#include "dsPID33_common.h"

Include dependency graph for dsPID33_definitions.h:

This graph shows which files directly or indirectly include this file:

Data Structures
struct	Bits
struct	nibble
union	PackedBit
Defines
#define	RC6Tick(x) (Delay1KTCYx(4x),Delay100TCYx(4x),Delay10TCYx(3*x))
#define	DELAY100MS Delay10KTCYx(100)
#define	UART_CONT_TIMEOUT 100
#define	UART_CONT_TIMEOUT 100
#define	ADC_CALC_FLAG VOLbits1.bit6
#define	ADC_OVLD_LIMIT 800
#define	ADC_OVLD_TIME 100
#define	IC1_FIRST VOLbits1.bit7
#define	IC2_FIRST VOLbits1.bit8
#define	PID1_CALC_FLAG VOLbits1.bit0
#define	PID2_CALC_FLAG VOLbits1.bit1
#define	CPR 300
#define	GEAR_RATIO 30
#define	CPR_WHEEL CPR*GEAR_RATIO
#define	DIAMETER 0.058
#define	CIRC DIAMETER*PI
#define	SPACE_ENC_1X (CIRC / (CPR_WHEEL))
#define	SPACE_ENC_2X (CIRC / (CPR_WHEEL * 2))
#define	SPACE_ENC_4X (CIRC / (CPR_WHEEL * 4))
#define	K_VEL ((SPACE_ENC_2X) / (TCY))
#define	R 0
#define	L 1
#define	VEL_MIN_PID 1600
#define	SPMIN 0.01
#define	TWOPI 6.2831853072
#define	HALFPI 1.570796327
#define	QUARTPI 0.7853981634
#define	KP1 kCoeffs1[0]
#define	KI1 kCoeffs1[1]
#define	KD1 kCoeffs1[2]
#define	PID_OUT1 PIDstruct1.controlOutput
#define	PID_MES1 PIDstruct1.measuredOutput
#define	PID_REF1 PIDstruct1.controlReference
#define	KP2 kCoeffs2[0]
#define	KI2 kCoeffs2[1]
#define	KD2 kCoeffs2[2]
#define	PID_OUT2 PIDstruct2.controlOutput
#define	PID_MES2 PIDstruct2.measuredOutput
#define	PID_REF2 PIDstruct2.controlReference
#define	RAMP_FLAG1 VARbits1.bit6
#define	RAMP_T_FLAG1 VARbits1.bit7
#define	RAMP_FLAG2 VARbits1.bit1
#define	RAMP_T_FLAG2 VARbits1.bit15
#define	ACC 0.00005
#define	DEC 0.001
#define	CELL_SIZE 100
#define	MAP_SIZE 15000
#define	HALF_MAP_SIZE 7500
#define	VAR_PER_BYTE 2
#define	X_SIZE 75
#define	Y_SIZE 150
#define	X_POINT_MAX 150
#define	X_POINT_MIN 0
#define	Y_POINT_MAX 150
#define	Y_POINT_MIN 0
#define	SPACE_FLAG VARbits1.bit2
#define	MAP_SEND_FLAG VOLbits1.bit4
#define	MAP_BUFF_FLAG VOLbits1.bit5
#define	ANGLE_KP AngleKCoeffs[0]
#define	ANGLE_KI AngleKCoeffs[1]
#define	ANGLE_KD AngleKCoeffs[2]
#define	ANGLE_PID_DES AnglePIDstruct.controlReference
#define	ANGLE_PID_MES AnglePIDstruct.measuredOutput
#define	ANGLE_PID_OUT AnglePIDstruct.controlOutput
#define	MAX_ROT_SPEED 512
#define	RAD2DEG 57.295779513
#define	DEG2RAD 0.0174532925
#define	ORIENTATION_FLAG VARbits1.bit3
#define	ANGLE_OK_FLAG VARbits1.bit12
#define	MIN_THETA_ERR DEG2RAD
#define	BOUND_X_MIN -7070
#define	BOUND_Y_MIN -7070
#define	BOUND_X_MAX 7070
#define	BOUND_Y_MAX 7070
#define	BOUND_FREE 500
#define	OBST_THRESHOLD 1500.00
#define	OBST_MIN_DIST 50
#define	OBST_FIELD 13
#define	TABLE_SIZE 16
#define	DIST_KP DistKCoeffs[0]
#define	DIST_KI DistKCoeffs[1]
#define	DIST_KD DistKCoeffs[2]
#define	DIST_PID_DES DistPIDstruct.controlReference
#define	DIST_PID_MES DistPIDstruct.measuredOutput
#define	DIST_PID_OUT DistPIDstruct.controlOutput
#define	DIST_ENABLE_FLAG VARbits1.bit14
#define	MIN_GOAL_DIST 450
#define	DIST_OK_FLAG VARbits1.bit11
#define	MIN_DIST_ERR 3
#define	CYCLE1_FLAG VOLbits1.bit2
#define	CYCLE2_FLAG VOLbits1.bit3
#define	CICLE1_TMO 10
#define	CICLE2_TMO 5
#define	IDLE_CYCLE 20
#define	IDLE_SAMPLE_TIME 10000000
#define	IDLE_TIME_PERIOD 3000
#define	NORM_BLINK_PER 1000
#define	NORM_BLINK_ON 200
#define	K_ERR_BLINK_PER 4000
#define	K_ERR_BLINK_ON 2000
#define	CONSOLE_DEBUG VARbits1.bit13
#define	SCHED_ANGLE_FLAG VARbits1.bit8
#define	SCHED_DIST_FLAG VARbits1.bit0
#define	RT_TIMER_FLAG VARbits1.bit10
#define	TIMER_OK_FLAG VARbits1.bit9
#define	SCHEDULER_FLAG VARbits1.bit5
#define	RND_TIMEOUT 100
#define	RND_FLAG VARbits1.bit4
#define	EE_KVEL1_H 0
