void setup(void) { // Initialize PIC24 modules. init_clock(); init_ui(); init_timer(); init_pin(); init_oc(); init_spi(); init_uart(); // Configure single SPI comms. system pin_digitalOut(SPI_CS); pin_set(SPI_CS); spi_open(spi_inst, SPI_MISO, SPI_MOSI, SPI_SCK, spi_freq, spi_mode); // Configure & start timers used. timer_setPeriod(&timer1, 1); timer_setPeriod(&timer2, 1); // Timer for LED operation/status blink timer_setPeriod(&timer3, LOOP_TIME); // Timer for main control loop timer_start(&timer1); timer_start(&timer2); timer_start(&timer3); // Configure dual PWM signals for bidirectional motor control oc_pwm(&oc1, PWM_I1, NULL, pwm_freq, pwm_duty); oc_pwm(&oc2, PWM_I2, NULL, pwm_freq, pwm_duty); InitUSB(); // initialize the USB registers and // serial interface engine while (USB_USWSTAT != CONFIG_STATE) { // while periph. is not configured, ServiceUSB(); // service USB requests } }
int16_t main(void) { //initialize all system clocks init_clock(); //initialize serial communications init_uart(); //initialize pin driving library (to be able to use the &D[x] defs) init_pin(); //initialize the UI library init_ui(); //initialize the timer module init_timer(); //initialize the OC module (used by the servo driving code) init_oc(); imu_init() //Set servo control pins as output pin_digitalOut(PAN_PIN); pin_digitalOut(TILT_PIN); pin_digitalOut(SONIC_OUT_PIN); pin_digitalIn(SONIC_IN_PIN); //Set LED off led_off(LED); //Configure blinking rate for LED when connected timer_setPeriod(LED_TIM, 0.2); timer_start(LED_TIM); //Configure timer for reciever timeout timer_setPeriod(DIST_TIM, 0.05); //configure PWM on sonic output pin oc_pwm(PWM_OC, SONIC_OUT_PIN, NULL, SONIC_FREQ, 0x0000); //According to HobbyKing documentation: range .8 through 2.2 msec //Set servo control pins as OC outputs on their respective timers oc_servo(SERVO1_OC, PAN_PIN, SERVO1_TIM, SERVO_PERIOD, SERVO_MIN, SERVO_MAX, pan_set_val); oc_servo(SERVO2_OC, TILT_PIN, SERVO2_TIM, SERVO_PERIOD, SERVO_MIN, SERVO_MAX, tilt_set_val); InitUSB(); // initialize the USB registers and serial interface engine while (USB_USWSTAT!=CONFIG_STATE) { // while the peripheral is not configured... ServiceUSB(); // ...service USB requests led_on(LED); //There's no point in driving the servos when there's no one connected yet. } while (1) { ServiceUSB(); // service any pending USB requests //blink the LED if (timer_flag(LED_TIM)) { timer_lower(LED_TIM); led_toggle(LED); } //Update the servo control values. x_gout = gyro_read(OUT_X_L); } }
//OTHER INITIAL CONDITIONS void initChip(){ init_clock(); init_uart(); init_timer(); init_ui(); init_pin(); init_oc(); pin_analogIn(CUR); pin_analogIn(EMF); pin_analogIn(FB); pin_digitalIn(SF); pin_digitalIn(ENC); pin_digitalOut(D1); pin_digitalOut(D2); pin_digitalOut(IN1); pin_digitalOut(IN2); pin_digitalOut(ENA); pin_digitalOut(SLEW); pin_digitalOut(INV); oc_pwm(&oc1, D2, PWM_TIMER, 250, 0); }
int16_t main(void) { init(); REV = 0; REQUESTED_DIRECTION = 0; SENSED_DIRECTION = 0; DUTY = 0; led_on(&led2); timer_setPeriod(HB_TIMER, 0.5); timer_start(HB_TIMER); printf("Good morning!\n"); oc_pwm(&oc3,D2n,PWM_TIMER,FREQ,DUTY); while (USB_USWSTAT!=CONFIG_STATE) { // while the peripheral is not configured... ServiceUSB(); // ...service USB requests } while (1) { ServiceUSB(); SetMotorVelocity(DUTY,REQUESTED_DIRECTION); get_direction(); get_feedback(); if (timer_flag(HB_TIMER)) { timer_lower(HB_TIMER); led_toggle(&led1); } } }
