PIC24 Support Libraries: robotics/common/motor3.c Source File

00001 
00009 #include "motorconfig3.h"
00010 
00024 void update_motor_3(uint8 u8_motor, uint8 u8_direction, uint16 u16_duration) {
00025   if (u8_motor == MOTOR_3_1) {
00026     if (u8_direction == MOTOR_COAST) {
00027       OC1RS = 0;
00028     } else {
00029       MOTOR_3_1_DIR_PORT_1 = (u8_direction & 0b00000001);  //apply a bit mask
00030       MOTOR_3_1_DIR_PORT_2 = ((u8_direction >> 1) & 0b00000001);  //apply a bit mask
00031       ASSERT(u16_duration <= MOTOR_PULSE_PERIOD_3 && u16_duration > 0);  //make sure it is a reasonable duration
00032       OC1RS = u16_duration;  //update the new PWM duration
00033     }
00034   }
00035 #if (NUM_MOTORS_USED_3 >= 2)
00036   if (u8_motor == MOTOR_3_2) {
00037     if (u8_direction == MOTOR_COAST) {
00038       OC2RS = 0;
00039     } else {
00040       MOTOR_3_2_DIR_PORT_1 = (u8_direction & 0b00000001);  //apply a bit mask
00041       MOTOR_3_2_DIR_PORT_2 = ((u8_direction >> 1) & 0b00000001);  //apply a bit mask
00042       ASSERT(u16_duration <= MOTOR_PULSE_PERIOD_3 && u16_duration > 0);  //make sure it is a reasonable duration
00043       OC2RS = u16_duration;  //update the new PWM duration
00044     }
00045   }
00046 #endif
00047 #if (NUM_MOTORS_USED_3 >= 3)
00048   if (u8_motor == MOTOR_3_3) {
00049     if (u8_direction == MOTOR_COAST) {
00050       OC3RS = 0;
00051     } else {
00052       MOTOR_3_3_DIR_PORT_1 = (u8_direction & 0b00000001);  //apply a bit mask
00053       MOTOR_3_3_DIR_PORT_2 = ((u8_direction >> 1) & 0b00000001);  //apply a bit mask
00054       ASSERT(u16_duration <= MOTOR_PULSE_PERIOD_3 && u16_duration > 0);  //make sure it is a reasonable duration
00055       OC3RS = u16_duration;  //update the new PWM duration
00056     }
00057   }
00058 #endif
00059 #if (NUM_MOTORS_USED_3 >= 4)
00060   if (u8_motor == MOTOR_3_4) {
00061     if (u8_direction == MOTOR_COAST) {
00062       OC4RS = 0;
00063     } else {
00064       MOTOR_3_4_DIR_PORT_1 = (u8_direction & 0b00000001);  //apply a bit mask
00065       MOTOR_3_4_DIR_PORT_2 = ((u8_direction >> 1) & 0b00000001);  //apply a bit mask
00066       ASSERT(u16_duration <= MOTOR_PULSE_PERIOD_3 && u16_duration > 0);  //make sure it is a reasonable duration
00067       OC4RS = u16_duration;  //update the new PWM duration
00068     }
00069   }
00070 #endif
00071 #if (NUM_MOTORS_USED_3 >= 5)
00072   if (u8_motor == MOTOR_3_5) {
00073     if (u8_direction == MOTOR_COAST) {
00074       OC5RS = 0;
00075     } else {
00076       MOTOR_3_5_DIR_PORT_1 = (u8_direction & 0b00000001);  //apply a bit mask
00077       MOTOR_3_5_DIR_PORT_2 = ((u8_direction >> 1) & 0b00000001);  //apply a bit mask
00078       ASSERT(u16_duration <= MOTOR_PULSE_PERIOD_3 && u16_duration > 0);  //make sure it is a reasonable duration
00079       OC5RS = u16_duration;  //update the new PWM duration
00080     }
00081   }
00082 #endif
00083 #if (NUM_MOTORS_USED_3 >= 6)
00084   if (u8_motor == MOTOR_3_6) {
00085     if (u8_direction == MOTOR_COAST) {
00086       OC6RS = 0;
00087     } else {
00088       MOTOR_3_6_DIR_PORT_1 = (u8_direction & 0b00000001);  //apply a bit mask
