dsPid33
|
#include "dsPID33_common.h"
Go to the source code of this file.
Data Structures | |
struct | Bits |
struct | nibble |
union | PackedBit |
Defines | |
#define | RC6Tick(x) (Delay1KTCYx(4*x),Delay100TCYx(4*x),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 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.
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.
Definition at line 245 of file dsPID33_definitions.h.
Definition at line 256 of file dsPID33_definitions.h.
Definition at line 244 of file dsPID33_definitions.h.
Definition at line 255 of file dsPID33_definitions.h.
Definition at line 243 of file dsPID33_definitions.h.
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.
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 |
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.
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] |
{ {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.
Definition at line 144 of file dsPID33_definitions.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.
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 |
volatile unsigned char Uart2RxPtrIn |
unsigned char Uart2RxPtrOut |
volatile int Uart2RxStatus |
volatile int UartContTxTimer = UART_CONT_TIMEOUT |
Definition at line 153 of file dsPID33_definitions.h.
unsigned char UartRxPtrData |
volatile unsigned char UartRxPtrIn |
unsigned char UartRxPtrOut |
volatile int UartRxStatus |
unsigned char UartTmpBuff[][2] |
Definition at line 97 of file dsPID33_definitions.h.
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.
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.