void adc_init(void)
{
ADC_OFF(); //disable adc
ADMUX = ADC_REFER_VACC | ADC_CHANNEL_3; //设置ADC参考电源为AVCC, select adc input ADC3，ADC3为空
ACSR = _BV(ACD); //模拟比较器禁用
ADC_ON();
}
//-----------------------
void adc_init(void)
{
ADC_OFF(); // 关闭ADC
ADMUX = _BV(REFS0)|_BV(MUX1)|_BV(MUX0); // 外部参考电源VACC，选择ADC3（空）
ACSR = _BV(ACD); // 禁止ACD并关闭其电源
ADC_ON(); // 打开ADC,使能ADC中断，并对其进行2分频
adc_queue_init();
}
//-------------------------------------------------------------------------------
// Configure ADC multiplexor to measure temperature and enable ADC
void BSP_adc_enable_temperature(void) { ADC_ON(ADC_INPUT_TEMP); }
//-------------------------------------------------------------------------------
// Configure ADC multiplexor with given ADC channel and enable ADC
void BSP_adc_enable(uint8_t channel)
{
switch(channel) {
#ifdef ADC0_ENABLED
case 0: ADC_ON(ADC_INPUT_0); break;
#endif
#ifdef ADC1_ENABLED
case 1: ADC_ON(ADC_INPUT_1); break;
#endif
#ifdef ADC2_ENABLED
case 2: ADC_ON(ADC_INPUT_2); break;
#endif
#ifdef ADC3_ENABLED
case 3: ADC_ON(ADC_INPUT_3); break;
#endif
#ifdef ADC4_ENABLED
case 4: ADC_ON(ADC_INPUT_4); break;
#endif
#ifdef ADC5_ENABLED
case 5: ADC_ON(ADC_INPUT_5); break;
#endif
#ifdef ADC6_ENABLED
case 6: ADC_ON(ADC_INPUT_6); break;
#endif
#ifdef ADC7_ENABLED
case 7: ADC_ON(ADC_INPUT_7); break;
#endif
#ifdef ADC8_ENABLED
case 8: ADC_ON(ADC_INPUT_8); break;
#endif
#ifdef ADC9_ENABLED
case 9: ADC_ON(ADC_INPUT_9); break;
#endif
#ifdef ADC10_ENABLED
case 10: ADC_ON(ADC_INPUT_10); break;
#endif
default: BSP_ASSERT(0); break;
}
adc_chan = channel;
}
// Séquence d'initialisation (Attention à l'ordre d'exécution!)
void setup(void) {
/* Fréquence d'entrée : résonateur XT 10 MHz
* Fréquence des cycles d'instructions (FCY) : 40 MIPS */
_PLLPRE = 0; // N1 = 2
_PLLDIV = 32; // M = 32
_PLLPOST = 0; // N2 = 2
/* Setup des pins configurables */
SETUP_PIN_19();
SETUP_PIN_20();
SETUP_PIN_21();
SETUP_PIN_22();
SETUP_PIN_23();
SETUP_PIN_24();
SETUP_PIN_25();
SETUP_PIN_26();
/* Setup des pins de synchro */
SETUP_PIN_9();
SETUP_PIN_8();
SETUP_PIN_3();
SETUP_PIN_2();
SETUP_PIN_1();
SETUP_PIN_44();
SETUP_PIN_43();
SETUP_PIN_42();
// Setup de la LED
SETUP_LED();
// Setup du switch SELECT
SETUP_SELECT();
/* Setup du PWM */
SETUP_PWM_MODE();
SETUP_PWM_PERIOD();
SETUP_PWM_M1();
SETUP_PWM_M2();
SETUP_BRAKE();
SETUP_DUTY_CYCLE();
SETUP_DEAD_TIME();
ENABLE_PWM;
/* Setup de l'interruption principale et du timer associé */
T2CONbits.TON = 0; // Desactive le timer 2
T2CONbits.TGATE = 0; // Desactive le GATE
T2CONbits.TSIDL = 0;
T2CONbits.TCS = 0; // Utilise l'horloge interne
T2CONbits.T32 = 0; // Sélectionne le mode 16 bits
T2CONbits.TCKPS = 0b11; // Selectionne l'echelle 1:256
TMR2 = 0x00; // Efface le registre
PR2 = 781; // Fixe la frequence a 200Hz ( 40000000 / (F * 256) )
IPC1bits.T2IP = 0x01; // Fixe la priorite
IFS0bits.T2IF = 0; // Efface le drapeau de l'interruption
IEC0bits.T2IE = 1; // Active l'interruption
/* Setup de l'encodeur QE1 */
ADPCFG |= 0x0038; // Configure QEI pins as digital inputs
RPINR14bits.QEA1R = 20; // Pin RP20
RPINR14bits.QEB1R = 21; // Pin RP21
QEI1CONbits.QEIM = 0; // Disable QEI Module
QEI1CONbits.CNTERR = 0; // Clear any count errors
QEI1CONbits.QEISIDL = 0; // Continue operation during sleep
QEI1CONbits.SWPAB = 1; // QEA and QEB swapped
QEI1CONbits.PCDOUT = 0; // Normal I/O pin operation
DFLT1CONbits.CEID = 1; // Count error interrupts disabled
DFLT1CONbits.QEOUT = 1; // Digital filters output enabled for QEn pins
DFLT1CONbits.QECK = 5; // 1:64 clock divide for digital filter for QEn
POS1CNT = 32768; // Remise du compteur a 0
MAX1CNT = 65535; // Valeur max
QEI1CONbits.QEIM = 6; // X4 mode with position counter reset by Index
/* Setup de l'encodeur QE2 */
RPINR16bits.QEA2R = 25; // Pin RP25
RPINR16bits.QEB2R = 24; // Pin RP24
QEI2CONbits.QEIM = 0; // Disable QEI Module
QEI2CONbits.CNTERR = 0; // Clear any count errors
QEI2CONbits.QEISIDL = 0; // Continue operation during sleep
QEI2CONbits.SWPAB = 0; // QEA and QEB not swapped
QEI2CONbits.PCDOUT = 0; // Normal I/O pin operation
DFLT2CONbits.CEID = 1; // Count error interrupts disabled
DFLT2CONbits.QEOUT = 1; // Digital filters output enabled for QEn pins
DFLT2CONbits.QECK = 5; // 1:64 clock divide for digital filter for QEn
POS2CNT = 32768; // Remise du compteur a 0
MAX2CNT = 65535; // Valeur max
QEI2CONbits.QEIM = 6; // X4 mode with position counter reset by Index
// Setup de l'écran
setupLCD();
// Setup ADC
ADC_ON();
}
