This is a porting on a single dsPIC33FJ64MC802 of previous double PID Motor Control (dsPID program) formerly performed with two dsPIC30F4012 plus odometry and field mapping formerly performed with a single dsPIC30F3013 (dsODO).

Some descriptions my STILL refer to the old project

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dsNavCon33 board is designed with one dsPIC33FJ64MC802 to both control the motors and perform navigation.

The MC can be replaced with any other MC type dsPIC33 with minor changes on SW.

It estimates the position through odometry, maps the field and exchanges that values with the main controller board via other communication buses.

Telemetry with the remote computer is achieved with a Zigbee RF modem through the secondary UART interface.

Configure Oscillator to operate the device at 40 Mhz

• PLLFBD=30 M=32
• Fin = 10 MHz
• Fosc = Fin*M/(N1*N2) = 10M*32(2*2) = 80 Mhz
• Fcy = Fosc/2 = 40 MHz
• Tcy = 25 ns
• with 10MHz oscillator, set MPLAB SIM to 80.0000 MHz

Configure Oscillator to operate the device at 39,6288 Mhz

• PLLFBD=41 M=43
• Fin = 7,3728 MHz
• Fosc = Fin*M/(N1*N2) = 7.3728M*43(2*2) = 79,2576Mhz
• Fcy = Fosc/2 = 39,6288 MHz
• Tcy = 25,234173 ns
• with 7.3728MHz oscillator, set MPLAB SIM to 79.2576 MHz

The program is full interrupt driven. When initialization starts, the program enters in a very simple Main loop, acting as a state machine. Here it checks some flags enabled by external events and enters in the relative state. Since it's a kind of a very simple cooperative "Real Time Operative System", every routine has to be executed in the shortest possible time, freeing the system up to take care of the very frequent interrupts.

============================ A list of peripherals used:

I/O pins used on dsPIC33FJ64MC802

• 01 - MCLR
• 02 - AN0 current sensing 1 (Vref+ = Avdd = 3.3V) [2]
• 03 - AN1 current sensing 2 (Vref+ = Avdd = 3.3V) [2]
• 04 - PGD1/EMUD1
• 05 - PGC1/EMUC1
• 06 - RB2 H-bridge1 enable [11]
• 07 - RB3 H-bridge2 enable [11]
• 08 - Vss
• 09 - OSC1
• 10 - OSC2
• 11 - TX2 RP4 [6]
• 12 - RA4 LED1 (470 Ohm = 3mA)
• 13 - Vdd
• 14 - QEB1 RP5 [4]
• 15 - QEA1/IC1 (both peripherals mapped on the same pin) RP6 [4] [7]
• 16 - RX2 RP7 [6]
• 17 - RX1 RP8 [6]
• 18 - TX1 RP9 [6]
• 19 - Vss
• 20 - Vcap
• 21 - QEA2/IC2 (both peripherals mapped on the same pin) RP10 [4] [7]
• 22 - QEB2 RP11 [4]
• 23 - PWM1H2 [11]
• 24 - PWM1L2 [11]
• 25 - PWM1H1 [11]
• 26 - PWM1L1 [11]
• 27 - Avss
• 28 - Avdd

I/O pins used on dsPIC33FJ64MC804

• 01 - SDA1
• 02 - QEB1 RP22 [4]
• 03 - QEA1/IC1 (both peripherals mapped on the same pin) RP23 [4] [7]
• 04 - QEB2 RP24 [4]
• 05 - QEA2/IC2 (both peripherals mapped on the same pin) RP25 [4] [7]
• 06 - Vss
• 07 - Vcap 08 - PWM1H3/RP10/RB10 09 - PWM1L3/RP11/RB11
• 10 - PWM1H2 (IN2_B) [11]
• 11 - PWM1L2 (IN1_B) [11]
• 12 - RA10 H-bridge2 enable [11]
• 13 - RA7 H-bridge1 enable [11]
• 14 - PWM1H1 (IN2_A) [11]
• 15 - PWM1L1 (IN1_A) [11]
• 16 - Avss
• 17 - Avdd
• 18 - MCLR
• 19 - AN0 current sensing 1 (Vref+ = Avdd = 3.3V) [2]
• 20 - AN1 current sensing 2 (Vref+ = Avdd = 3.3V) [2]
• 21 - PGD1/EMUD1
• 22 - PGC1/EMUC1 23 - AN4 24 - AN5 25 - AN6 26 - AN7 27 - AN8
• 28 - Vdd
• 29 - Vss
• 30 - OSC1
• 31 - OSC2
• 32 - RA8 LED1 (470 Ohm = 3mA) 33 - RP4/RB4 34 - RA4 35 - RA9 36 - RP19/RC3
• 37 - RX2 RP20[6]
• 38 - TX2 RP21[6]
• 39 - Vss
• 40 - Vdd
• 41 - RX1 RP5 [6]
• 42 - TX1 RP6 [6] 43 - INT0/RP7/RB7
• 44 - SCL1