void Reflow_Init(void) {
// PID_init(&PID,16,0.1,2,PID_Direction_Direct);
PID_init(&PID,17,0.11,2,PID_Direction_Direct);
EEPROM_Read((uint8_t*)ee1.temperatures, 2, 96);
ByteswapTempProfile(ee1.temperatures);
EEPROM_Read((uint8_t*)ee2.temperatures, 128+2, 96);
ByteswapTempProfile(ee2.temperatures);
intsetpoint = 30;
PID.mySetpoint = 30.0f; // Default setpoint
PID_SetOutputLimits(&PID, 0,255+248);
PID_SetMode(&PID, PID_Mode_Manual);
PID.myOutput = 248; // Between fan and heat
PID_SetMode(&PID, PID_Mode_Automatic);
RTC_Zero();
}
//*****************************************************************************
// PID control : 200Hz
//*****************************************************************************
void Init_PID(){
// Rate pid
PID_init(&_r_rate_PID, r_rate_Kp, r_rate_Ki, r_rate_Kd, PID_Direction_Direct);
PID_init(&_p_rate_PID, p_rate_Kp, p_rate_Ki, p_rate_Kd, PID_Direction_Direct);
PID_init(&_y_rate_PID, y_rate_Kp, y_rate_Ki, y_rate_Kd, PID_Direction_Direct);
PID_SetSampleTime(&_r_rate_PID, 5); // 0.005s
PID_SetSampleTime(&_p_rate_PID, 5);
PID_SetSampleTime(&_y_rate_PID, 5);
PID_SetMode(&_r_rate_PID, PID_Mode_Automatic);
PID_SetMode(&_p_rate_PID, PID_Mode_Automatic);
PID_SetMode(&_y_rate_PID, PID_Mode_Automatic);
PID_SetOutputLimits(&_r_rate_PID,-20.0,20.0);
PID_SetOutputLimits(&_p_rate_PID,-20.0,20.0);
PID_SetOutputLimits(&_y_rate_PID,-20.0,20.0);
_prev_angle_error = 0;
}
int main() {
usartInit(57600);
usartEnableReceiver();
usartEnableTransmitter();
usartStdio();
setBit(DDRB, M1_DIR);
setBit(DDRD, M1_PWM);
setBit(DDRD, M2_DIR);
setBit(DDRD, M2_PWM);
clrBit(PORTB, M1_DIR);
clrBit(PORTD, M1_PWM);
clrBit(PORTD, M2_PWM);
clrBit(PORTD, M2_DIR);
timer0FastPWMMaxMode();
timer0ClockPrescaller64();
timer0OC0ANonInvertedMode();
timer0OC0BNonInvertedMode();
timer0SetCompareAValue(0);
timer0SetCompareBValue(0);
timer0DeactivateCompareAInterrupt();
timer0DeactivateCompareBInterrupt();
timer2ClockPrescaller256();
timer2NormalMode();
timer2OC2AOff();
timer2OC2BOff();
timer2ActivateOverflowInterrupt();
i2c_init();
adxl345_init();
l3g4200d_init();
l3g4200d_setoffset(0.11, -1.71, -0.46);
//l3g4200d_settemperatureref();
PID_init(&PID, 15,0.2,1, 0);
PID_SetMode(&PID, 1);
PID_SetOutputLimits(&PID, -255, 255);
PID.mySetpoint = 0;
motor1(0);
motor2(0);
// printf("\e[1;1H\e[2J");
// printf("STARTED!\r\n");
// _delay_ms(200);
// motor1(120);
// printf("Motor1 = 120\r\n");
// _delay_ms(500);
// motor1(-120);
// printf("Motor1 = -120\r\n");
// _delay_ms(500);
// motor1(120);
// printf("Motor1 = 120\r\n");
// _delay_ms(500);
// motor1(0);
// printf("Motor1 = 0\r\n");
sei();
while(1);
return 0;
}
