void PID_init()
{
parameter_.Kp = Kp_def;
parameter_.Ki = Ki_def;
parameter_.Kd = Kd_def;
parameter_.MAX = MAX_def;
parameter_.MIN = MIN_def;
PWM_1_Start();
PWM_1_WriteCompare((unsigned char)parameter_.MIN);
}
void piezo_play(uint16 frequency_value, uint8 note)
{
TRIGGER_TIMER_Write(0);
// duty cycle ticks is a percentage of frequency based on volume
int period_ticks = f_clock * freq_mod / frequency_value;
uint16 compare_ticks = period_ticks * volume / 100;
// Set period to frequency value
PWM_1_WritePeriod(period_ticks);
// Set compare to toggle on duty cycle ticks
PWM_1_WriteCompare(compare_ticks);
// Figure out the duration of the note and set and trigger the interrupt timer
uint16 duration = 60000/tempo/note;
Timer_1_WriteCompare(duration);
TRIGGER_TIMER_Write(1);
}
void piezo_tone(uint16 frequency_value)
{
current_frequency = frequency_value;
// duty cycle ticks is a percentage of frequency based on volume
int period_ticks = f_clock * freq_mod / frequency_value;
uint16 compare_ticks = period_ticks * volume / 100;
// maximum duty cycle ticks must be at least 1 lower than frequency
// to produce a vibration
if (compare_ticks == period_ticks) {
compare_ticks--;
}
// Set period to frequency value
PWM_1_WritePeriod(period_ticks);
// Set compare to toggle on duty cycle ticks
PWM_1_WriteCompare(compare_ticks);
}
float *PID_tick(float sensor, float input, float RPM)
{
err = (input - sensor);
float P_RPM = (RPM <= 1.0f ? 0 : P_RPM_reciprocal / RPM) ;
float PIDval = 0;
//Proportional part
PIDval += P_RPM*parameter_.Kp*err;
//intergral part
iState += P_RPM*parameter_.Kp*parameter_.Ki*err*dt + anti_windup_back_calc*dt;
PIDval += iState;
//differentiel
PIDval += P_RPM*parameter_.Kp*parameter_.Kd*((err-pre_err)/dt);
pre_err = err;
//anti windup back calculation
anti_windup_back_calc = PIDval;
if(PIDval > parameter_.MAX)
PIDval = parameter_.MAX;
else if(PIDval < parameter_.MIN)
PIDval = parameter_.MIN;
anti_windup_back_calc = PIDval - anti_windup_back_calc;
// --- //
//use PIDval
PWM_1_WriteCompare((uint8)PIDval);
//Debug
PID_debug[0] = PIDval;
PID_debug[1] = err;
PID_debug[2] = anti_windup_back_calc;
return PID_debug;
}
void piezo_stop()
{
PWM_1_WriteCompare(0);
}
/*******************************************************************************
* Function Name: PWM_1_RestoreConfig
********************************************************************************
*
* Summary:
* Restores the current user configuration of the component.
*
* Parameters:
* None
*
* Return:
* None
*
* Global variables:
* PWM_1_backup: Variables of this global structure are used to
* restore the values of non retention registers on wakeup from sleep mode.
