programming used 3

8/17/2019 Programming Used 3

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#defne M2A LATGbits.LATG8 //MOTOR 4

#defne M2B LATGbits.LATG7

#defne sp2 PDC5 // ma 25!! PDC

#defne M"A LATbits.LAT8 //MOTOR "

#defne M"B LATAbits.LATA!

#defne sp" PDC"

#defne M4A LAT$bits.LAT$! //MOTOR 2

#defne M4B LATbits.LAT%

#defne sp4 PDC7

#defne M5A LATBbits.LATB5 //MOTOR &

#defne M5B LAT$bits.LAT$&

#defne sp5 PDC& //PDC4 t'(a)'nt'( se)*+&

#defne M,A LATBbits.LATB" //MOTOR $A-A-

#defne M,B LATBbits.LATB4

//&2P- /O//

#defne TRGGR LAT0bits.LAT0&2

//1ART//

#defne T" 1"TRG

#defne T4 14TRG

//BA1RAT//

#defne BRG3AL P/BA1DRAT6/&,6&

#defne BA1DRAT %,!!

#defne P 5!!!!!!


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//s(ps p)+t++9//

#defne p:se9et !

#defne p:;+


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////

*+idinit:O*+id6

*+idinit:PM*+id6

*+id>an=e:pin*+id6//@'nti+n mean'm 'sin= sabe)t++t>//

*+idmean'm:@+)?a)d'nsi=ned int mL 'nsi=ned intmR6

*+idmean'm:)e*e)se'nsi=ned int mL 'nsi=ned intmR6

*+idmean'm:9e@t'nsi=ned int mL 'nsi=ned intmR6

*+idmean'm:)i=>t'nsi=ned int mL 'nsi=ned intmR6

*+id mean'm:45'nsi=ned int mL 'nsi=ned intmR6

*+id mean'm:&"5'nsi=ned int mL 'nsi=ned intmR6

*+id mean'm:225'nsi=ned int mL 'nsi=ned intmR6

*+id mean'm:"&5'nsi=ned int mL 'nsi=ned intmR6

*+idmean'm:C'nsi=ned int mL 'nsi=ned intmR6

*+idmean'm:CC'nsi=ned int mL 'nsi=ned intmR6

*+id mean'm:t')n&'nsi=ned int mL 'nsi=ned intmR6

//@'nti+n mean'm 'sin= )e9aa) 'a)t:)e*+id6

'nsi=ned >a) s(ps'nsi=ned >a) data6

*+id init:'a)t2*+id6


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//@'nti+n tamba>an//

*+id de9aa) s&L'nsi=ned >a) s&R

'nsi=ned >a) s2L

'nsi=ned >a) s2R

'nsi=nedint stati "!

'nsi=nedint stati < 55

int main*+id6

E

DTFDisab9e

init:O6

TRGGR&

1"TRG!

14TRG!

de9ai9e&6

E

i@s(psp:sta)t6!6

E

LD:RD!

TRGGR&

?>i9e&6

E


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LD:GR-&

i@s(psp:'p6!6

E

i@s(psp:)i=>t6!6 E

LD:GR-&

LD:0T&

mean'm:)i=>t,","6

e9se i@s(psp:9e@t6!6

E

LD:RD&

LD:BL1&

mean'm:9e@t,","6

e9se i@s(psp:)&6!6

E

LD:GR-&

LD:0T&

mean'm:C,","6

e9se i@s(psp:9&6!6

E

LD:RD&

LD:BL1&

mean'm:CC,","6

e9se i@s(psp:)26!6

E

LD:GR-&

LD:0T&

mean'm:45,","6


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e9se i@s(psp:926!6

E

LD:RD& LD:BL1&

mean'm:&"5,","6

e9se

E

LD:RD&

LD:GR-&

mean'm:@+)?a)d,","6

e9se i@s(psp:d+?n6!6

E

i@s(psp:)i=>t6!6

E

LD:GR-&

LD:0T&

mean'm:9e@t,","6


E

LD:RD&

LD:BL1&

mean'm:)i=>t,","6

e9se i@s(psp:)&6!6

E

LD:GR-&

LD:0T&


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mean'm:C,","6

e9se i@s(psp:9&6!6

E LD:RD&

LD:BL1&

mean'm:CC,","6

e9se i@s(psp:)26!6

E

LD:GR-&

LD:0T&

mean'm:"&5,","6

e9se i@s(psp:926!6

E

LD:RD&

LD:BL1&

mean'm:225,","6

e9se

E

LD:BL1&

LD:0T&

mean'm:)e*e)se,","6

e9se i@s(psp:)i=>t6!6

E

LD:GR-&

LD:0T&

mean'm:)i=>t,","6


8/36


E

LD:RD& LD:BL1&

mean'm:9e@t,","6

e9se i@s(psp:)&6!6

E

LD:RD&

LD:BL1&

mean'm:C,","6

e9se i@s(psp:9&6!6

E

LD:GR-&

LD:0T&

mean'm:CC,","6

e9se i@s(psp:)26!6

E

LD:GR-&

LD:0T&

mean'm:45,","6

e9se i@s(psp:926!6

E

LD:RD&

LD:BL1&

mean'm:&"5,","6

e9se i@s(psp:;+


9/36

E

se)*+&se)*+&5

i@se)*+&I2!!6

E se)*+&2!!

e9se i@s(psp:;+


10/36

E

se)*+22!!

e9se i@s(psp:)+ss6!6

E

LD:BL1&

TRGGR!

// temba(6

e9se i@s(psp:se9et6!6

E

init:O6

LD:BL1LD:GR-LD:0TLD:RD&

de9a


11/36

E

//FT /O AF DGTAL//

A-FLA !

A-FLB ! A-FLC !

A-FLD !

A-FL !