00089       MOTOR_3_6_DIR_PORT_2 = ((u8_direction >> 1) & 0b00000001);  //apply a bit mask
00090       ASSERT(u16_duration <= MOTOR_PULSE_PERIOD_3 && u16_duration > 0);  //make sure it is a reasonable duration
00091       OC6RS = u16_duration;  //update the new PWM duration
00092     }
00093   }
00094 #endif
00095 #if (NUM_MOTORS_USED_3 >= 7)
00096   if (u8_motor == MOTOR_3_7) {
00097     if (u8_direction == MOTOR_COAST) {
00098       OC7RS = 0;
00099     } else {
00100       MOTOR_3_7_DIR_PORT_1 = (u8_direction & 0b00000001);  //apply a bit mask
00101       MOTOR_3_7_DIR_PORT_2 = ((u8_direction >> 1) & 0b00000001);  //apply a bit mask
00102       ASSERT(u16_duration <= MOTOR_PULSE_PERIOD_3 && u16_duration > 0);  //make sure it is a reasonable duration
00103       OC7RS = u16_duration;  //update the new PWM duration
00104     }
00105   }
00106 #endif
00107 #if (NUM_MOTORS_USED_3 >= 8)
00108   if (u8_motor == MOTOR_3_8) {
00109     if (u8_direction == MOTOR_COAST) {
00110       OC8RS = 0;
00111     } else {
00112       MOTOR_3_8_DIR_PORT_1 = (u8_direction & 0b00000001);  //apply a bit mask
00113       MOTOR_3_8_DIR_PORT_2 = ((u8_direction >> 1) & 0b00000001);  //apply a bit mask
00114       ASSERT(u16_duration <= MOTOR_PULSE_PERIOD_3 && u16_duration > 0);  //make sure it is a reasonable duration
00115       OC8RS = u16_duration;  //update the new PWM duration
00116     }
00117   }
00118 #endif
00119   else {
00120     ASSERT(FALSE);  //error
00121   }
00122 }
00123 
00129 void initialize_motor_3(void) {
00130 #if (NUM_MOTORS_USED_3 >= 1)
00131   CONFIG_MOTOR_3_1();
00132   OC1CONbits.OCM = 0b000;       //disable module
00133   OC1R = 100;                           //select rising edge
00134   OC1RS = 100;                          //select falling edge (160us)
00135   OC1CONbits.OCTSEL = MOTOR_OCTSEL;             //timer as compare source
00136   OC1CONbits.OCM = 0b110;       //PWM mode without fault protection
00137 #endif
00138 #if (NUM_MOTORS_USED_3 >= 2)
00139   CONFIG_MOTOR_3_2();
00140   OC2CONbits.OCM = 0b000;       //disable module
00141   OC2R = 100;                           //select rising edge
00142   OC2RS = 100;                          //select falling edge (160us)
00143   OC2CONbits.OCTSEL = MOTOR_OCTSEL;             //timer as compare source
00144   OC2CONbits.OCM = 0b110;       //PWM mode without fault protection
00145 #endif
00146 #if (NUM_MOTORS_USED_3 >= 3)
00147   CONFIG_MOTOR_3_3();
00148   OC3CONbits.OCM = 0b000;       //disable module
00149   OC3R = 100;                           //select rising edge
00150   OCRS = 100;                                   //select falling edge (160us)
00151   OC3CONbits.OCTSEL = MOTOR_OCTSEL;             //timer as compare source
00152   OC3CONbits.OCM = 0b110;       //PWM mode without fault protection
00153 #endif
00154 #if (NUM_MOTORS_USED_3 >= 4)
00155   CONFIG_MOTOR_3_4();
00156   OC4CONbits.OCM = 0b000;       //disable module
00157   OC4R = 100;                           //select rising edge
00158   OC4RS = 100;                          //select falling edge (160us)
