int main( void )
{
initApp();
initQEI();
initSM();
initRS485();
//int* Z0;
//Z0=(int*)&TXdata.Z;
/* TRISAbits.TRISA4 = 0; // verbunden mit RB8
TRISBbits.TRISB4 = 0; // verbunden mit RB9
PORTAbits.RA4 = 1;
PORTBbits.RB4 = 1;
*/
while(1)
{
readData();
sendData();
// blink_led(10);
// GMSstep(-1);
// *Z0=(int)POS2CNT;
}
return 0;
}
int main(void)
{
//Set clock so it runs directly on the crystal
ROM_SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN | SYSCTL_XTAL_16MHZ);
volatile unsigned long ulLoop;
// Initialisation des ports
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOJ);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOH);
//Enable les GPIO pour les timings des interrupts et autres
GPIOPadConfigSet(GPIO_PORTA_BASE, GPIO_PIN_2, GPIO_STRENGTH_4MA, GPIO_PIN_TYPE_STD_WPD);
GPIOPinTypeGPIOOutput(GPIO_PORTA_BASE, GPIO_PIN_2);
//Mettre les interrupts du port E en haute prorités: évite collisions avec QEI logiciel
IntPrioritySet(INT_GPIOE,0);
//Activer les interruptions
IntMasterEnable();
//Initialisation des variables globales
ulLoop = 0;
receive_buffer.read=0;
receive_buffer.write=0;
send_buffer.read=0;
send_buffer.write=0;
send_buffer2.read=0;
send_buffer2.write=0;
buffer_commande.read = 0;
buffer_commande.write = 0;
//QEI
position=0;
speed=0;
state=0;
state_m2=0;
state_m3=0;
position_m2=0;
position_m3=0;
//Asservissement
previous_error0=0;
previous_error1=0;
previous_error2=0;
previous_error3=0;
I0=0;
I1=0;
I2=0;
I3=0;
consigne0=0;
consigne1=0;
consigne2=0;
consigne3=0;
//Pour les déplacements rapides @6400
Kd0 = 0.1;
Ki0 = 7;
Kp0 = 1.75;
Kd1 = 0.1;
Ki1 = 7;
Kp1 = 1.75;
Kd2 = 0.1;
Ki2 = 7;
Kp2 = 1.75;
Kd3 = 0.1;
Ki3 = 7;
Kp3 = 1.75;
Tf0 = 0.1;
Tf1 = 0.1;
Tf2 = 0.1;
Tf3 = 0.1;
//Pour les déplacements moyens @3200
Kd0_m = 0.05;
Ki0_m = 10;
Kp0_m = 1.6;
Kd1_m = 0.05;
Ki1_m = 10;
Kp1_m = 1.5;
Kd2_m = 0.05;
Ki2_m = 10;
Kp2_m = 1.5;
Kd3_m = 0.05;
Ki3_m = 10;
Kp3_m = 1.6;
//Pour les mouvements lents @1600
Kd0_s = 0.05;
Ki0_s = 12;
Kp0_s = 1.2;
Kd1_s = 0.05;
Ki1_s = 12;
Kp1_s = 1.2;
Kd2_s = 0.05;
Ki2_s = 12;
Kp2_s = 1.2;
Kd3_s = 0.2;
Ki3_s = 12;
Kp3_s = 1.2;
//Pour les mouvements de dessin @800
Kd0_d = 0.2;
Ki0_d = 10;
Kp0_d = 1.2;
Kd1_d = 0.05;
Ki1_d = 10;
Kp1_d = 1.2;
Kd2_d = 0.05;
Ki2_d = 10;
Kp2_d = 1.2;
Kd3_d = 0.2;
Ki3_d = 10;
Kp3_d = 1.2;
/*Kd0_s = 0.05;
Ki0_s = 12;//5.64;
Kp0_s = 1.2;
Kd1_s = 0.05;
Ki1_s = 12;//5.64;
Kp1_s = 1.2;
Kd2_s = 0.05;
Ki2_s = 12;//5.64;
Kp2_s = 1.2;
Kd3_s = 0.05;
Ki3_s = 12;//5.64;
Kp3_s = 1.2;*/
dt = 0.1;
tolerancePos = 0;
posqei1 = 0;
speedqei1=0;
initCommande();
initMotorCommand();
initLED();
initPrehenseur();
initPWM();
initUART();
initQEI();
//init_lcd();
initTimer();
while(1)
{
EncoderHandler(); // Traitement des encodeurs en quadrature pour les moteurs 2 et 3
//si un charactère dans la Receive FIFO
/*if(!(UART0_FR_R & UART_FR_RXFE)) //&& (send_buffer.read > send_buffer.write-256))
{
receive_buffer.buffer[receive_buffer.write%BUFFER_LEN] = UART0_DR_R;
receive_buffer.write++;
}*/
/*
if(!(UART0_FR_R & UART_FR_TXFF) && (send_buffer.read < send_buffer.write))
{
UART0_DR_R = send_buffer.buffer[send_buffer.read%BUFFER_LEN];
send_buffer.read++;
}*/
/*if(receive_buffer.write - receive_buffer.read > 7){
long i;
short commande[8];
for(i=0; i < 8; i++){
commande[i] = receive_buffer.buffer[receive_buffer.read%BUFFER_LEN];
receive_buffer.read++;
}
traiterNouvelleCommande(commande); //Traitement des commandes
}
if(buffer_commande.write - buffer_commande.read >= 8){
CommandHandler();
}*/
}
}