void initPIDChans(BYTE group){
if(dyPid[group].inputChannel==DYPID_NON_USED || dyPid[group].outputChannel==DYPID_NON_USED)
return;
switch(dyPid[group].inputMode){
case IS_COUNTER_INPUT_INT:
case IS_COUNTER_INPUT_DIR:
case IS_COUNTER_INPUT_HOME:
dyPid[group].inputChannel = getCounterIntChannnel( channelToCounterGroup(dyPid[group].inputChannel));
StartCounterInput(dyPid[group].inputChannel);
break;
}
println_I("Setting Modes for PID");
SetCoProcMode(dyPid[group].inputChannel,dyPid[group].inputMode);
SetCoProcMode(dyPid[group].outputChannel,dyPid[group].outputMode);
SyncModes();
if(dyPid[group].inputMode== IS_ANALOG_IN){
pidGroups[group].SetPoint=GetValFromAsync(dyPid[group].inputChannel);
}else{
pidGroups[group].SetPoint=0;
}
}
void InitSPI(void){
println_I("Initializing the SPI perpheral");
mPORTGOpenDrainOpen(BIT_6);// Clock is output
mPORTGOpenDrainOpen(BIT_8);// Data Out is an output
SPI_SCK_IO=1;
SPI_SDO_IO=1;
OpenSPI2(SPI_MODE8_ON|ENABLE_SDO_PIN|SLAVE_ENABLE_OFF|SPI_CKE_ON|MASTER_ENABLE_ON|SEC_PRESCAL_8_1|PRI_PRESCAL_64_1, SPI_ENABLE);
println_I("Setting up SPI perpheral");
SetCoProcMode(0,IS_SPI_SCK);
SetCoProcMode(1,IS_SPI_MISO);
SetCoProcMode(2,IS_SPI_MOSI);
}
void StopSPI(BYTE pin){
if (isSPI(GetChannelMode(pin))){
CloseSPI2();
_RG6=1;
_RG8=1;
SDI_TRIS=INPUT;
SDO_TRIS=INPUT;
SCK_TRIS=INPUT;
println_I("Clearing up SPI perpheral");
SetCoProcMode(0,IS_DI);
SetCoProcMode(1,IS_DI);
SetCoProcMode(2,IS_DI);
}
}
void initPIDChans(uint8_t group){
if(dyPid[group].inputChannel==DYPID_NON_USED || dyPid[group].outputChannel==DYPID_NON_USED){
return;
}
switch(dyPid[group].inputMode){
case IS_COUNTER_INPUT_INT:
case IS_COUNTER_INPUT_DIR:
case IS_COUNTER_INPUT_HOME:
dyPid[group].inputChannel = getCounterIntChannnel( channelToCounterGroup(dyPid[group].inputChannel));
StartCounterInput(dyPid[group].inputChannel);
break;
}
// println_W("PID In chan: ");
// p_int_W(dyPid[group].inputChannel);
// println_W(" mode: ");
// printMode(dyPid[group].inputMode, WARN_PRINT);
// println_W("PID Out chan: ");
// p_int_W(dyPid[group].outputChannel);
// println_W(" mode: ");
//printMode(dyPid[group].outputMode, WARN_PRINT);
SetCoProcMode(dyPid[group].inputChannel,dyPid[group].inputMode);
SetCoProcMode(dyPid[group].outputChannel,dyPid[group].outputMode);
//SyncModes();
if(dyPid[group].inputMode== IS_ANALOG_IN){
pidGroups[group].SetPoint=GetValFromAsync(dyPid[group].inputChannel);
}else{
pidGroups[group].SetPoint=0;
}
SetPIDCalibrateionState(group, CALIBRARTION_DONE);
getPidGroupDataTable( group)->config.Async=true;
//getPidGroupDataTable( group)->config.Enabled=true;
}
void SendPacketToSPIFromArray(BYTE numBytes,BYTE * data){
BYTE ss = data[0];
if(ss<3){
println_I("invalid SS pin");
return;
}
if(!SetCoProcMode(ss,IS_DO))
SetChannelValueCoProc(ss,1);
SetChannelValueCoProc(ss,0);
BYTE i;
for (i=0;i<numBytes;i++){
data[i+1]=GetByteSPI(data[i+1]);
}
SetChannelValueCoProc(ss,1);
}
