void
pressure_update (void)
{
if (pressure.wait)
{
pressure.wait--;
}
else
{
switch (pressure.state)
{
case PRESSURE_INITIAL:
if (pressure.low)
{
/* Open circuit. */
IO_SET (OUTPUT_PNEUM_OPEN);
pressure.state++;
pressure.wait = PRESSURE_OPEN_WAIT;
}
break;
case PRESSURE_IDLE:
if (pressure_get () < pressure.low)
{
/* Start pump. */
mimot_motor_output_set (1, 0x3ff);
pressure.state++;
pressure.wait = PRESSURE_START_WAIT;
}
else
pressure.wait = PRESSURE_INTERVAL;
break;
case PRESSURE_STARTING:
/* Started, close circuit. */
IO_CLR (OUTPUT_PNEUM_OPEN);
pressure.state++;
break;
case PRESSURE_PUMPING:
/* Pump until high. */
if (pressure_get () > pressure.high)
{
/* Done. Stop. Open circuit. */
mimot_motor_free (1, 0);
IO_SET (OUTPUT_PNEUM_OPEN);
pressure.state = PRESSURE_IDLE;
pressure.wait = PRESSURE_REST;
}
else
pressure.wait = PRESSURE_INTERVAL;
break;
}
}
}
void StopPWM(){
CCP2CON=0x00;
T1OSCEN=OFF;
IO_CLR(PWMport,PWMpin);
}