void setup(void) { // Initialize PIC24 modules. init_clock(); init_ui(); init_timer(); init_pin(); init_oc(); init_spi(); init_uart(); // Configure single SPI comms. system pin_digitalOut(SPI_CS); pin_set(SPI_CS); spi_open(spi_inst, SPI_MISO, SPI_MOSI, SPI_SCK, spi_freq, spi_mode); // Configure & start timers used. timer_setPeriod(&timer1, 1); timer_setPeriod(&timer2, 1); // Timer for LED operation/status blink timer_setPeriod(&timer3, LOOP_TIME); // Timer for main control loop timer_start(&timer1); timer_start(&timer2); timer_start(&timer3); // Configure motor current conversion coefficient CURRENT_CONV_COEF = MAX_ADC_OUTPUT * MOTOR_VOLTAGE_RESISTOR; cur_control.Kp = KP; cur_control.Kd = KD; cur_control.Ki = KI; cur_control.dt = LOOP_TIME; cur_control.integ_min = -100; cur_control.integ_max = 100; cur_control.integ_state = 0; read_motor_current(&motor); cur_control.prev_position = convert_motor_torque(motor.current); // Configure dual PWM signals for bidirectional motor control oc_pwm(&oc1, PWM_I1, NULL, pwm_freq, pwm_duty); oc_pwm(&oc2, PWM_I2, NULL, pwm_freq, pwm_duty); pin_analogIn(MOTOR_VOLTAGE); pin_digitalOut(DEBUGD0); pin_digitalOut(DEBUGD1); InitUSB(); // initialize the USB registers and // serial interface engine while (USB_USWSTAT != CONFIG_STATE) { // while periph. is not configured, ServiceUSB(); // service USB requests } }
void init_motor_swing(void){ dirpin = &D[8]; //set direction control pin as pin 8 pwmpin = &D[9]; //set PWM pin as pin 9 potentiometer = &A[5]; //read potentiometer pin as pin 5 //initialize the two pins as digital outputs and then clear them pin_digitalOut(dirpin); pin_digitalOut(pwmpin); //initialize analog input for potentiometer pin_analogIn(potentiometer); pin_clear(dirpin); pin_clear(pwmpin); oc_pwm(&oc1, pwmpin, &timer5, 1e3, 0); }
int16_t main(void) { init_pin(); init_clock(); init_uart(); init_ui(); init_timer(); init_oc(); //setup the signal input pin pin_digitalIn(&D[4]); val1 = 0; val2 = 0; pos = 0; //16 bit int with binary point in front of the MSB led_on(&led2); timer_setPeriod(&timer2, PULSE_FREQUENCY); //how often we send a pulse timer_start(&timer2); timer_setPeriod(&timer3, 0.5); //heartbeat timer_start(&timer3); oc_servo(&oc1,&D[0],&timer4, INTERVAL,MIN_WIDTH, MAX_WIDTH, pos); oc_servo(&oc2,&D[2],&timer5, INTERVAL,MIN_WIDTH, MAX_WIDTH, pos); oc_pwm(&oc3,&D[3],NULL,FREQ,ZERO_DUTY); printf("Good morning\n"); InitUSB(); // initialize the USB registers and serial interface engine while (USB_USWSTAT!=CONFIG_STATE) { // while the peripheral is not configured... ServiceUSB(); // ...service USB requests } while (1) { ServiceUSB(); pin_write(&D[0],val1); pin_write(&D[2],val2); //adapted from Patrick and Charlie's approach if (!send_pulse && timer_read(&timer2) < PULSE_WIDTH){ send_pulse = 1; pin_write(&D[3],HALF_DUTY); get_distance = 1; } else if (send_pulse && timer_read(&timer2) >= PULSE_WIDTH) { send_pulse = 0; pin_write(&D[3],ZERO_DUTY); } if (timer_read(&timer2) >= ECHO_TIME) { if (pin_read(&D[4]) && get_distance) { printf("%d\n", timer_read(&timer2)); get_distance = 0; } } if (timer_flag(&timer3)) { //show a heartbeat and a status message timer_lower(&timer3); led_toggle(&led1); } } }
int16_t main(void) { init_clock(); init_timer(); init_pin(); init_oc(); init_ui(); InitUSB(); // initialize the USB registers and serial interface engine while (USB_USWSTAT!=CONFIG_STATE) { // while the peripheral is not configured... ServiceUSB(); // ...service USB requests } // Configure Interrupts on the pic IEC1bits.CNIE = 1; CNEN1bits.CN2IE = 1; IFS1bits.CNIF = 0; IEC0bits.OC1IE = 1; IFS0bits.OC1IF = 0; timer_enableInterrupt(&timer1); timer_lower(&timer1); timer_enableInterrupt(&timer2); timer_lower(&timer2); timer_enableInterrupt(&timer4); timer_lower(&timer4); timer_enableInterrupt(&timer5); timer_lower(&timer5); // Configure Pins inPin0 = &A[0]; pin_analogIn(inPin0); inPin1 = &A[1]; pin_analogIn(inPin1); inPin2 = &A[2]; pin_analogIn(inPin2); inPin3 = &A[3]; pin_analogIn(inPin3); inPin4 = &A[4]; pin_analogIn(inPin4); irPin = &A[5]; pin_analogIn(irPin); outPin = &D[6]; pin_digitalOut(outPin); oc_pwm(&oc1, outPin, NULL, 