#define	EE_KVEL1_L 1
#define	EE_KVEL2_H 2
#define	EE_KVEL2_L 3
#define	EE_CHK_KVEL 4
#define	EE_ANGLE_KP 5
#define	EE_ANGLE_KI 6
#define	EE_ANGLE_KD 7
#define	EE_CHK_ANGLE 8
#define	EE_KP1 9
#define	EE_KI1 10
#define	EE_KD1 11
#define	EE_KP2 12
#define	EE_KI2 13
#define	EE_KD2 14
#define	EE_CHK_SPEED 15
#define	EE_KSP1_H 16
#define	EE_KSP1_L 17
#define	EE_KSP2_H 18
#define	EE_KSP2_L 19
#define	EE_AXLE_H 20
#define	EE_AXLE_L 21
#define	EE_CHK_MECH 22
#define	EE_DIST_KP 23
#define	EE_DIST_KI 24
#define	EE_DIST_KD 25
#define	EE_CHK_DIST 26
#define	EE_CHK_SCHED 27
#define	EE_SCHED 28
Functions
	_FOSCSEL (FNOSC_PRI)
	_FOSC (FCKSM_CSECMD &OSCIOFNC_OFF &POSCMD_XT)
	_FICD (JTAGEN_OFF &ICS_PGD1)
	_FPOR (FPWRT_PWR64 &PWMPIN_ON &HPOL_ON &LPOL_ON)
	_FGS (GSS_OFF &GCP_OFF &GWRP_OFF)
	_FWDT (FWDTEN_OFF) extern volatile unsigned char UartRxBuff[][2]
unsigned char UartTxBuff[]	__attribute__ ((space(dma), aligned(128)))
fractional abcCoefficient1[3]	__attribute__ ((section(".xbss, bss, xmemory")))
fractional controlHistory1[3]	__attribute__ ((section(".ybss, bss, ymemory")))
void	SetMap (int Xpoint, int Ypoint, nibble *CellVal)
float VffTableY[33][33]	__attribute__ ((space(auto_psv)))
Variables
volatile unsigned char	UartRxPtrIn
unsigned char	UartRxPtrOut
volatile int	UartRxStatus
volatile unsigned char	Uart2RxPtrIn
unsigned char	Uart2RxPtrOut
volatile int	Uart2RxStatus
unsigned char	TmpPtr
unsigned char	UartRxPtrData
unsigned char	UartRxCmd []
unsigned char	UartTmpBuff [][2]
const unsigned char	Test []
unsigned char	TmpPtr2
unsigned char	Uart2RxPtrData
int	Port
int	SendMapPort
int	ResetPort
struct Bits	VARbits1
struct Bits	VARbits2
struct Bits	VOLbits1
const long	Tcy = 1000000/(float)(FCY)* 100000000
int	i = 0
int	j = 0
long	Blink = 0
unsigned int	TxContFlag = 0
volatile int	UartContTxTimer = UART_CONT_TIMEOUT
int	ADCValue [2] = {0,0}
char	ADCOvldCount [2] = {0,0}
volatile int	Ic1Indx = 0
volatile int	Ic2Indx = 0
volatile unsigned int	Ic1PrevPeriod
volatile unsigned int	Ic2PrevPeriod
volatile long	Ic1Period = 0
volatile long	Ic2Period = 0
volatile unsigned int	Ic1CurrPeriod
volatile unsigned int	Ic2CurrPeriod
long	Tmr2OvflwCount1
long	Tmr2OvflwCount2
long	Kvel [2]
int	VelDes [2] = {0,0}
int	VelMes [2] = {0,0}
int	VelDesM = 0
unsigned char	PidCycle [2]
long double	Ksp [2]
float	Axle
float	SemiAxle
int	SpTick [2] = {0,0}
float	Spmm [2] = {0,0}
float	Space = 0
float	CosPrev = 1
float	SinPrev = 0
float	PosXmes = 0
float	PosYmes = 0
float	ThetaMes = 0
long	Vel [2]
tPID	PIDstruct1
fractional	kCoeffs1 [] = {0,0,0}
tPID	PIDstruct2
fractional	kCoeffs2 [] = {0,0,0}
fractional	VelFin [2] = {0,0}
fractional	Ramp1
fractional	Ramp2
int	Curr [2] = {0,0}
int	Xshift = 0
int	Yshift = 0
PackedBit	MapXY [X_SIZE][Y_SIZE]
int	XindxPrev = 10000
int	YindxPrev = 10000
float	MaxMapX = HALF_MAP_SIZE
float	MinMapX = -HALF_MAP_SIZE
float	MaxMapY = HALF_MAP_SIZE
float	MinMapY = -HALF_MAP_SIZE
unsigned char	MapSendIndx
tPID	AnglePIDstruct
fractional	AngleKCoeffs [] = {0,0,0}
float	ThetaDes = 0
float	ThetaDesRef
int	AngleCmp
float	VObX [3]
float	VObY [3]
tPID	DistPIDstruct
fractional	DistKCoeffs [] = {0,0,0}
float	PosXdes = 0
float	PosYdes = 0
float	VelDecr
volatile unsigned char	Cycle1
volatile unsigned char	Cycle2
unsigned long	IdleCount = 0
volatile unsigned long	IdleSample = 0
int	IdlePerc
volatile unsigned int	BlinkPeriod
unsigned int	BlinkOn
int	ErrCode
int	VelInt [2]
unsigned char	SchedPtr = 0
int	SchedValues [16][4]
volatile int	RtTimer
unsigned int	Obj [3] = {0x1000, 0x1000, 0x1000}
unsigned char	Target [3] = {0, 0, 0}
volatile unsigned int	RndTimer = 0
unsigned char	ResetCount = 0