00159   OC4CONbits.OCTSEL = MOTOR_OCTSEL;             //timer as compare source
00160   OC4CONbits.OCM = 0b110;       //PWM mode without fault protection
00161 #endif
00162 #if (NUM_MOTORS_USED_3 >= 5)
00163   CONFIG_MOTOR_3_5();
00164   OC5CONbits.OCM = 0b000;       //disable module
00165   OC5R = 100;                           //select rising edge
00166   OC5RS = 100;                          //select falling edge (160us)
00167   OC5CONbits.OCTSEL = MOTOR_OCTSEL;             //timer as compare source
00168   OC5CONbits.OCM = 0b110;       //PWM mode without fault protection
00169 #endif
00170 #if (NUM_MOTORS_USED_3 >= 6)
00171   CONFIG_MOTOR_3_6();
00172   OC6CONbits.OCM = 0b000;       //disable module
00173   OC6R = 100;                           //select rising edge
00174   OC6RS = 100;                          //select falling edge (160us)
00175   OC6CONbits.OCTSEL = MOTOR_OCTSEL;             //timer as compare source
00176   OC6CONbits.OCM = 0b110;       //PWM mode without fault protection
00177 #endif
00178 #if (NUM_MOTORS_USED_3 >= 7)
00179   CONFIG_MOTOR_3_7();
00180   OC7CONbits.OCM = 0b000;       //disable module
00181   OC7R = 100;                           //select rising edge
00182   OC7RS = 100;                          //select falling edge (160us)
00183   OC7CONbits.OCTSEL = MOTOR_OCTSEL;             //timer as compare source
00184   OC7CONbits.OCM = 0b110;       //PWM mode without fault protection
00185 #endif
00186 #if (NUM_MOTORS_USED_3 >= 8)
00187   CONFIG_MOTOR_3_8();
00188   OC8CONbits.OCM = 0b000;       //disable module
00189   OC8R = 100;                           //select rising edge
00190   OC81RS = 100;                         //select falling edge (160us)
00191   OC8CONbits.OCTSEL = MOTOR_OCTSEL;             //timer as compare source
00192   OC8CONbits.OCM = 0b110;       //PWM mode without fault protection
00193 #endif
00194 #ifdef MOTOR_TIMER_USED_3  //do not templatize!
00195   T2CON = T2_32BIT_MODE_OFF;  //be sure timer2 is in 16-bit mode
00196   /* Continue whilst idle, 1:64 prescaler (1.6us tick), 
00197    * 16-bit timer, FCY source. */
00198   T3CON = T3_IDLE_CON + MOTOR_PRESCALER_BITFIELD_3 + T3_SOURCE_INT;  
00199 #endif
00200 #ifdef MOTOR_TIMER_USED_2
00201   /* Continue whilst idle, 1:64 prescaler (1.6us tick), 
00202    * 16-bit timer, FCY source. */
00203   T2CON = T2_IDLE_CON + MOTOR_PRESCALER_BITFIELD_2 + T2_32BIT_MODE_OFF + 
00204           T2_SOURCE_INT;  
00205 #endif
00206   TMR3 = 0; // Clear timer register
00207   PR3 = MOTOR_PULSE_PERIOD_3; // Load the period value
00208   T3CONbits.TON = 1; // Start Timer
00209 #ifdef ESOS_USE_IRQS
00210   ESOS_REGISTER_PIC24_USER_INTERRUPT(ESOS_IRQ_PIC24_T3, MOTOR_IRQ_3, 
00211                                      _T3Interrupt);
00212   ESOS_ENABLE_PIC24_USER_INTERRUPT(ESOS_IRQ_PIC24_T3);
00213 #else
00214   _T3IP = MOTOR_IRQ_LEVEL_3; // Set Timer Interrupt Priority Level
00215   _T3IF = 0; // Clear Timer Interrupt Flag
00216   _T3IE = 1; // Enable Timer interrupt
00217 #endif
00218 }
00219 
00223 ESOS_USER_INTERRUPT(ESOS_IRQ_PIC24_T3) {
00224   ESOS_MARK_PIC24_USER_INTERRUPT_SERVICED(ESOS_IRQ_PIC24_T3);
00225 }