*
*******************************************************************************/
void PWM_1_RestoreConfig(void)
{
#if(!PWM_1_UsingFixedFunction)
#if (CY_UDB_V0)
/* Interrupt State Backup for Critical Region*/
uint8 PWM_1_interruptState;
/* Enter Critical Region*/
PWM_1_interruptState = CyEnterCriticalSection();
#if (PWM_1_UseStatus)
/* Use the interrupt output of the status register for IRQ output */
PWM_1_STATUS_AUX_CTRL |= PWM_1_STATUS_ACTL_INT_EN_MASK;
PWM_1_STATUS_MASK = PWM_1_backup.InterruptMaskValue;
#endif /* (PWM_1_UseStatus) */
#if (PWM_1_Resolution == 8)
/* Set FIFO 0 to 1 byte register for period*/
PWM_1_AUX_CONTROLDP0 |= (PWM_1_AUX_CTRL_FIFO0_CLR);
#else /* (PWM_1_Resolution == 16)*/
/* Set FIFO 0 to 1 byte register for period */
PWM_1_AUX_CONTROLDP0 |= (PWM_1_AUX_CTRL_FIFO0_CLR);
PWM_1_AUX_CONTROLDP1 |= (PWM_1_AUX_CTRL_FIFO0_CLR);
#endif /* (PWM_1_Resolution == 8) */
/* Exit Critical Region*/
CyExitCriticalSection(PWM_1_interruptState);
PWM_1_WriteCounter(PWM_1_backup.PWMUdb);
PWM_1_WritePeriod(PWM_1_backup.PWMPeriod);
#if(PWM_1_UseOneCompareMode)
PWM_1_WriteCompare(PWM_1_backup.PWMCompareValue);
#else
PWM_1_WriteCompare1(PWM_1_backup.PWMCompareValue1);
PWM_1_WriteCompare2(PWM_1_backup.PWMCompareValue2);
#endif /* (PWM_1_UseOneCompareMode) */
#if(PWM_1_DeadBandMode == PWM_1__B_PWM__DBM_256_CLOCKS || \
PWM_1_DeadBandMode == PWM_1__B_PWM__DBM_2_4_CLOCKS)
PWM_1_WriteDeadTime(PWM_1_backup.PWMdeadBandValue);
#endif /* deadband count is either 2-4 clocks or 256 clocks */
#if ( PWM_1_KillModeMinTime)
PWM_1_WriteKillTime(PWM_1_backup.PWMKillCounterPeriod);
#endif /* ( PWM_1_KillModeMinTime) */
#endif /* (CY_UDB_V0) */
#if (CY_UDB_V1)
#if(!PWM_1_PWMModeIsCenterAligned)
PWM_1_WritePeriod(PWM_1_backup.PWMPeriod);
#endif /* (!PWM_1_PWMModeIsCenterAligned) */
PWM_1_WriteCounter(PWM_1_backup.PWMUdb);
#if (PWM_1_UseStatus)
PWM_1_STATUS_MASK = PWM_1_backup.InterruptMaskValue;
#endif /* (PWM_1_UseStatus) */
#if(PWM_1_DeadBandMode == PWM_1__B_PWM__DBM_256_CLOCKS || \
PWM_1_DeadBandMode == PWM_1__B_PWM__DBM_2_4_CLOCKS)
PWM_1_WriteDeadTime(PWM_1_backup.PWMdeadBandValue);
#endif /* deadband count is either 2-4 clocks or 256 clocks */
#if(PWM_1_KillModeMinTime)
PWM_1_WriteKillTime(PWM_1_backup.PWMKillCounterPeriod);
#endif /* (PWM_1_KillModeMinTime) */
#endif /* (CY_UDB_V1) */
#if(PWM_1_UseControl)
PWM_1_WriteControlRegister(PWM_1_backup.PWMControlRegister);
#endif /* (PWM_1_UseControl) */
#endif /* (!PWM_1_UsingFixedFunction) */
}
/*******************************************************************************
* Function Name: PWM_1_Init
********************************************************************************
*
* Summary:
* Initialize component's parameters to the parameters set by user in the
* customizer of the component placed onto schematic. Usually called in
* PWM_1_Start().