Define Documentation

#define ACC 0.00005

Definition at line 268 of file dsPID33_definitions.h.

#define ADC_CALC_FLAG VOLbits1.bit6

Definition at line 158 of file dsPID33_definitions.h.

#define ADC_OVLD_LIMIT 800

Definition at line 159 of file dsPID33_definitions.h.

#define ADC_OVLD_TIME 100

Definition at line 160 of file dsPID33_definitions.h.

#define ANGLE_KD AngleKCoeffs[2]

Definition at line 355 of file dsPID33_definitions.h.

#define ANGLE_KI AngleKCoeffs[1]

Definition at line 354 of file dsPID33_definitions.h.

#define ANGLE_KP AngleKCoeffs[0]

Definition at line 353 of file dsPID33_definitions.h.

#define ANGLE_OK_FLAG VARbits1.bit12

Definition at line 366 of file dsPID33_definitions.h.

#define ANGLE_PID_DES AnglePIDstruct.controlReference

Definition at line 356 of file dsPID33_definitions.h.

#define ANGLE_PID_MES AnglePIDstruct.measuredOutput

Definition at line 357 of file dsPID33_definitions.h.

#define ANGLE_PID_OUT AnglePIDstruct.controlOutput

Definition at line 358 of file dsPID33_definitions.h.

#define BOUND_FREE 500

Definition at line 381 of file dsPID33_definitions.h.

#define BOUND_X_MAX 7070

Definition at line 378 of file dsPID33_definitions.h.

#define BOUND_X_MIN -7070

Definition at line 376 of file dsPID33_definitions.h.

#define BOUND_Y_MAX 7070

Definition at line 379 of file dsPID33_definitions.h.

#define BOUND_Y_MIN -7070

Definition at line 377 of file dsPID33_definitions.h.

#define CELL_SIZE 100

Definition at line 277 of file dsPID33_definitions.h.

#define CICLE1_TMO 10

Definition at line 494 of file dsPID33_definitions.h.

#define CICLE2_TMO 5

Definition at line 495 of file dsPID33_definitions.h.

#define CIRC DIAMETER*PI

Definition at line 198 of file dsPID33_definitions.h.

