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dsPid33
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dsPid33
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00001 /* //////////////////////////////////////////////////////////////////////////*/ 00002 /*Commons includes and definitions */ 00003 /* //////////////////////////////////////////////////////////////////////////*/ 00004 00005 // standard include 00006 #include "p33Fxxxx.h" 00007 #include <dsp.h> 00008 #include <pwm12.h> 00009 #include <uart.h> 00010 #include <qei.h> 00011 #include <adc.h> 00012 #include <timer.h> 00013 #include <InCap.h> 00014 #include <ports.h> 00015 #include <dma.h> 00016 #include <math.h> 00017 #include <stdlib.h> 00018 #include <libq.h> 00019 00020 /*---------------------------------------------------------------------------*/ 00021 /* include */ 00022 /*---------------------------------------------------------------------------*/ 00023 #include "dsPID33_prototypes.h" 00024 00025 00026 // Configuration switches for compilation. Comment the undesired lines [34]**** 00027 #define CLOCK_FREQ_10 10 // [34b] 00028 00029 // [34c] valid only for 28 pin dsPIC. Choose one only 00030 //#define PROTOTYPE 1 00031 #define DROIDS 1 00032 00033 // [34d] valid only for 44 pin dsPIC. Choose one only 00034 // #define DSNAVCON33 1 00035 //#define ROBOCONTROLLER 1 00036 00037 // #define SLOW_ENC // uncomment for low CPR encoders 00038 00039 // for debugging purposes------------------------------------------------------ 00040 #define NO_FLASH 1 // [34a] 00041 // #define NO_OBSTACLE 1 // [34e] 00042 // #define debug_SA // [15] 00043 // #define SIM 1 // [21] 00044 // #define TIMER_OFF 1 00045 //***************************************************************************** 00046 00047 00048 #ifdef CLOCK_FREQ_10 00049 /* 00050 CLOCK_FREQ = 10 MHz 00051 Fosc = CLOCK_FREQ*M/(N1*N2) = 10M*32/(2*2)=80Mhz 00052 Fcy = Fosc / 2 = 40 00053 */ 00054 #define FCY 40000000 00055 // TCY = 1 / FCY = 25 ns 00056 00057 #else 00058 /* 00059 CLOCK_FREQ = 7,3728 MHz 00060 Fosc = CLOCK_FREQ*M/(N1*N2) = 7.3728M*43/(2*2)=79,2576Mhz 00061 Fcy = Fosc / 2 = 39.6288 00062 */ 00063 #define FCY 39628800 00064 // TCY = 1 / FCY = 25.2341731266 ns 00065 00066 #endif 00067 #define TCY 1/((float)(FCY) 00068 00069 #define _ISR_PSV __attribute__((interrupt, auto_psv)) 00070 00071 #define MAX_TX_BUFF 90 // big enough to store a row of cells grid (X_SIZE) 00072 #define MAX_RX_BUFF 144 00073 #define MAX_TX2_BUFF 32 00074 00075 // macro to round a float in a int 00076 #define FLOAT2INT(x) ((x)>=0?(int)((x)+0.5):(int)((x)-0.5)) 00077 #define max(a,b) ((a) > (b) ? (a) : (b)) 00078 00079 #define geographic // [22aa] 00080 00081 #define RX_HEADER_LEN 3 // command string header length (byte)
1.7.6 
