void InitPID(void){
BYTE i;
//WORD loop;
for (i=0;i<NUM_PID_GROUPS;i++){
//DyPID values
dyPid[i].inputChannel=DYPID_NON_USED;
dyPid[i].outputChannel=DYPID_NON_USED;
dyPid[i].inputMode=0;
dyPid[i].outputMode=0;
pidGroups[i].Enabled=FALSE;
pidGroups[i].channel = i;
vel[i].enabled=FALSE;
vel[i].K.P=.1;
limits[i].type=NO_LIMIT;
LoadPIDvals(&pidGroups[i],&dyPid[i]);
if( dyPid[i].inputChannel==DYPID_NON_USED ||
dyPid[i].outputChannel==DYPID_NON_USED ||
dyPid[i].outputChannel==dyPid[i].inputChannel)
{
dyPid[i].inputChannel=DYPID_NON_USED;
dyPid[i].outputChannel=DYPID_NON_USED;
WritePIDvalues(&pidGroups[i],&dyPid[i]);
}
force[i].MsTime=0;
force[i].setPoint=200;
}
InitilizePidController( pidGroups,
vel,
NUM_PID_GROUPS,
&getPositionMine,
&setOutputMine,
&resetPositionMine,
//&asyncCallback,
&onPidConfigureMine,
&checkPIDLimitEventsMine);
for (i=0;i<NUM_PID_GROUPS;i++){
printPIDvals(i);
if(pidGroups[i].Enabled){
initPIDChans(i);
println_I("Resetting PID channel from init");
int value = 0;
if(dyPid[i].inputMode == IS_ANALOG_IN)
value = 512;
pidReset(i,value);
}
}
}
int main(){
//setPrintLevelInfoPrint();
setPrintLevelWarningPrint();
//setPrintLevelNoPrint();
hardwareInit();
RunEveryData loop = {0.0,2000.0};
while(1){
if (_RF5==1){
setPrintLevelErrorPrint();
p_int_E(0);print_E(" Reset Button Pressed from loop");
SetColor(1,1,1);
U1CON = 0x0000;
DelayMs(100);
Reset();
}
if(RunEvery(&loop)>0){
// clearPrint();
// printCartesianData();
}
if( printCalibrations == false &&
GetPIDCalibrateionState(linkToHWIndex(0))==CALIBRARTION_DONE&&
GetPIDCalibrateionState(linkToHWIndex(1))==CALIBRARTION_DONE&&
GetPIDCalibrateionState(linkToHWIndex(2))==CALIBRARTION_DONE
){
printCalibrations = true;
int index=0;
for(index=0;index<3;index++){
int group = linkToHWIndex(index);
println_E("For Axis ");p_int_E(group);
print_E(" upper: ");p_int_E(getPidGroupDataTable(group)->config.upperHistoresis);
print_E(" lower: ");p_int_E(getPidGroupDataTable(group)->config.lowerHistoresis);
print_E(" stop: ");p_int_E(getPidGroupDataTable(group)->config.stop);
}
startHomingLinks();
//Print_Level l= getPrintLevel();
//setPrintLevelInfoPrint();
printCartesianData();
int i;
for(i=0;i<numPidMotors;i++){
printPIDvals(i);
}
//setPrintLevel(l);
}
bowlerSystem();
}
}
BOOL initFlashLocal(){
if(bytesOfRaw > 0x1000-FLASHSTORE){
println_E("Too much data to store");
SoftReset();
}
println_W("Size of Flash data = ");p_int_W(bytesOfRaw);
SetFlashData( localData.data ,bytesOfRaw/4);
FlashLoad();
int i=0,j=0, index;
BOOL rawFlashDetect=FALSE;
for(i=0;i<numPidTotal;i++){
index = i*sizeof(AbsPID_Config);
for(j=0;j<sizeof(AbsPID_Config)/4;j++){
getPidGroupDataTable()[i].raw[j]=localData.data[index+j];
}
if( (getPidGroupDataTable()[i].config.Enabled != 1 &&
getPidGroupDataTable()[i].config.Enabled != 0) ){
rawFlashDetect = TRUE;
println_E("Detected raw flash, setting defaults : ");p_int_E(i);
printPIDvals(i);
getPidGroupDataTable()[i].config.Enabled = FALSE;