#define CONSOLE_DEBUG VARbits1.bit13

Definition at line 523 of file dsPID33_definitions.h.

#define CPR 300

Definition at line 194 of file dsPID33_definitions.h.

#define CPR_WHEEL CPR*GEAR_RATIO

Definition at line 196 of file dsPID33_definitions.h.

#define CYCLE1_FLAG VOLbits1.bit2

Definition at line 492 of file dsPID33_definitions.h.

#define CYCLE2_FLAG VOLbits1.bit3

Definition at line 493 of file dsPID33_definitions.h.

#define DEC 0.001

Definition at line 269 of file dsPID33_definitions.h.

#define DEG2RAD 0.0174532925

Definition at line 361 of file dsPID33_definitions.h.

#define DELAY100MS Delay10KTCYx(100)

Definition at line 104 of file dsPID33_definitions.h.

#define DIAMETER 0.058

Definition at line 197 of file dsPID33_definitions.h.

#define DIST_ENABLE_FLAG VARbits1.bit14

Definition at line 480 of file dsPID33_definitions.h.

#define DIST_KD DistKCoeffs[2]

Definition at line 475 of file dsPID33_definitions.h.

#define DIST_KI DistKCoeffs[1]

Definition at line 474 of file dsPID33_definitions.h.

#define DIST_KP DistKCoeffs[0]

Definition at line 473 of file dsPID33_definitions.h.

#define DIST_OK_FLAG VARbits1.bit11

Definition at line 486 of file dsPID33_definitions.h.

#define DIST_PID_DES DistPIDstruct.controlReference

Definition at line 476 of file dsPID33_definitions.h.

#define DIST_PID_MES DistPIDstruct.measuredOutput

Definition at line 477 of file dsPID33_definitions.h.

#define DIST_PID_OUT DistPIDstruct.controlOutput

Definition at line 478 of file dsPID33_definitions.h.

#define EE_ANGLE_KD 7

Definition at line 707 of file dsPID33_definitions.h.

#define EE_ANGLE_KI 6

Definition at line 706 of file dsPID33_definitions.h.

#define EE_ANGLE_KP 5

Definition at line 705 of file dsPID33_definitions.h.

#define EE_AXLE_H 20

Definition at line 722 of file dsPID33_definitions.h.

#define EE_AXLE_L 21

Definition at line 723 of file dsPID33_definitions.h.

#define EE_CHK_ANGLE 8

Definition at line 708 of file dsPID33_definitions.h.

#define EE_CHK_DIST 26

Definition at line 729 of file dsPID33_definitions.h.

#define EE_CHK_KVEL 4

Definition at line 703 of file dsPID33_definitions.h.

#define EE_CHK_MECH 22

Definition at line 724 of file dsPID33_definitions.h.

#define EE_CHK_SCHED 27

Definition at line 731 of file dsPID33_definitions.h.

#define EE_CHK_SPEED 15

Definition at line 716 of file dsPID33_definitions.h.

#define EE_DIST_KD 25

Definition at line 728 of file dsPID33_definitions.h.

#define EE_DIST_KI 24

Definition at line 727 of file dsPID33_definitions.h.

#define EE_DIST_KP 23

Definition at line 726 of file dsPID33_definitions.h.

#define EE_KD1 11

Definition at line 712 of file dsPID33_definitions.h.

#define EE_KD2 14

Definition at line 715 of file dsPID33_definitions.h.

#define EE_KI1 10

Definition at line 711 of file dsPID33_definitions.h.

#define EE_KI2 13

Definition at line 714 of file dsPID33_definitions.h.

#define EE_KP1 9

Definition at line 710 of file dsPID33_definitions.h.

#define EE_KP2 12

Definition at line 713 of file dsPID33_definitions.h.

#define EE_KSP1_H 16

Definition at line 718 of file dsPID33_definitions.h.

#define EE_KSP1_L 17

Definition at line 719 of file dsPID33_definitions.h.

#define EE_KSP2_H 18

Definition at line 720 of file dsPID33_definitions.h.

#define EE_KSP2_L 19

Definition at line 721 of file dsPID33_definitions.h.

#define EE_KVEL1_H 0

Definition at line 699 of file dsPID33_definitions.h.

#define EE_KVEL1_L 1

Definition at line 700 of file dsPID33_definitions.h.

#define EE_KVEL2_H 2

Definition at line 701 of file dsPID33_definitions.h.

#define EE_KVEL2_L 3

Definition at line 702 of file dsPID33_definitions.h.

#define EE_SCHED 28

Definition at line 732 of file dsPID33_definitions.h.