*
* Parameters:
* None
*
* Return:
* None
*
*******************************************************************************/
void PWM_1_Init(void)
{
#if (PWM_1_UsingFixedFunction || PWM_1_UseControl)
uint8 ctrl;
#endif /* (PWM_1_UsingFixedFunction || PWM_1_UseControl) */
#if(!PWM_1_UsingFixedFunction)
#if(PWM_1_UseStatus)
/* Interrupt State Backup for Critical Region*/
uint8 PWM_1_interruptState;
#endif /* (PWM_1_UseStatus) */
#endif /* (!PWM_1_UsingFixedFunction) */
#if (PWM_1_UsingFixedFunction)
/* You are allowed to write the compare value (FF only) */
PWM_1_CONTROL |= PWM_1_CFG0_MODE;
#if (PWM_1_DeadBand2_4)
PWM_1_CONTROL |= PWM_1_CFG0_DB;
#endif /* (PWM_1_DeadBand2_4) */
ctrl = PWM_1_CONTROL3 & ((uint8 )(~PWM_1_CTRL_CMPMODE1_MASK));
PWM_1_CONTROL3 = ctrl | PWM_1_DEFAULT_COMPARE1_MODE;
/* Clear and Set SYNCTC and SYNCCMP bits of RT1 register */
PWM_1_RT1 &= ((uint8)(~PWM_1_RT1_MASK));
PWM_1_RT1 |= PWM_1_SYNC;
/*Enable DSI Sync all all inputs of the PWM*/
PWM_1_RT1 &= ((uint8)(~PWM_1_SYNCDSI_MASK));
PWM_1_RT1 |= PWM_1_SYNCDSI_EN;
#elif (PWM_1_UseControl)
/* Set the default compare mode defined in the parameter */
ctrl = PWM_1_CONTROL & ((uint8)(~PWM_1_CTRL_CMPMODE2_MASK)) &
((uint8)(~PWM_1_CTRL_CMPMODE1_MASK));
PWM_1_CONTROL = ctrl | PWM_1_DEFAULT_COMPARE2_MODE |
PWM_1_DEFAULT_COMPARE1_MODE;
#endif /* (PWM_1_UsingFixedFunction) */
#if (!PWM_1_UsingFixedFunction)
#if (PWM_1_Resolution == 8)
/* Set FIFO 0 to 1 byte register for period*/
PWM_1_AUX_CONTROLDP0 |= (PWM_1_AUX_CTRL_FIFO0_CLR);
#else /* (PWM_1_Resolution == 16)*/
/* Set FIFO 0 to 1 byte register for period */
PWM_1_AUX_CONTROLDP0 |= (PWM_1_AUX_CTRL_FIFO0_CLR);
PWM_1_AUX_CONTROLDP1 |= (PWM_1_AUX_CTRL_FIFO0_CLR);
#endif /* (PWM_1_Resolution == 8) */
PWM_1_WriteCounter(PWM_1_INIT_PERIOD_VALUE);
#endif /* (!PWM_1_UsingFixedFunction) */
PWM_1_WritePeriod(PWM_1_INIT_PERIOD_VALUE);
#if (PWM_1_UseOneCompareMode)
PWM_1_WriteCompare(PWM_1_INIT_COMPARE_VALUE1);
#else
PWM_1_WriteCompare1(PWM_1_INIT_COMPARE_VALUE1);
PWM_1_WriteCompare2(PWM_1_INIT_COMPARE_VALUE2);
#endif /* (PWM_1_UseOneCompareMode) */
#if (PWM_1_KillModeMinTime)
PWM_1_WriteKillTime(PWM_1_MinimumKillTime);
#endif /* (PWM_1_KillModeMinTime) */
#if (PWM_1_DeadBandUsed)
PWM_1_WriteDeadTime(PWM_1_INIT_DEAD_TIME);
#endif /* (PWM_1_DeadBandUsed) */
#if (PWM_1_UseStatus || PWM_1_UsingFixedFunction)
PWM_1_SetInterruptMode(PWM_1_INIT_INTERRUPTS_MODE);
#endif /* (PWM_1_UseStatus || PWM_1_UsingFixedFunction) */
#if (PWM_1_UsingFixedFunction)
/* Globally Enable the Fixed Function Block chosen */
PWM_1_GLOBAL_ENABLE |= PWM_1_BLOCK_EN_MASK;
/* Set the Interrupt source to come from the status register */
PWM_1_CONTROL2 |= PWM_1_CTRL2_IRQ_SEL;
#else
#if(PWM_1_UseStatus)
/* CyEnterCriticalRegion and CyExitCriticalRegion are used to mark following region critical*/
/* Enter Critical Region*/
