关于(PIC)AN1017关于电机正弦控制的问题
// These Phase values represent the base Phase value of the sinewave for each// one of the sectors (each sector is a translation of the hall effect sensors
// reading
#define PHASE_ZERO 57344
#define PHASE_ONE ((PHASE_ZERO + 65536/6) % 65536)
#define PHASE_TWO ((PHASE_ONE + 65536/6) % 65536)
#define PHASE_THREE ((PHASE_TWO + 65536/6) % 65536)
#define PHASE_FOUR ((PHASE_THREE + 65536/6) % 65536)
#define PHASE_FIVE ((PHASE_FOUR + 65536/6) % 65536)
// Constants used for properly energizing the motor depending on the
// rotor's position
int PhaseValues __attribute__((far,section(".const,r")))=
{PHASE_ZERO, PHASE_ONE, PHASE_TWO, PHASE_THREE, PHASE_FOUR, PHASE_FIVE};
char SectorTable[] = {-1,4,2,3,0,5,1,-1};
void __attribute__((__interrupt__)) _CNInterrupt (void)
{
IFS0bits.CNIF = 0; // Clear interrupt flag
HallValue = (unsigned int)((PORTB >> 3) & 0x0007); // Read halls
Sector = SectorTable; // Get Sector from table
// This MUST be done for getting around the HW slow rate
if (Sector != LastSector)
{
// Since a new sector is detected, clear variable that would stop
// the motor if stalled.
MotorStalledCounter = 0;
// Motor current direction is computed based on Sector
if ((Sector == 5) || (Sector == 2))
Current_Direction = CCW;
else
Current_Direction = CW;
// Motor commutation is actually based on the required direction, not
// the current dir. This allows driving the motor in four quadrants
if (Required_Direction == CW)
{
Phase = PhaseValues;
}
else
{
// For CCW an offset must be added to compensate difference in
// symmetry of the sine table used for CW and CCW
Phase = PhaseValues[(Sector + 3) % 6] + PhaseOffset;
}
LastSector = Sector; // Update last sector
}
return;
}
按照电机的转动方向，如果是正转，霍尔发生的顺序1，3，2，6，4，5，反转顺序是1,5,4,6,2,3,
char SectorTable[] = {-1,4,2,3,0,5,1,-1};这个是顺序是如何得出来的？
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