#define GEAR_RATIO 30

Definition at line 195 of file dsPID33_definitions.h.

#define HALF_MAP_SIZE 7500

Definition at line 279 of file dsPID33_definitions.h.

#define HALFPI 1.570796327

Definition at line 233 of file dsPID33_definitions.h.

#define IC1_FIRST VOLbits1.bit7

Definition at line 174 of file dsPID33_definitions.h.

#define IC2_FIRST VOLbits1.bit8

Definition at line 175 of file dsPID33_definitions.h.

#define IDLE_CYCLE 20

Definition at line 500 of file dsPID33_definitions.h.

#define IDLE_SAMPLE_TIME 10000000

Definition at line 504 of file dsPID33_definitions.h.

#define IDLE_TIME_PERIOD 3000

Definition at line 507 of file dsPID33_definitions.h.

#define K_ERR_BLINK_ON 2000

Definition at line 518 of file dsPID33_definitions.h.

#define K_ERR_BLINK_PER 4000

Definition at line 517 of file dsPID33_definitions.h.

#define K_VEL ((SPACE_ENC_2X) / (TCY))

Definition at line 202 of file dsPID33_definitions.h.

#define KD1 kCoeffs1[2]

Definition at line 245 of file dsPID33_definitions.h.

#define KD2 kCoeffs2[2]

Definition at line 256 of file dsPID33_definitions.h.

#define KI1 kCoeffs1[1]

Definition at line 244 of file dsPID33_definitions.h.

#define KI2 kCoeffs2[1]

Definition at line 255 of file dsPID33_definitions.h.

#define KP1 kCoeffs1[0]

Definition at line 243 of file dsPID33_definitions.h.

#define KP2 kCoeffs2[0]

Definition at line 254 of file dsPID33_definitions.h.

#define L 1

Definition at line 205 of file dsPID33_definitions.h.

#define MAP_BUFF_FLAG VOLbits1.bit5

Definition at line 343 of file dsPID33_definitions.h.

#define MAP_SEND_FLAG VOLbits1.bit4

Definition at line 342 of file dsPID33_definitions.h.

#define MAP_SIZE 15000

Definition at line 278 of file dsPID33_definitions.h.

#define MAX_ROT_SPEED 512

Definition at line 359 of file dsPID33_definitions.h.

#define MIN_DIST_ERR 3

Definition at line 487 of file dsPID33_definitions.h.

#define MIN_GOAL_DIST 450

Definition at line 483 of file dsPID33_definitions.h.

#define MIN_THETA_ERR DEG2RAD

Definition at line 367 of file dsPID33_definitions.h.

#define NORM_BLINK_ON 200

Definition at line 516 of file dsPID33_definitions.h.

#define NORM_BLINK_PER 1000

Definition at line 515 of file dsPID33_definitions.h.

#define OBST_FIELD 13

Definition at line 385 of file dsPID33_definitions.h.

#define OBST_MIN_DIST 50

Definition at line 383 of file dsPID33_definitions.h.

#define OBST_THRESHOLD 1500.00

Definition at line 382 of file dsPID33_definitions.h.

#define ORIENTATION_FLAG VARbits1.bit3

Definition at line 365 of file dsPID33_definitions.h.

#define PID1_CALC_FLAG VOLbits1.bit0

Definition at line 177 of file dsPID33_definitions.h.

#define PID2_CALC_FLAG VOLbits1.bit1

Definition at line 178 of file dsPID33_definitions.h.

#define PID_MES1 PIDstruct1.measuredOutput

Definition at line 247 of file dsPID33_definitions.h.

#define PID_MES2 PIDstruct2.measuredOutput

Definition at line 258 of file dsPID33_definitions.h.

#define PID_OUT1 PIDstruct1.controlOutput

Definition at line 246 of file dsPID33_definitions.h.

#define PID_OUT2 PIDstruct2.controlOutput

Definition at line 257 of file dsPID33_definitions.h.

#define PID_REF1 PIDstruct1.controlReference

Definition at line 248 of file dsPID33_definitions.h.

#define PID_REF2 PIDstruct2.controlReference

Definition at line 259 of file dsPID33_definitions.h.

#define QUARTPI 0.7853981634

Definition at line 234 of file dsPID33_definitions.h.

#define R 0

Definition at line 204 of file dsPID33_definitions.h.

#define RAD2DEG 57.295779513

Definition at line 360 of file dsPID33_definitions.h.

#define RAMP_FLAG1 VARbits1.bit6

Definition at line 261 of file dsPID33_definitions.h.

