//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);
}
void init_motor(void){
//outputs
pin_digitalOut(IN1); //D2-bar
pin_write(IN1,1);
pin_digitalOut(IN2); //D2-bar
pin_write(IN2,0);
pin_digitalOut(D1); //D1
pin_write(D1,0); //no tri-stating!
pin_digitalOut(ENA); //ENA
pin_write(ENA,1); //Enable the system
pin_digitalOut(&D[7]); //SLEW
pin_write(&D[7],0); //low slew rate
pin_digitalOut(INV); //INV
pin_write(INV,0); //don't invert the inputs!
//inputs
pin_analogIn(CURRENT_PIN); //direction sensor
pin_analogIn(VEMF_PIN); //Vemf sensor
pin_analogIn(FB_PIN); //0.24% of active high side current
pin_digitalIn(REV_PIN); //tach input
}
int16_t main(void) {
init_clock();
init_timer();
init_ui();
init_pin();
init_spi();
init_oc();
init_md();
// Current measurement pin
pin_analogIn(&A[0]);
// SPI pin setup
ENC_MISO = &D[1];
ENC_MOSI = &D[0];
ENC_SCK = &D[2];
ENC_NCS = &D[3];
pin_digitalOut(ENC_NCS);
pin_set(ENC_NCS);
// Open SPI in mode 1
spi_open(&spi1, ENC_MISO, ENC_MOSI, ENC_SCK, 2e6, 1);
// Motor setup
md_velocity(&md1, 0, 0);
// Get initial angle offset
uint8_t unset = 1;
while (unset) {
ANG_OFFSET = enc_readReg((WORD) REG_ANG_ADDR);
unset = parity(ANG_OFFSET.w);
}
ANG_OFFSET.w &= ENC_MASK;
// USB setup
InitUSB();
while (USB_USWSTAT!=CONFIG_STATE) {
ServiceUSB();
}
// Timers
timer_setFreq(&timer2, READ_FREQ);
timer_setFreq(&timer3, CTRL_FREQ);
timer_start(&timer2);
timer_start(&timer3);
// Main loop
while (1) {
ServiceUSB();
if (timer_flag(&timer2)) {
timer_lower(&timer2);
get_readings();
}
if (timer_flag(&timer3)) {
timer_lower(&timer3);
set_velocity();
}
}
}
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_clock();
init_timer();
init_pin();
init_oc();
init_md();
pin_analogIn(&A[0]);
md_velocity(&md1, 0xF000, 1);
InitUSB(); // initialize the USB registers and serial interface engine
while (USB_USWSTAT!=CONFIG_STATE) { // while the peripheral is not configured...
LAST_CURRENT = CURRENT_CURRENT;
CURRENT_CURRENT.w = pin_read(&A[0]);
ServiceUSB(); // ...service USB requests
}
while (1) {
LAST_CURRENT = CURRENT_CURRENT;
CURRENT_CURRENT.w = pin_read(&A[0]);
ServiceUSB(); // service any pending USB requests
}
}
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;
*/
}
}
