/* * File: main.c * Author: hamilton * * Created on November 4, 2013, 4:11 PM */ #include #include #include #include "xc.h" #include "UART.h" #include "config.h" #include "extern.h" #include "conv.h" #include "init.h" #include "can.h" #include "BatterySignalDecode.h" #include "sendCANPackets.h" #include "bms_hardware.h" #include "I2C.h" #define CHECK_BIT(var,pos) (((var)>>(pos)) & 1) //_FOSCSEL(FNOSC_FRC) // FNOSC<2:0> = 000(FRC oscillator) IES0 = 1 (Start with FRC and then switch to user selected clock when ready) _FOSCSEL(FNOSC_PRIPLL) _FOSC(FCKSM_CSECMD & OSCIOFNC_ON) // FCKSM<1:0> = 01 (clock switching enable, fail safe clock monitor disabled) OSCIOFNC = 0 (OSC2 pin is GPIO) POSCMD<1:0> = 11 (Primary oscillator disabled) _FWDT(FWDTEN_OFF) // FWDTEN = 0(watchdog timer software enabled/disabled) WINDIS = 1 (watchdog timer in non-window mode) PLLKEN = 1 (clock switch to pll will wait for lock signal) WDTPRE = 1 (1:128 watchdog prescaler) WDTPOST<3:0> = 1111 (watchdog postscaler = 1:32768) _FPOR(FPWRT_PWR128) //PWMPIN = 1 (MCPWM pins controlled by PORT register at device reset) HPOL = 1 (MCPWM high side pins are active high) LPOL = 1 (MCPWM low side pins are active high) FPWRT<2:0> = 11 (power on reset timer value = 128ms) _FICD(ICS_PGD1 & JTAGEN_OFF) // JTAGEN = 0 (JTAG disabled) ICS<1:0> = 11 (ICD communicate on PGEC1 and PGED1 float PH1PWM_DC = 0; float PH2PWM_DC = 0; float PH3PWM_DC = 0; const int MC_PWM_Period = 0x7fff; int step; unsigned int halls = 0; unsigned int pos; void (*getErrLoc(void))(void); // Get Address Error Loc void (*errLoc)(void); // Function Pointer int main(void) { int j; char s[256]; float last_time = 0; /* Configure Oscillator to operate the device at ~10Mhz Fosc= Fin*M/(N1*N2), Fcy=Fosc/2 Fosc= 7.37*(43)/(2*8)=19.806875Mhz for Fosc, Fcy = 9.9034375Mhz */ /* Configure PLL prescaler, PLL postscaler, PLL divisor */ PLLFBD = 41; /* M = PLLFBD + 2 */ CLKDIVbits.PLLPOST = 0; /* N1 = 2 */ CLKDIVbits.PLLPRE = 0; /* N2 = 2 */ __builtin_write_OSCCONH(0x01); /* New Oscillator selection from FRC only, to FRC w/ PLL */ //__builtin_write_OSCCONL(0x01); /* Request oscillator switch */ __builtin_write_OSCCONL(0x03); /* Enable secondary (LP) oscillator and Request oscillator switch */ while (OSCCONbits.COSC != 0b001); /* Wait for Oscillator to switch to FRC w/ PLL */ while (OSCCONbits.LOCK != 1); /* Wait for Pll to Lock */ //Set up UARTS InitU1(); I2C1CONbits.I2CEN = 0; //init TMR1 to interrupt at 25Hz, based on 32768Hz crystal SOSC _T1IP = 2; //Set to lower priority than all the rest. TMR1 = 0; //Clear the timer #if CAN_PACKET_RATE==25 PR1 = 1311; //Should give a 25Hz interrupt at 32768Hz clock T1CON = 0x8002; //enabled, prescaler 1:1, external clock (SOSC) #endif #if CAN_PACKET_RATE==10 // PR1 =3277; //Should give a 10Hz interrupt at 32768Hz clock T1CON = 0x8002; //enabled, prescaler 1:1, external clock (SOSC) #endif #if