#define RAMP_FLAG2 VARbits1.bit1

Definition at line 263 of file dsPID33_definitions.h.

#define RAMP_T_FLAG1 VARbits1.bit7

Definition at line 262 of file dsPID33_definitions.h.

#define RAMP_T_FLAG2 VARbits1.bit15

Definition at line 264 of file dsPID33_definitions.h.

#define RC6Tick ( x ) (Delay1KTCYx(4*x),Delay100TCYx(4*x),Delay10TCYx(3*x))

Definition at line 103 of file dsPID33_definitions.h.

#define RND_FLAG VARbits1.bit4

Definition at line 696 of file dsPID33_definitions.h.

#define RND_TIMEOUT 100

Definition at line 695 of file dsPID33_definitions.h.

#define RT_TIMER_FLAG VARbits1.bit10

Definition at line 687 of file dsPID33_definitions.h.

#define SCHED_ANGLE_FLAG VARbits1.bit8

Definition at line 529 of file dsPID33_definitions.h.

#define SCHED_DIST_FLAG VARbits1.bit0

Definition at line 530 of file dsPID33_definitions.h.

#define SCHEDULER_FLAG VARbits1.bit5

Definition at line 689 of file dsPID33_definitions.h.

#define SPACE_ENC_1X (CIRC / (CPR_WHEEL))

Definition at line 199 of file dsPID33_definitions.h.

#define SPACE_ENC_2X (CIRC / (CPR_WHEEL * 2))

Definition at line 200 of file dsPID33_definitions.h.

#define SPACE_ENC_4X (CIRC / (CPR_WHEEL * 4))

Definition at line 201 of file dsPID33_definitions.h.

#define SPACE_FLAG VARbits1.bit2

Definition at line 337 of file dsPID33_definitions.h.

#define SPMIN 0.01

Definition at line 225 of file dsPID33_definitions.h.

#define TABLE_SIZE 16

Definition at line 386 of file dsPID33_definitions.h.

#define TIMER_OK_FLAG VARbits1.bit9

Definition at line 688 of file dsPID33_definitions.h.

#define TWOPI 6.2831853072

Definition at line 232 of file dsPID33_definitions.h.

#define UART_CONT_TIMEOUT 100

Definition at line 154 of file dsPID33_definitions.h.

#define UART_CONT_TIMEOUT 100

Definition at line 154 of file dsPID33_definitions.h.

#define VAR_PER_BYTE 2

Definition at line 280 of file dsPID33_definitions.h.

#define VEL_MIN_PID 1600

Definition at line 213 of file dsPID33_definitions.h.

#define X_POINT_MAX 150

Definition at line 286 of file dsPID33_definitions.h.

#define X_POINT_MIN 0

Definition at line 287 of file dsPID33_definitions.h.

#define X_SIZE 75

Definition at line 284 of file dsPID33_definitions.h.

#define Y_POINT_MAX 150

Definition at line 288 of file dsPID33_definitions.h.

#define Y_POINT_MIN 0

Definition at line 289 of file dsPID33_definitions.h.

#define Y_SIZE 150

Definition at line 285 of file dsPID33_definitions.h.

Function Documentation

unsigned char UartTxBuff [] __attribute__ ( (space(dma), aligned(128)) )

fractional abcCoefficient1 [3] __attribute__ ( (section(".xbss, bss, xmemory")) )

fractional controlHistory1 [3] __attribute__ ( (section(".ybss, bss, ymemory")) )

float VffTableY [33][33] __attribute__ ( (space(auto_psv)) )

_FGS ( GSS_OFF &GCP_OFF & GWRP_OFF )

_FICD ( JTAGEN_OFF & ICS_PGD1 )

_FOSC ( FCKSM_CSECMD &OSCIOFNC_OFF & POSCMD_XT )

_FOSCSEL ( FNOSC_PRI )

_FPOR ( FPWRT_PWR64 &PWMPIN_ON &HPOL_ON & LPOL_ON )

_FWDT ( FWDTEN_OFF ) volatile

void SetMap	(	int	Xpoint,
		int	Ypoint,
		nibble *	CellVal
	)

Definition at line 1418 of file dsPID33.c.