PWM_1_interruptState = CyEnterCriticalSection();
/* Use the interrupt output of the status register for IRQ output */
PWM_1_STATUS_AUX_CTRL |= PWM_1_STATUS_ACTL_INT_EN_MASK;
/* Exit Critical Region*/
CyExitCriticalSection(PWM_1_interruptState);
/* Clear the FIFO to enable the PWM_1_STATUS_FIFOFULL
bit to be set on FIFO full. */
PWM_1_ClearFIFO();
#endif /* (PWM_1_UseStatus) */
#endif /* (PWM_1_UsingFixedFunction) */
}
int main()
{
CyGlobalIntEnable; /* Enable global interrupts. */
//PWM_1_Start();
PWM_1_Start();
USBUART_Start(0,USBUART_5V_OPERATION);
while(!USBUART_bGetConfiguration()){}
USBUART_CDC_Init();
int count = 0;
uint8 buff[64];
buff[0] = 0;
int up_b = 0;
int left_b = 0;
int down_b = 0;
int right_b = 0;
int PWM_count = 0;
int judge_count = 0;
while(1)//main loop
{
if(0 != USBUART_GetConfiguration())
{
if(0 != USBUART_DataIsReady())
{
count = USBUART_GetAll(buff);
if( count != 0){
while(0 == USBUART_CDCIsReady()){}
PWM_1_Start();
PWM_2_Start();
PWM_3_Start();
PWM_4_Start();
USBUART_PutData(buff,count);
CyDelay(500);
USBUART_PutCRLF();
switch(buff[0]){
case 48:
up_b = 1;
break;
case 49:
up_b = 0;
break;
case 50:
left_b = 1;
break;
case 51:
left_b = 0;
break;
case 52:
right_b = 1;
break;
case 53:
right_b = 0;
break;
case 54:
down_b = 1;
break;
case 55:
down_b = 0;
break;
default:
break;
}
judge_count = up_b + left_b + down_b +right_b;
if(judge_count == 0){
PWM_count = 0;
}
if(judge_count == 1){//押されているボタンの数が1つの場合
if(PWM_count <=100){
PWM_count++;
int i = 0;
for(i=0;i<=100;i++){}
}else{}
if(up_b == 1){//上ボタン
PWM_1_WriteCompare(PWM_count);
PWM_1_direction_Write(1);
PWM_2_WriteCompare(PWM_count);
PWM_2_direction_Write(1);
PWM_3_WriteCompare(PWM_count);
PWM_3_direction_Write(1);
PWM_4_WriteCompare(PWM_count);
PWM_4_direction_Write(1);
}
if(left_b == 1)
PWM_1_WriteCompare(PWM_count);
PWM_1_direction_Write(0);
PWM_2_WriteCompare(PWM_count);
PWM_2_direction_Write(1);
PWM_3_WriteCompare(PWM_count);
PWM_3_direction_Write(1);
PWM_4_WriteCompare(PWM_count);
PWM_4_direction_Write(0);
}
if(right_b == 1)
PWM_1_WriteCompare(PWM_count);
PWM_1_direction_Write(1);
PWM_2_WriteCompare(PWM_count);
PWM_2_direction_Write(0);
PWM_3_WriteCompare(PWM_count);
PWM_3_direction_Write(0);
PWM_4_WriteCompare(PWM_count);
PWM_4_direction_Write(1);
}
if(down_b == 1)
PWM_1_WriteCompare(PWM_count);
PWM_1_direction_Write(0);
PWM_2_WriteCompare(PWM_count);
PWM_2_direction_Write(0);
PWM_3_WriteCompare(PWM_count);
PWM_3_direction_Write(0);
PWM_4_WriteCompare(PWM_count);
PWM_4_direction_Write(0);
}
}else if(judge_count == 2){//2個の場合
if(PWM_count <=100){
PWM_count++;
int i = 0;
for(i=0;i<=100;i++){}
}else{}
if(up_b == 1&& left_b == 1){
PWM_1_WriteCompare(0);
PWM_1_direction_Write(0);
PWM_2_WriteCompare(PWM_count);
PWM_2_direction_Write(1);
PWM_3_WriteCompare(PWM_count);
PWM_3_direction_Write(1);
PWM_4_WriteCompare(0);
