int main(void)
{
int x = 32768;
trim_xtal();
uart_init(UART1, 115200);
rtc_init();
printf("pwm test\r\n");
pwm_init_stopped(TMR0, 12000000, x);
pwm_init_stopped(TMR1, 12000000, x);
TMR0->ENBL |= TMR_ENABLE_BIT(TMR0) | TMR_ENABLE_BIT(TMR1);
for(;;) {
printf("duty %d = %d%%\r\n", x, ((x * 100 + 32768) / 65536));
switch(uart1_getc()) {
case '[': x -= 1; break;
case ']': x += 1; break;
case '-': x -= 32; break;
case '=': x += 32; break;
case '_': x -= 512; break;
case '+': x += 512; break;
case '`': x = 65535 * 0/10; break;
case '1': x = 65535 * 1/10; break;
case '2': x = 65535 * 2/10; break;
case '3': x = 65535 * 3/10; break;
case '4': x = 65535 * 4/10; break;
case '5': x = 65535 * 5/10; break;
case '6': x = 65535 * 6/10; break;
case '7': x = 65535 * 7/10; break;
case '8': x = 65535 * 8/10; break;
case '9': x = 65535 * 9/10; break;
case '0': x = 65535 * 10/10; break;
}
x &= 65535;
pwm_duty(TMR0, x);
}
}
void main ()
{
setup_timer_3 (T3_DISABLED|T3_DIV_BY_1);
pwm_init (0);
pwm_duty (0, 50);
usb_init ();
lcd_init ();
lcd_putc ('\f');
delay_ms (1);
lcd_refresh ();
while (TRUE) {
usb_task ();
if (usb_enumerated ()) {
if (usb_kbhit (1)) {
rx_msg_len = usb_get_packet (1, &rx_msg, sizeof (rx_msg));
process_usb_data ();
}
}
lcd_refresh ();
delay_ms (100);
}
}
int main(void)
{
//prm parses the new pwm value to the pwm_duty function
double prm;
//newP acts as an intermediate value
double newP;
//setPoint stores the current voltage setpoint
double setPoint;
//currVoltage stores the current voltage
double currVoltage;
//currADC is the voltage at the voltage divider
double currADC;
//dutyCycle stores the duty cycle as a value between 0 and 1
double dutyCycle;
init_stdio2uart0();
init_pwm();
init_adc();
//Create pid_data structure
pid_data *pid = (pid_data *) malloc(sizeof(pid));
//Set initial values
pid->dt = 0.0025;
pid->i = 0;
pid->error = 0;
pid->d = 0;
//Set default setpoint and prm value
setPoint = 5.0f;
prm = 50.0f;
//Ensure the duty cycle reflects prm
dutyCycle = prm/256;
//Create the sp variable for comparison purposes
sp = (uint8_t)(setPoint*10);
initTimer();
//Enable interrupts
sei();
for(;;)
{
//Set the value for the repeat enable value to 0 at the beginning
cont = 0;
//Retrieve current value for adc
//and calculate error relative to setPoint
currADC = v_load();
currVoltage = (currADC / GAMMA)+CALIB_ERROR;
pid->error = setPoint - currVoltage;
//Cache new value of PWM to a variable
dutyCycle = dutyCycle + calcPid(pid);
//Check if this value is within bounds
if(dutyCycle < 0) dutyCycle = 0;
else if(dutyCycle > 0.90) dutyCycle = 0.90;
newP = dutyCycle * 256;
//Retest with value converted
if(newP < 0) prm = 0;
else if(newP > PWM_DUTY_MAX) prm = PWM_DUTY_MAX;
else prm = newP;
//Update PWM
pwm_duty((uint8_t)prm);
pid->erprev = pid->error;
//Cache current voltage for UART and check whether the setpoint has changed
v = (uint8_t)(currVoltage * 10);
if(sp != (uint8_t)(setPoint*10)) setPoint = ((double) sp)/10;
while(!cont);
}
//free the memory should the loop ever terminate
free(pid);
return 0;
}
void process_usb_data ()
{
pwm_init (rx_msg.u.enabled);
pwm_duty (rx_msg.u.pwm1_duty_percent, rx_msg.u.pwm2_duty_percent);
lcd_refresh ();
}
static void pwm(uint16_t duty)
{
_pwm = duty;
pwm_duty(_pwm);
}