getPidGroupDataTable()[i].config.Async=0;
getPidGroupDataTable()[i].config.IndexLatchValue=0;
getPidGroupDataTable()[i].config.stopOnIndex=0;
getPidGroupDataTable()[i].config.useIndexLatch=0;
getPidGroupDataTable()[i].config.K.P=.1;
getPidGroupDataTable()[i].config.K.I=0;
getPidGroupDataTable()[i].config.K.D=0;
getPidGroupDataTable()[i].config.V.P=.1;
getPidGroupDataTable()[i].config.V.D=0;
getPidGroupDataTable()[i].config.Polarity=1;
getPidGroupDataTable()[i].config.stop=0;
getPidGroupDataTable()[i].config.upperHistoresis=0;
getPidGroupDataTable()[i].config.lowerHistoresis=0;
}
}
if(rawFlashDetect )
writeFlashLocal();
return !rawFlashDetect;
}
void writeFlashLocal(){
if(bytesOfRaw > 0x1000-FLASHSTORE){
println_E("Too much data to store");
SoftReset();
}
println_W("Writing values to Flash");
int i=0,j=0, index;
for(i=0;i<numPidTotal;i++){
index = i*sizeof(AbsPID_Config);
for(j=0;j<sizeof(AbsPID_Config)/4;j++){
localData.data[index+j]=getPidGroupDataTable()[i].raw[j];
}
}
FlashSync();
FlashLoad();
for(i=0;i<numPidTotal;i++){
printPIDvals(i);
}
}
void InitPID(void){
//println_I("Starting PID initialization ");
uint8_t i;
//uint16_t loop;
for (i=0;i<NUM_PID_GROUPS;i++){
//DyPID values
dyPid[i].inputChannel=DYPID_NON_USED;
dyPid[i].outputChannel=DYPID_NON_USED;
dyPid[i].inputMode=0;
dyPid[i].outputMode=0;
dyPid[i].flagValueSync=false;
pidGroups[i].config.tipsScale=1.0;
pidGroups[i].config.Enabled = false;
pidGroups[i].config.Async = 1;
pidGroups[i].config.IndexLatchValue = 0;
pidGroups[i].config.stopOnIndex = 0;
pidGroups[i].config.useIndexLatch = 0;
pidGroups[i].config.K.P = .1;
pidGroups[i].config.K.I = 0;
pidGroups[i].config.K.D = 0;
pidGroups[i].config.V.P = .1;
pidGroups[i].config.V.D = 0;
pidGroups[i].config.Polarity = 0;
pidGroups[i].config.stop = 0;
pidGroups[i].config.upperHistoresis = 0;
pidGroups[i].config.lowerHistoresis = 0;
pidGroups[i].config.offset = 0.0;
pidGroups[i].config.calibrationState = CALIBRARTION_DONE;
pidGroups[i].interpolate.set=0;
pidGroups[i].interpolate.setTime=0;
pidGroups[i].interpolate.start=0;
pidGroups[i].interpolate.startTime=0;
limits[i].type=NO_LIMIT;
LoadPIDvals(&pidGroups[i],&dyPid[i],i);
if( dyPid[i].inputChannel==DYPID_NON_USED ||
dyPid[i].outputChannel==DYPID_NON_USED ||
dyPid[i].outputChannel==dyPid[i].inputChannel||
pidGroups[i].config.Enabled !=true)
{
dyPid[i].inputChannel=DYPID_NON_USED;
dyPid[i].outputChannel=DYPID_NON_USED;
pidGroups[i].config.Enabled = false;
WritePIDvalues(&pidGroups[i],&dyPid[i],i);
}
force[i].MsTime=0;
force[i].setPoint=200;
}
InitilizePidController( pidGroups,
NUM_PID_GROUPS,
&getPositionMine,
&setOutputMine,
&resetPositionMine,
&onPidConfigureMine,
&checkPIDLimitEventsMine);
for (i=0;i<NUM_PID_GROUPS;i++){
//
if(pidGroups[i].config.Enabled){
println_W("PID ");p_int_W(i);
printPIDvals(i);
initPIDChans(i);
int value = getPositionMine(i);
pidGroups[i].CurrentState=value;
pidReset(i,value);
}
}
}