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Variable Documentation

char ADCOvldCount[2] = {0,0}

Definition at line 161 of file dsPID33_definitions.h.

int ADCValue[2] = {0,0}

Definition at line 157 of file dsPID33_definitions.h.

int AngleCmp

Definition at line 364 of file dsPID33_definitions.h.

fractional AngleKCoeffs[] = {0,0,0}

Definition at line 352 of file dsPID33_definitions.h.

tPID AnglePIDstruct

Definition at line 347 of file dsPID33_definitions.h.

float Axle

Definition at line 218 of file dsPID33_definitions.h.

long Blink = 0

Definition at line 149 of file dsPID33_definitions.h.

unsigned int BlinkOn

Definition at line 514 of file dsPID33_definitions.h.

volatile unsigned int BlinkPeriod

Definition at line 513 of file dsPID33_definitions.h.

float CosPrev = 1

Definition at line 226 of file dsPID33_definitions.h.

int Curr[2] = {0,0}

Definition at line 274 of file dsPID33_definitions.h.

volatile unsigned char Cycle1

Definition at line 490 of file dsPID33_definitions.h.

volatile unsigned char Cycle2

Definition at line 491 of file dsPID33_definitions.h.

fractional DistKCoeffs[] = {0,0,0}

Definition at line 472 of file dsPID33_definitions.h.

tPID DistPIDstruct

Definition at line 467 of file dsPID33_definitions.h.

int ErrCode

Definition at line 521 of file dsPID33_definitions.h.

int i = 0

Definition at line 147 of file dsPID33_definitions.h.

volatile unsigned int Ic1CurrPeriod

Definition at line 170 of file dsPID33_definitions.h.

volatile int Ic1Indx = 0

Definition at line 164 of file dsPID33_definitions.h.

volatile long Ic1Period = 0

Definition at line 168 of file dsPID33_definitions.h.

volatile unsigned int Ic1PrevPeriod

Definition at line 166 of file dsPID33_definitions.h.

volatile unsigned int Ic2CurrPeriod

Definition at line 171 of file dsPID33_definitions.h.

volatile int Ic2Indx = 0

Definition at line 165 of file dsPID33_definitions.h.

volatile long Ic2Period = 0

Definition at line 169 of file dsPID33_definitions.h.

volatile unsigned int Ic2PrevPeriod

Definition at line 167 of file dsPID33_definitions.h.

unsigned long IdleCount = 0

Definition at line 498 of file dsPID33_definitions.h.

int IdlePerc

Definition at line 511 of file dsPID33_definitions.h.

volatile unsigned long IdleSample = 0

Definition at line 499 of file dsPID33_definitions.h.

int j = 0

Definition at line 148 of file dsPID33_definitions.h.

fractional kCoeffs1[] = {0,0,0}

Definition at line 242 of file dsPID33_definitions.h.

fractional kCoeffs2[] = {0,0,0}

Definition at line 253 of file dsPID33_definitions.h.

long double Ksp[2]

Definition at line 217 of file dsPID33_definitions.h.

long Kvel[2]

Definition at line 208 of file dsPID33_definitions.h.

unsigned char MapSendIndx

Definition at line 344 of file dsPID33_definitions.h.

PackedBit MapXY[X_SIZE][Y_SIZE]

Definition at line 332 of file dsPID33_definitions.h.

float MaxMapX = HALF_MAP_SIZE

Definition at line 338 of file dsPID33_definitions.h.

float MaxMapY = HALF_MAP_SIZE

Definition at line 340 of file dsPID33_definitions.h.

float MinMapX = -HALF_MAP_SIZE

Definition at line 339 of file dsPID33_definitions.h.

float MinMapY = -HALF_MAP_SIZE

Definition at line 341 of file dsPID33_definitions.h.

unsigned int Obj[3] = {0x1000, 0x1000, 0x1000}

Definition at line 692 of file dsPID33_definitions.h.

unsigned char PidCycle[2]

Definition at line 214 of file dsPID33_definitions.h.

tPID PIDstruct1

Definition at line 239 of file dsPID33_definitions.h.

tPID PIDstruct2

Definition at line 250 of file dsPID33_definitions.h.

int Port

Definition at line 69 of file dsPID33_definitions.h.

float PosXdes = 0

Definition at line 481 of file dsPID33_definitions.h.

float PosXmes = 0

Definition at line 228 of file dsPID33_definitions.h.

float PosYdes = 0

Definition at line 482 of file dsPID33_definitions.h.

float PosYmes = 0

Definition at line 229 of file dsPID33_definitions.h.

fractional Ramp1

Definition at line 271 of file dsPID33_definitions.h.

fractional Ramp2

Definition at line 272 of file dsPID33_definitions.h.

unsigned char ResetCount = 0

Definition at line 734 of file dsPID33_definitions.h.

int ResetPort

Definition at line 71 of file dsPID33_definitions.h.

volatile unsigned int RndTimer = 0

Definition at line 694 of file dsPID33_definitions.h.

volatile int RtTimer

Definition at line 686 of file dsPID33_definitions.h.