PWM_4_direction_Write(0);
}else if(up_b == 1&& right_b == 1){
PWM_1_WriteCompare(PWM_count);
PWM_1_direction_Write(1);
PWM_2_WriteCompare(0);
PWM_2_direction_Write(0);
PWM_3_WriteCompare(0);
PWM_3_direction_Write(0);
PWM_4_WriteCompare(PWM_count);
PWM_4_direction_Write(1);
}else if(down_b == 1&& right_b==1){
PWM_1_WriteCompare(0);
PWM_1_direction_Write(0);
PWM_2_WriteCompare(PWM_count);
PWM_2_direction_Write(0);
PWM_3_WriteCompare(PWM_count);
PWM_3_direction_Write(0);
PWM_4_WriteCompare(0);
PWM_4_direction_Write(0);
}else if(down_b == 1&& left_b == 1){
PWM_1_WriteCompare(PWM_count);
PWM_1_direction_Write(0);
PWM_2_WriteCompare(0);
PWM_2_direction_Write(0);
PWM_3_WriteCompare(0);
PWM_3_direction_Write(0);
PWM_4_WriteCompare(PWM_count);
PWM_4_direction_Write(0);
}
}else{}
//if(USBUART_IsLineChanged() == USBUART_LINE_CODING_CHANGED || USBUART_IsLineChanged() == USBUART_LINE_CONTROL_CHANGED)
//{
USBUART_PutCRLF();
//CyDelay(100);
//}
if(64 == count){
while(0 == USBUART_CDCIsReady()){}
//sent zero packet
USBUART_PutData(NULL,0);
}
//LED_Write(0);
}
}
void main()
{
CYGlobalIntEnable; /* Enable global interrupts */
ADC_DelSig_1_Start();/* Configure and power up ADC */
LCD_Char_1_Start(); /* Initialize and clear the LCD */
/* Move the cursor to Row 0 Column 0 */
LCD_Char_1_Position(ROW_0,COLUMN_0);
/* Print Label for the pot voltage raw count */
LCD_Char_1_PrintString("TEMP NOW: C");
LCD_Char_1_Position(ROW_1,COLUMN_0);
LCD_Char_1_PrintString("TEMP SET: C");
ADC_DelSig_1_StartConvert(); /* Force ADC to initiate a conversion */
/* Start capsense and initialize baselines and enable scan */
CapSense_Start();
CapSense_InitializeAllBaselines();
CapSense_ScanEnabledWidgets();
/* CyGlobalIntEnable; */ /* Uncomment this line to enable global interrupts. */
//Start the pwm;
PWM_1_Start();
for(;;)
{
/* If scanning is completed update the baseline count and check if sensor is active */
while(CapSense_IsBusy());
/* Update baseline for all the sensors */
CapSense_UpdateEnabledBaselines();
CapSense_ScanEnabledWidgets();
/* Test if button widget is active */
stateB_1 = CapSense_CheckIsWidgetActive(CapSense_BUTTON0__BTN);
stateB_2 = CapSense_CheckIsWidgetActive(CapSense_BUTTON1__BTN);
/* Wait for end of conversion */
ADC_DelSig_1_IsEndConversion(ADC_DelSig_1_WAIT_FOR_RESULT);
/* Get converted result */
voltageRawCount = ADC_DelSig_1_GetResult16();
//Change voltageRawCount to Temperature;
temp = voltageRawCount / 3.870 * 0.1017 + 0.5;
cold = (9999 - (temp > temp_set ? temp - temp_set : 0) * 50);
if(cold < 1000)
cold = 1000;
if(cold > 9999)
cold = 9999;
//Change the pwm;
PWM_1_WriteCompare(cold);
/* Set range limit */
if (temp > 0x7FFF)
{
temp = 0;
}
else
{
/* Continue on */
}
if(show < 10)
{
show++;
}
else
{
show = 0;
UpdateDisplay(temp, 0); /* Print result on LCD */
UpdateButtonState(stateB_1, stateB_2);
}
}
}