การควบคุมมอเตอร์สามเฟสด้วย half bridge#ifndef __PGMSPACE_H_ #define __PGMSPACE_H_ 1 #include #define PROGMEM #define PGM_P const char * #define PSTR(str) (str) typedef void prog_void; typedef char prog_char; typedef unsigned char prog_uchar; typedef int8_t prog_int8_t; typedef uint8_t prog_uint8_t; typedef int16_t prog_int16_t; typedef uint16_t prog_uint16_t; typedef int32_t prog_int32_t; typedef uint32_t prog_uint32_t; #define strcpy_P(dest, src) strcpy((dest), (src)) #define strcat_P(dest, src) strcat((dest), (src)) #define strcmp_P(a, b) strcmp((a), (b)) #define pgm_read_byte(addr) (*(const unsigned char *)(addr)) #define pgm_read_word(addr) (*(const unsigned short *)(addr)) #define pgm_read_dword(addr) (*(const unsigned long *)(addr)) #define pgm_read_float(addr) (*(const float *)(addr)) #define pgm_read_byte_near(addr) pgm_read_byte(addr) #define pgm_read_word_near(addr) pgm_read_word(addr) #define pgm_read_dword_near(addr) pgm_read_dword(addr) #define pgm_read_float_near(addr) pgm_read_float(addr) #define pgm_read_byte_far(addr) pgm_read_byte(addr) #define pgm_read_word_far(addr) pgm_read_word(addr) #define pgm_read_dword_far(addr) pgm_read_dword(addr) #define pgm_read_float_far(addr) pgm_read_float(addr) #endif // Look Up table of a single sine period divied up into 256 values. Refer to PWM to sine.xls on how the values was calculated PROGMEM prog_uchar sine256[] = { 127,130,133,136,139,143,146,149,152,155,158,161,164,167,170,173,176,178,181,184,187,190,192,195,198,200,203,205,208,210,212,215,217,219,221,223,225,227,229,231,233,234,236,238,239,240, 242,243,244,245,247,248,249,249,250,251,252,252,253,253,253,254,254,254,254,254,254,254,253,253,253,252,252,251,250,249,249,248,247,245,244,243,242,240,239,238,236,234,233,231,229,227,225,223, 221,219,217,215,212,210,208,205,203,200,198,195,192,190,187,184,181,178,176,173,170,167,164,161,158,155,152,149,146,143,139,136,133,130,127,124,121,118,115,111,108,105,102,99,96,93,90,87,84,81,78, 76,73,70,67,64,62,59,56,54,51,49,46,44,42,39,37,35,33,31,29,27,25,23,21,20,18,16,15,14,12,11,10,9,7,6,5,5,4,3,2,2,1,1,1,0,0,0,0,0,0,0,1,1,1,2,2,3,4,5,5,6,7,9,10,11,12,14,15,16,18,20,21,23,25,27,29,31, 33,35,37,39,42,44,46,49,51,54,56,59,62,64,67,70,73,76,78,81,84,87,90,93,96,99,102,105,108,111,115,118,121,124 }; #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) //define a bit to have the properties of a clear bit operator #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))//define a bit to have the properties of a set bit operator int PWM1= 11;// PWM1 output, phase 1 int PWM2 = 3; //[WM2 ouput, phase 2 int PWM3 = 10; //PWM3 output, phase 3 int offset_1 = 85; //offset 1 is 120 degrees out of phase with previous phase, Refer to PWM to sine.xls int offset_2 = 170; //offset 2 is 120 degrees out of phase with offset 1. Refer to PWM to sine.xls int program_exec_time = 6; //monitor how quickly the interrupt trigger int ISR_exec_time = 7; //monitor how long the interrupt takes double dfreq; const double refclk=31376.6; // measured output frequency // variables used inside interrupt service declared as voilatile volatile byte current_count; // Keep track of where the current count is in sine 256 array volatile byte ms4_delay; //variable used to generate a 4ms delay volatile byte c4ms; // after every 4ms this variable is incremented, its used to create a delay of 1 second volatile unsigned long phase_accumulator; // pahse accumulator