unsigned char SchedPtr = 0

Definition at line 528 of file dsPID33_definitions.h.

int SchedValues[16][4]

Initial value:

 {              {6,100,0,0},
                                                                {4,0,0,1000},
                                                                {5,300,0,1000},
                                                                {4,0,1000,1000},
                                                                {5,300,1000,1000},
                                                                {4,0,1000,0},
                                                                {5,300,1000,0},
                                                                {4,0,0,0},
                                                                {5,300,0,0},
                                                                {6,80,0,0},
                                                                {3,0,0,0},
                                                                {0,0,0,0},
                                                                {0,0,0,0},
                                                                {0,0,0,0},
                                                                {0,0,0,0},
                                                                {0,0,0,0} }

Definition at line 572 of file dsPID33_definitions.h.

float SemiAxle

Definition at line 219 of file dsPID33_definitions.h.

int SendMapPort

Definition at line 70 of file dsPID33_definitions.h.

float SinPrev = 0

Definition at line 227 of file dsPID33_definitions.h.

float Space = 0

Definition at line 224 of file dsPID33_definitions.h.

float Spmm[2] = {0,0}

Definition at line 223 of file dsPID33_definitions.h.

int SpTick[2] = {0,0}

Definition at line 221 of file dsPID33_definitions.h.

unsigned char Target[3] = {0, 0, 0}

Definition at line 693 of file dsPID33_definitions.h.

const long Tcy = 1000000/(float)(FCY)* 100000000

Definition at line 144 of file dsPID33_definitions.h.

const unsigned char Test[]

Definition at line 71 of file com.h.

float ThetaDes = 0

Definition at line 362 of file dsPID33_definitions.h.

float ThetaDesRef

Definition at line 363 of file dsPID33_definitions.h.

float ThetaMes = 0

Definition at line 230 of file dsPID33_definitions.h.

unsigned char TmpPtr

Definition at line 62 of file com.h.

unsigned char TmpPtr2

Definition at line 87 of file com.h.

long Tmr2OvflwCount1

Definition at line 172 of file dsPID33_definitions.h.

long Tmr2OvflwCount2

Definition at line 173 of file dsPID33_definitions.h.

unsigned int TxContFlag = 0

Definition at line 152 of file dsPID33_definitions.h.

unsigned char Uart2RxPtrData

Definition at line 86 of file com.h.

volatile unsigned char Uart2RxPtrIn

Definition at line 82 of file com.h.

unsigned char Uart2RxPtrOut

Definition at line 83 of file com.h.

volatile int Uart2RxStatus

Definition at line 91 of file com.h.

volatile int UartContTxTimer = UART_CONT_TIMEOUT

Definition at line 153 of file dsPID33_definitions.h.

unsigned char UartRxCmd[]

Definition at line 55 of file com.h.

unsigned char UartRxPtrData

Definition at line 61 of file com.h.

volatile unsigned char UartRxPtrIn

Definition at line 57 of file com.h.

unsigned char UartRxPtrOut

Definition at line 58 of file com.h.

volatile int UartRxStatus

Definition at line 64 of file com.h.

unsigned char UartTmpBuff[][2]

Definition at line 52 of file com.h.

struct Bits VARbits1

Definition at line 97 of file dsPID33_definitions.h.

struct Bits VARbits2

Definition at line 98 of file dsPID33_definitions.h.

long Vel[2]

Definition at line 236 of file dsPID33_definitions.h.

float VelDecr

Definition at line 484 of file dsPID33_definitions.h.

int VelDes[2] = {0,0}

Definition at line 209 of file dsPID33_definitions.h.

int VelDesM = 0

Definition at line 211 of file dsPID33_definitions.h.

fractional VelFin[2] = {0,0}

Definition at line 265 of file dsPID33_definitions.h.

int VelInt[2]

Definition at line 525 of file dsPID33_definitions.h.

int VelMes[2] = {0,0}

Definition at line 210 of file dsPID33_definitions.h.

float VObX[3]

Definition at line 464 of file dsPID33_definitions.h.

float VObY[3]

Definition at line 465 of file dsPID33_definitions.h.

struct Bits VOLbits1

Definition at line 99 of file dsPID33_definitions.h.

int XindxPrev = 10000

Definition at line 335 of file dsPID33_definitions.h.

int Xshift = 0

Definition at line 311 of file dsPID33_definitions.h.

int YindxPrev = 10000

Definition at line 336 of file dsPID33_definitions.h.

int Yshift = 0

Definition at line 312 of file dsPID33_definitions.h.

Data Structures

Defines

Functions

Variables

Define Documentation

Function Documentation

Variable Documentation