LENGTH / 6) << 8) / 213,
00454 ((SINE_TABLE_LENGTH / 6) << 8) / 214,
00455 ((SINE_TABLE_LENGTH / 6) << 8) / 215,
00456 ((SINE_TABLE_LENGTH / 6) << 8) / 216,
00457 ((SINE_TABLE_LENGTH / 6) << 8) / 217,
00458 ((SINE_TABLE_LENGTH / 6) << 8) / 218,
00459 ((SINE_TABLE_LENGTH / 6) << 8) / 219,
00460 ((SINE_TABLE_LENGTH / 6) << 8) / 220,
00461 ((SINE_TABLE_LENGTH / 6) << 8) / 221,
00462 ((SINE_TABLE_LENGTH / 6) << 8) / 222,
00463 ((SINE_TABLE_LENGTH / 6) << 8) / 223,
00464 ((SINE_TABLE_LENGTH / 6) << 8) / 224,
00465 ((SINE_TABLE_LENGTH / 6) << 8) / 225,
00466 ((SINE_TABLE_LENGTH / 6) << 8) / 226,
00467 ((SINE_TABLE_LENGTH / 6) << 8) / 227,
00468 ((SINE_TABLE_LENGTH / 6) << 8) / 228,
00469 ((SINE_TABLE_LENGTH / 6) << 8) / 229,
00470 ((SINE_TABLE_LENGTH / 6) << 8) / 230,
00471 ((SINE_TABLE_LENGTH / 6) << 8) / 231,
00472 ((SINE_TABLE_LENGTH / 6) << 8) / 232,
00473 ((SINE_TABLE_LENGTH / 6) << 8) / 233,
00474 ((SINE_TABLE_LENGTH / 6) << 8) / 234,
00475 ((SINE_TABLE_LENGTH / 6) << 8) / 235,
00476 ((SINE_TABLE_LENGTH / 6) << 8) / 236,
00477 ((SINE_TABLE_LENGTH / 6) << 8) / 237,
00478 ((SINE_TABLE_LENGTH / 6) << 8) / 238,
00479 ((SINE_TABLE_LENGTH / 6) << 8) / 239,
00480 ((SINE_TABLE_LENGTH / 6) << 8) / 240,
00481 ((SINE_TABLE_LENGTH / 6) << 8) / 241,
00482 ((SINE_TABLE_LENGTH / 6) << 8) / 242,
00483 ((SINE_TABLE_LENGTH / 6) << 8) / 243,
00484 ((SINE_TABLE_LENGTH / 6) << 8) / 244,
00485 ((SINE_TABLE_LENGTH / 6) << 8) / 245,
00486 ((SINE_TABLE_LENGTH / 6) << 8) / 246,
00487 ((SINE_TABLE_LENGTH / 6) << 8) / 247,
00488 ((SINE_TABLE_LENGTH / 6) << 8) / 248,
00489 ((SINE_TABLE_LENGTH / 6) << 8) / 249,
00490 ((SINE_TABLE_LENGTH / 6) << 8) / 250,
00491 ((SINE_TABLE_LENGTH / 6) << 8) / 251,
00492 ((SINE_TABLE_LENGTH / 6) << 8) / 252,
00493 ((SINE_TABLE_LENGTH / 6) << 8) / 253,
00494 ((SINE_TABLE_LENGTH / 6) << 8) / 254,
00495 ((SINE_TABLE_LENGTH / 6) << 8) / 255
00496 };
00497 
00503 __flash const uint8_t blockCommutationTableForward[16] =
00504 {
00505   0,                          0,
00506   (1 << PB3),                 (1 << PD5),                 // UL, WH
00507   (1 << PB2),                 (1 << PD6),                 // UH, VL
00508   ((1 << PB2) | (1 << PB3)),  0x00,                       // VL, WH
00509   (1 << PB1),                 (1 << PD3),                 // VH, WL
00510   (1 << PB1),                 (1 << PD5),                 // UL, VH
00511   0x00,                       ((1 << PD6) | (1 << PD3)),  // UH, WL
00512   0,  0
00513 };
00514 
00515 
00521 __flash const uint8_t blockCommutationTableReverse[16] =
00522 {
00523   0,  0,
00524   0x00,                       ((1 << PD6) | (1 << PD3)),  // UH, WL
00525   (1 << PB1),                 (1 << PD5),                 // UL, VH
00526   (1 << PB1),                 (1 << PD3),                 // VH, WL
00527   ((1 << PB2) | (1 << PB3)),  0x00,                       // VL, WH
00528   (1 << PB2),                 (1 << PD6),                 // UH, VL
00529   (1 << PB3),                 (1 << PD5),                 // UL, WH
00530   0,  0
00531 };
00532 
00533 
00541 __flash const uint8_t expectedHallSequenceForward[7] =
00542 {
00543   0xff,    3,    6,    2,    5,    1,    4
00544 };
00545 
00546 
00547 
00555 __flash const uint8_t expectedHallSequenceReverse[7] =
00556 {
00557   0xff,    5,    3,    1,    6,    4,    2
00558 };
00559 
00560 
00569 __flash const uint16_t CSOffsetsForward[8] =
00570 {
00571   0,
00572   5 * (SINE_TABLE_LENGTH / 6),
00573   1 * (SINE_TABLE_LENGTH / 6),
00574   0 * (SINE_TABLE_LENGTH / 6),
00575   3 * (SINE_TABLE_LENGTH / 6),
00576   4 * (SINE_TABLE_LENGTH / 6),
00577   2 * (SINE_TABLE_LENGTH / 6),
00578   0
00579 };
00580 
00581 
00590 __flash const uint16_t CSOffsetsReverse[8] =
00591 {
00592   0,
00593   1 * (SINE_TABLE_LENGTH / 6),
00594   5 * (SINE_TABLE_LENGTH / 6),
00595   0 * (SINE_TABLE_LENGTH / 6),
00596   3 * (SINE_TABLE_LENGTH / 6),
00597   2 * (SINE_TABLE_LENGTH / 6),
00598   4 * (SINE_TABLE_LENGTH / 6),
00599   0
00600 };
00601 
00602 
00603 #endif