volatile unsigned long tword_m; // dds tuning word m, refer to DDS_calculator (from Martin Nawrath) for explination. void setup() { pinMode(PWM1, OUTPUT); //sets the digital pin as output pinMode(PWM2, OUTPUT); //sets the digital pin as output pinMode(PWM3, OUTPUT); //sets the digital pin as output pinMode(program_exec_time, OUTPUT); //sets the digital pin as output pinMode(9, OUTPUT); //sets the digital pin as output sbi(PORTD,program_exec_time); //Sets the pin Setup_timer1(); Setup_timer2(); //Disable Timer 1 interrupt to avoid any timing delays cbi (TIMSK0,TOIE0); //disable Timer0 !!! delay() is now not available sbi (TIMSK2,TOIE2); //enable Timer2 Interrupt dfreq=1000.0; //initial output frequency = 1000.o Hz tword_m=pow(2,32)*dfreq/refclk; //calulate DDS new tuning word } void loop() { while(1) { sbi(PORTD,program_exec_time); //Sets the pin if (c4ms > 250) // c4ms = 4ms, thus 4ms *250 = 1 second delay { c4ms=0; //Reset c4ms dfreq=analogRead(0); //Read voltage on analog 1 to see desired output frequency, 0V = 0Hz, 5V = 1.023kHz cbi (TIMSK2,TOIE2); //Disable Timer2 Interrupt tword_m=pow(2,32)*dfreq/refclk; //Calulate DDS new tuning word sbi (TIMSK2,TOIE2); //Enable Timer2 Interrupt } } } //Timer 1 setup //Set prscaler to 1, PWM mode to phase correct PWM, 16000000/510 = 31372.55 Hz clock void Setup_timer1(void) { // Timer1 Clock Prescaler to : 1 sbi (TCCR1B, CS10); cbi (TCCR1B, CS11); cbi (TCCR1B, CS12); // Timer1 PWM Mode set to Phase Correct PWM cbi (TCCR1A, COM1A0); sbi (TCCR1A, COM1A1); cbi (TCCR1A, COM1B0); sbi (TCCR1A, COM1B1); // Mode 1 / Phase Correct PWM sbi (TCCR1A, WGM10); cbi (TCCR1A, WGM11); cbi (TCCR1B, WGM12); cbi (TCCR1B, WGM13); } //Timer 1 setup //Set prscaler to 1, PWM mode to phase correct PWM, 16000000/510 = 31372.55 Hz clock void Setup_timer2() { // Timer2 Clock Prescaler to : 1 sbi (TCCR2B, CS20); cbi (TCCR2B, CS21); cbi (TCCR2B, CS22); // Timer2 PWM Mode set to Phase Correct PWM cbi (TCCR2A, COM2A0); // clear Compare Match sbi (TCCR2A, COM2A1); cbi (TCCR2A, COM2B0); sbi (TCCR2A, COM2B1); // Mode 1 / Phase Correct PWM sbi (TCCR2A, WGM20); cbi (TCCR2A, WGM21); cbi (TCCR2B, WGM22); } //Timer2 Interrupt Service at 31372,550 KHz = 32uSec //This is the timebase REFCLOCK for the DDS generator //FOUT = (M (REFCLK)) / (2 exp 32) //Runtime : 8 microseconds ISR(TIMER2_OVF_vect) { cbi(PORTD,program_exec_time); //Clear the pin sbi(PORTD,ISR_exec_time); // Sets the pin phase_accumulator=phase_accumulator+tword_m; //Adds tuning M word to previoud phase accumulator. refer to DDS_calculator (from Martin Nawrath) for explination. current_count=phase_accumulator >> 24; // use upper 8 bits of phase_accumulator as frequency information OCR2A=pgm_read_byte_near(sine256 + current_count); // read value fron ROM sine table and send to PWM OCR2B=pgm_read_byte_near(sine256 + (uint8_t)(current_count + offset_1)); // read value fron ROM sine table and send to PWM, 120 Degree out of phase of PWM1 OCR1A = pgm_read_byte_near(sine256 + (uint8_t)(current_count + offset_2));// read value fron ROM sine table and send to PWM, 120 Degree out of phase of PWM2 OCR1B = pgm_read_byte_near(sine256 + (uint8_t)(current_count + offset_2));// read value fron ROM sine table and send to PWM, 120 Degree out of phase of PWM2 //increment variable ms4_delay every 4mS/125 = milliseconds 32uS if(ms4_delay++ == 125) { c4ms++; ms4_delay=0; //reset count } cbi(PORTD,ISR_exec_time); //Clear the pin }