CAN_PACKET_RATE==5 PR1 = 6554; //Should give a 5Hz interrupt at 32768Hz clock T1CON = 0x8002; //enabled, prescaler 1:1, external clock (SOSC) #endif _T1IF = 0; //Clear Interrupt _T1IE = 0; //Keep Interrupt disabled until everything is set up. // init TMR3 to provide the timebase for interrupt that starts the AIO process T3CON = 0x8000; PR3 = 283 - 1; //Rolls over at 139 kHz and adc sampling. _T3IF = 0; //Clear interrupt _T3IE = 0; //Keep Interrupt disabled. // TMR4is used to provide a microsecond resolution delay feature T4CON = 0x8000; PR4 = 400; //Rolls over at ~100kHz, provides 10uS resolution _T4IF = 0; //Clear interrupt _T4IE = 1; //Enable Interrupt. //Setup digital outputs TRISAbits.TRISA9 = 1; //Don't make this an output, it's connected to ground as Vref-. TRISAbits.TRISA10 = 1; //Don't make this an output, it's connected to 3.3V as Vref+. // TRISD = 0xffff; // TRISDbits.TRISD0 = 0; //CAN loopback pin, set low to make CAN work properly, or leave it an input? // TRISDbits.TRISD2 = 0; //Gas Bypass enable // TRISDbits.TRISD3 = 0; //Stepper Enable // TRISDbits.TRISD12 = 0; //Laser Rangefinder enable // TRISDbits.TRISD15 = 0; //UART1 RTS TRISD = 0x6ff2; _RD0 = 0; //Set CAN loopback pin low _RD12 = 1; //Enable rangefinder switch TRISE = 0xff00; TRISG = 0xffff; TRISGbits.TRISG0 = 0; // CAN SILENT TRISGbits.TRISG0 = 0; // CAN ENABLE: TRISGbits.TRISG1 = 0; //SCK2 TRISGbits.TRISG6 = 1; //SCK2 TRISGbits.TRISG7 = 1; //SDI2 TRISGbits.TRISG8 = 0; //SDO2 TRISGbits.TRISG9 = 1; //SS2 TRISGbits.TRISG12 = 0; //BME Power TRISGbits.TRISG13 = 0; //Battery Switch GatePS Enable. TRISGbits.TRISG14 = 0; //Battery_Slow TRISGbits.TRISG15 = 0; //Battery_Switch _RG0 = 0; // CAN SILENT _RG1 = 1; // CAN SILENT _RG12 = 0; //BME280 Power off //Set up motor control module, this periphial controls the PWM outputs that drive the relays. InitMCPWM(); //Set up DMA channel and ADC InitDma0(); //Argument is number of samples to transfer per interrupt. InitADC_WithIntrpt(); //Set up SPI InitSPI(); InitIIC(); //Enable CAN transceiver. //init CAN bus InitCAN1(); //Setup CAN1 InitDma12(); //Setup two DMA channels for use with CAN1 for (j = 0; j < ECAN1_NUM_TX_BUFFERS; j++) //Setup CAN messages type and frame type for each message. { message[j].message_type = CAN_MSG_DATA; //data message message[j].frame_type = CAN_FRAME_EXT; //extended (29 bit identifier) } //Setup FIR filters FIRDelayInit(&ADC_Filter); Status.status = 0; //Initialize status union to zeros. // Enable Timer interrupts now that everything is set up. _T1IE = 1; //Enable 25Hz Interrupt, _T1Interrupt gets called at the beginning of each period. char EEPROM_Device_Addr = 0xA0; //int EEPROM_Reg_Addr = 0x00002000; int EEPROM_Reg_Addr = 0x00000000; _RA2 = 0; // Un-WriteProtect EEPROM char data[64]; while (1) { if (time > last_time + 1) //Wait for time to be updated. { int N = 5; for (int i = 0; i 0); for (int i = 0; i