/* * 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 "ManageTreFoilPosition.h" #include "StateMachines.h" _FOSCSEL(FNOSC_FRC) // FNOSC<2:0> = 000(FRC oscillator) IES0 = 1 (Start with FRC and then switch to user selected clock when ready) _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 SampADC(int ch); void ScanADC(void); char ch, cl; void (*getErrLoc(void))(void); // Get Address Error Loc void (*errLoc)(void); // Function Pointer int main(void) { /* 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(); _U1RXIP = 6; //Set U1 Recieve interrupt to highest priority since this is occuring asyncronously to everything else. Maxon_FrameA.dle = DLE; //Initialize Frame structure Maxon_FrameA.stx = STX; InitU2(); _U2RXIP = 6; //Set U1 Recieve interrupt to highest priority since this is occuring asyncronously to everything else. //init TMR1 to interrupt at specified rate, 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 // PR1 = 2*3277; //Should give a 5Hz interrupt at 32768Hz clock, this is a backup timer for the IMU generating a new packet at 10Hz, i.e. if something goes haywire with the IMU, this timer will generate start ADC sampling and report data at 5 Hz. 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. //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 = 0x6F8E; _RD0 = 0; //Set CAN loopback pin low _RD12 = 1; //Enable rangefinder switch _RD6 = 0; //Enable Drive by setting RD6 low TRISE = 0xff00; TRISGbits.TRISG15 = 0; //EM cable tester enable // TRISEbits.TRISE0 = 0; //Make RE0 an output // TRISEbits.TRISE1 = 0; //Make RE1 an output //raw = 1; //Force Calibration Mode //Set up DMA channel and ADC InitDma0(); //Argument is number of samples to transfer per interrupt. InitADC_WithIntrpt(); //init CAN bus int j; 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); // init TMR2, currently unused T2CON = 0x8000; PR2 = 0; _T2IF = 0; //Clear interrupt _T2IE = 0; //Keep Interrupt disabled. //Set up output compare for step signal OC5CONbits.OCM = 0; //Toggle Pin on counter compare. Disabled to start, begins when it's time to send steps (in ISR) OC5CONbits.OCSIDL = 0; //OC will continue in CPU idle mode. OC5CONbits.OCTSEL = 0; //Use Timer 2 OC5R = 0; // IPC6bits.OC5IP = 0x01; // Set Output Compare 5 Interrupt Priority Level // IFS1bits.OC5IF = 0; // Clear Output Compare 5 Interrupt Flag // IEC1bits.OC5IE = 1; // Enable Output Compare 5 interrupt Status.status = 0; //Initialize status union to zeros. Status.bits.State = ST_MAXON_POWERED_DOWN; Status.bits.ChargeMode = CHARGE_AUTO_VOLT; Status.bits.DoorPositionTarget = 0; //Open doors at first powerup, should be open already in most cases Status.bits.DoorPositionActual = 1; //Assume they are closed at powerup to ensure opening and home at powerup. CAN_ENABLE = 1; CTRL_BATT_POWER = 1; MAXON_TETHER_POWER = 0; //Start with it possible for MAXON to be powered from Tether MAXON_POWER = 0; //Start with MAXON off Status.bits.MaxonPower = 0; Status.bits.MaxonPwrMode = MAXON_DEFAULTMODE; //Convert Default values from engineering units in config.h to working values. // Enable Timer interrupts now that everything is set up. _T1IE = 1; //Enable Interrupt, _T1Interrupt gets called at the beginning of each period. (10Hz or 25Hz, depending on CAN rate specified in config.h) unsigned int last_time_ctr = 0; //#define MAXON_NOT_PRESENT //Define this if RS-232 debugging is needed and MAXON isn't present. #ifdef MAXON_NOT_PRESENT float time = 0.0; unsigned char s[256]; #endif // sprintf(s,"U1RXIP = %d\r\n U2RXIP = %d\r\n", // _U1RXIP, // _U2RXIP); // putsU1(s); while (1) { if (time_ctr != last_time_ctr) //Wait for time to be updated. { last_time_ctr = time_ctr; #ifdef ALLOW_CALIBRATION if (raw == 1) sprintf(s, "%f %d %d %d\r\n", time, Pressure_ADC[0], TetherVoltage_ADC[0], BattVoltage_ADC[0] ); else #endif #ifdef MAXON_NOT_PRESENT time = time + 1.0/CAN_PACKET_RATE; //This will run out of resolution after about 21 days, but isn't used beyond being printed out. // if(!Status.bits.MaxonPower) // { sprintf(s, "%f %f %f %f %f %f %f %ld %d - %d %d %d %d %d %d\r\n", time, ConvertFractToEngUnits(Pressure_Buf, Pressure_cnt, Pressure_eng), ConvertFractToEngUnits(TetherVoltage_Buf, TetherVoltage_cnt, TetherVoltage_eng), ConvertFractToEngUnits(BattVoltage_Buf, BattVoltage_cnt, BattVoltage_eng), IMU_DataA.yaw, IMU_DataA.pitch, IMU_DataA.roll, TreFoilPositionActualValue,Status.bits.DoorPositionTarget,Status.bits.DoorPositionActual, MAXON_CmdFromCAN,Status.bits.MaxonPwrMode,Status.bits.MaxonPower,Status.bits.MaxonEnabled, WindingCurrent ); putsU1(s); // } #else switch (Status.bits.MaxonPwrMode) { case MAXON_MANUALMODE: { RunCmdsFromCAN(); break; } case MAXON_LOWPWRMODE: case MAXON_HOLDPOSMODE: case MAXON_MONITORPOSMODE: { if(StateMachine == VEL_MOVE_STATE_MACHINE) VelMoveStateMachine(); if(StateMachine == HOME_MOVE_STATE_MACHINE) HomeMoveStateMachine(); break; } } #endif } } return 0; } //main