void initPIDChans(BYTE group){
if(dyPid[group].inputChannel==DYPID_NON_USED || dyPid[group].outputChannel==DYPID_NON_USED)
return;
switch(dyPid[group].inputMode){
case IS_COUNTER_INPUT_INT:
case IS_COUNTER_INPUT_DIR:
case IS_COUNTER_INPUT_HOME:
dyPid[group].inputChannel = getCounterIntChannnel( channelToCounterGroup(dyPid[group].inputChannel));
StartCounterInput(dyPid[group].inputChannel);
break;
}
println_I("Setting Modes for PID");
SetCoProcMode(dyPid[group].inputChannel,dyPid[group].inputMode);
SetCoProcMode(dyPid[group].outputChannel,dyPid[group].outputMode);
SyncModes();
if(dyPid[group].inputMode== IS_ANALOG_IN){
pidGroups[group].SetPoint=GetValFromAsync(dyPid[group].inputChannel);
}else{
pidGroups[group].SetPoint=0;
}
}
void initPIDChans(uint8_t group){
if(dyPid[group].inputChannel==DYPID_NON_USED || dyPid[group].outputChannel==DYPID_NON_USED){
return;
}
switch(dyPid[group].inputMode){
case IS_COUNTER_INPUT_INT:
case IS_COUNTER_INPUT_DIR:
case IS_COUNTER_INPUT_HOME:
dyPid[group].inputChannel = getCounterIntChannnel( channelToCounterGroup(dyPid[group].inputChannel));
StartCounterInput(dyPid[group].inputChannel);
break;
}
// println_W("PID In chan: ");
// p_int_W(dyPid[group].inputChannel);
// println_W(" mode: ");
// printMode(dyPid[group].inputMode, WARN_PRINT);
// println_W("PID Out chan: ");
// p_int_W(dyPid[group].outputChannel);
// println_W(" mode: ");
//printMode(dyPid[group].outputMode, WARN_PRINT);
SetCoProcMode(dyPid[group].inputChannel,dyPid[group].inputMode);
SetCoProcMode(dyPid[group].outputChannel,dyPid[group].outputMode);
//SyncModes();
if(dyPid[group].inputMode== IS_ANALOG_IN){
pidGroups[group].SetPoint=GetValFromAsync(dyPid[group].inputChannel);
}else{
pidGroups[group].SetPoint=0;
}
SetPIDCalibrateionState(group, CALIBRARTION_DONE);
getPidGroupDataTable( group)->config.Async=true;
//getPidGroupDataTable( group)->config.Enabled=true;
}
BOOL setMode(BYTE pin,BYTE mode){
println_I("Setting Mode: ");printMode(mode,INFO_PRINT);print_I(" on: ");p_int_I(pin);
BYTE currentMode = GetChannelMode(pin);
ClearCounter(pin);
StopSPI(pin);
clearPPM(pin);
print_I(" \tHardware Cleared");
switch (mode){
case IS_SERVO:
if(((pin < 12) && (isRegulated_0() == 0)) || ((pin >= 12) && (isRegulated_1()== 0)) ){
print_I("|Mode is now servo");
break;
}else{
if(getBrownOutDetect()){
print_I(" Servo Mode could not be set, voltage invalid");
return FALSE;
}else{
print_I(" Servo Mode set|");
break;
}
}
break;
case IS_SPI_MOSI:
case IS_SPI_MISO:
case IS_SPI_SCK:
if( pinHasFunction(pin, mode) != FALSE){
print_I("|Mode is now SPI");
InitSPI();
break;
}else{
return FALSE;
}
break;
case IS_COUNTER_INPUT_INT:
case IS_COUNTER_INPUT_DIR:
case IS_COUNTER_INPUT_HOME:
if(pinHasFunction(pin, mode) != FALSE){
print_I("|Mode is now Counter Input");
StartCounterInput(pin);
break;
}else{
print_I(", Counter Input not availible");
return FALSE;
}
break;
case IS_COUNTER_OUTPUT_INT:
case IS_COUNTER_OUTPUT_DIR:
case IS_COUNTER_OUTPUT_HOME:
if(pinHasFunction(pin, mode) != FALSE){
print_I("|Mode is now Counter Output");
StartCounterOutput(pin);
break;
}else{
print_I(", Counter Output not availible");
return FALSE;
}
break;
case IS_PPM_IN:
println_I("Setting up PPM...");
startPPM(pin);
break;
}
print_I(" \tMode set");
return TRUE;
}