10, (uint16_t)(0)); // write to D2 with a 10Hz PWM signal pin_write(outPin, 10000); //duty doesn't matter, really. redPin = &D[7]; pin_digitalOut(redPin); oc_pwm(&oc2, redPin, NULL, 100, (uint16_t)(0)); greenPin = &D[10]; pin_digitalOut(greenPin); oc_pwm(&oc3, greenPin, NULL, 100, (uint16_t)(0)); bluePin = &D[8]; pin_digitalOut(bluePin); oc_pwm(&oc4, bluePin, NULL, 100, (uint16_t)(0)); pingPin = &D[4]; pin_digitalOut(pingPin); oc_pwm(&oc5, pingPin, &timer3, 40000, 0); receivePin = &D[12]; pin_digitalIn(receivePin); // Motor controller pins dirPin = &D[0]; pin_digitalOut(dirPin); nSleepPin = &D[3]; pin_digitalOut(nSleepPin); pin_write(nSleepPin, 1); stepPin = &D[2]; pin_digitalOut(stepPin); testPin = &D[13]; pin_digitalOut(testPin); timer_setFreq(&timer1, 100); while (1) { ServiceUSB(); // service any pending USB requests irVoltage = pin_read(irPin); if (irVoltage < 40000){ dist = 32768; } if (irVoltage >= 40000){ dist = 32900; } if (dist != stepCount) { changeFlag += 1; } else { changeFlag = 0; } if (changeFlag >= 3){ changeFlag = 0; motorControl(dist); } if (touching0 == 10){ greenTarget = 40000; redTarget = 60000; blueTarget = 0; if (currentPetal == 0){ greenTarget = 0; redTarget = 0; blueTarget = 0; } currentPetal == 0; } if (touching1 == 11){ greenTarget = 20000; redTarget = 20000; blueTarget = 20000; if (currentPetal == 1){ greenTarget = 0; redTarget = 0; blueTarget = 0; } currentPetal == 1; } if (touching2 == 12){ greenTarget = 0; redTarget = 60000; blueTarget = 40000; if (currentPetal == 2){ greenTarget = 0; redTarget = 0; blueTarget = 0; } currentPetal == 2; } if (touching3 == 13){ greenTarget = 0; redTarget = 60000; blueTarget = 0; if (currentPetal == 3){ greenTarget = 0; redTarget = 0; blueTarget = 0; } currentPetal == 3; } if (touching4 == 14){ greenTarget = 60000; redTarget = 0; blueTarget = 0; if (currentPetal == 4){ greenTarget = 0; redTarget = 0; blueTarget = 0; } currentPetal == 4; } if (greenDuty < greenTarget) { greenChange = 1; } else if (greenDuty > greenTarget) { greenChange = -1; } else { greenChange = 0; onTarget += 1; } if (redDuty < redTarget) { redChange = 1; } else if (redDuty > redTarget) { redChange = -1; } else { redChange = 0; onTarget += 1; } if (blueDuty < blueTarget) { blueChange = 1; } else if (blueDuty > blueTarget) { blueChange = -1; } else { blueChange = 0; onTarget += 1; } greenDuty += greenChange; redDuty += redChange; blueDuty += blueChange; pin_write(greenPin, greenDuty); pin_write(redPin, redDuty); pin_write(bluePin, blueDuty); /* // fade on when touched if (touching0 == 10){ if (greenOn == 0){ greenChange = 1; } if (greenOn == 1){ greenChange = -1; } redChange = -1; blueChange = -1; } if (touching1 == 11){ if (redOn == 1){ redChange = -1; } if (redOn == 0){ redChange = 1; } blueChange = -1; greenChange = -1; } if (touching2 == 12){ if (blueOn == 1){ blueChange = -1; } if (blueOn == 0){ blueChange = 1; } greenChange = -1; redChange = -1; } greenDuty = greenDuty + greenChange; if (greenDuty == MAX_INT){ greenDuty = MAX_INT -1; greenOn = 1; greenChange = 0; } if (greenDuty == 0){ greenDuty = 1; greenOn = 0; greenChange = 0; } redDuty = redDuty + redChange; if (redDuty == MAX_INT){ redDuty = MAX_INT - 1; redOn = 1; redChange = 0; } if (redDuty == 0){ redDuty = 1; redOn = 0; redChange = 0; } blueDuty = blueDuty + blueChange; if (blueDuty == MAX_INT){ blueDuty = MAX_INT - 1; blueOn = 1; blueChange = 0; } if (blueDuty == 0){ blueDuty = 1; blueOn = 0; blueChange = 0; } pin_write(greenPin, greenDuty); pin_write(redPin, redDuty); pin_write(bluePin, blueDuty); */ /* if (iteration > 10000) { ping(); iteration = 0; } iteration += 1; */ } }
void __leds_update(_TIMER *timer) { oc_pwm(&oc1, &A[5], NULL, LEDS_FREQ, 0x0000); bitset(&IEC0, 2); // enable OC1 interrupt }