//FT P- AF -P1T//

//P1F0 B1TTO-

TRF0bits.TRF08 &

TRF0bits.TRF0&! &

//FT P- AF O1TP1T//

//LD

TRF0bits.TRF04 !

TRF0bits.TRF0, !

TRFBbits.TRFB&4 !

TRFbits.TRF&" !

//MOTOR

TRFbits.TRF8 !

TRFbits.TRF% !

TRFAbits.TRFA! !

TRF$bits.TRF$! !

TRFGbits.TRFG8 !

TRF$bits.TRF$& !

TRFGbits.TRFG7 !

TRFBbits.TRFB5 !

TRFGbits.TRFG, !

TRFBbits.TRFB4 !

TRFKbits.TRFK&" !

TRFBbits.TRFB" !


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//&2P- /!

TRF0bits.TRF0&2 ! //TRGGR

>an=e:pin6

init:'a)t26

init:PM6

//1&BRG BRG3AL //'nt'( testin= 1ART man'a9

//12BRG BRG3AL

1"BRG BRG3AL

14BRG BRG3AL

//T2!

T"!

T4!

//-TAL TO RO//

LD:BL1 ! //me)a>//sebe9'mt'(a)

LD:GR- ! //>i;a'

LD:RD ! //p'ti>

LD:0T ! //bi)'

TRGGR&

M&AM&BM2AM2BM"AM"BM4AM4BM5AM5B!

*+idinit:PM6

E

PTPR 24!4 / PTPR & / 4!!(0N6 / &.!4ns6 24!4 ?>e)e4!!(0N

is t>e desi)ed s?it>in= @)e'en< and &.!4ns is PM )es+9'ti+n. /

PTCO-2bits.PCL$D3, //!!& Di*ideb


13/36

/ PM& C+nf=')ati+n/

OCO-&bits.P-0 & / PM&0 is +nt)+99ed b< PM m+d'9e/

OCO-&bits.P-L ! / PM&L is +nt)+99ed b< GPO m+d'9e/

OCO-&bits.PMOD & / Fe9et ndependent O'tp't PMm+de /

//PDC& ! / nitia9 D't< ase s>i@t /

/ PM2 C+nf=')ati+n/

OCO-2bits.P-0 & / PM20 is +nt)+99ed b< PM m+d'9e/

OCO-2bits.P-L ! / PM2L is +nt)+99ed b< GPO m+d'9e/

OCO-2bits.PMOD & / Fe9et ndependent O'tp't PMm+de /

//PDC2 ! / nitia9 D't< ase s>i@t /

/ PM" C+nf=')ati+n/

OCO-"bits.P-0 & / PM&0 is +nt)+99ed b< PM m+d'9e/

OCO-"bits.P-L ! / PM&L is +nt)+99ed b< GPO m+d'9e/

OCO-"bits.PMOD & / Fe9et ndependent O'tp't PMm+de /

PDC" ! / nitia9 D't<


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/ PM4 C+nf=')ati+n/

OCO-4bits.P-0 & / PM&0 is +nt)+99ed b< PM m+d'9e

/

OCO-4bits.P-L ! / PM&L is +nt)+99ed b< GPO m+d'9e/


//PDC4 ! / nitia9 D't< ase s>i@t /

/ PM5 C+nf=')ati+n/

OCO-5bits.P-0 & / PM&0 is +nt)+99ed b< PM m+d'9e/



PDC5 ! / nitia9 D't< ase s>i@t /

/ PM, C+nf=')ati+n

/

OCO-,bits.P-0 & / PM&0 is +nt)+99ed b< PM m+d'9e/

OCO-,bits.P-L ! / PM&L is +nt)+99ed b< GPO m+d'9e/

OCO-,bits.PMOD & / Fe9et ndependent O'tp't PMm+de /

PDC, ! / nitia9 D't<


15/36

P0AF, ! / -+ p>ase s>i@t /

/ PM7 C+nf=')ati+n/

OCO-7bits.P-0 & / PM&0 is +nt)+99ed b< PM m+d'9e/



PDC7 ! / nitia9 D't< ase s>i@t /

////

PTCO-bits.PT- & / nab9e t>e PM M+d'9e /

*+id>an=e:pin*+id6 //1ART $- T1$AR P-

E

//1&MODbits.1ART- & //MOD T

//1&FTAbits.1T- & //CO-TROLL RGFTR

//12MODbits.1ART- & //d> settin= (t@'nti+n 1ART

//12FTAbits.1T- &

1"MODbits.1ART- &

1"FTAbits.1T- &

14MODbits.1ART- &

14FTAbits.1T- &

//1ART 2F$PF //='na 1ART2

RP-R&%bits.12RR&&2 //F$PFR &&& !!!!

RPOR&bits.RP,7R" //1ART2T !! !!&&


16/36

RPOR&bits.RP,,R27 //1ART"T !& &!&&

RPOR!bits.RP,5R2% //1ART4T !& &&!&

*+id init:'a)t2*+id6

E

12FTAbits.1RFL !

PC7bits.12RP5

12FTAbits.ORR !

F&bits.12R !

C&bits.12R !

12MODbits.1ART- &

12FTAbits.1T- &

12BRG BRG3AL

// 'a)t @'nti+n se)ia9 +mm'niati+n6

//

*+id'a)t:send'nsi=ned >a) data6 //@'nti+n t+ send +'t a b send +'t

12TRG data //send ne? data

'nsi=ned >a) 'a)t:)e*+id6 //@'nti+n t+ ?ait @+) a b


17/36

//

'nsi=ned >a) s(ps'nsi=ned >a) data6 //@'nti+n t+ )ead b'tt+n and ;+


18/36

s2L ,4 mL J

s2R &%2 mR J

14TRG s2L

14TRG s2R

e9se i@s(psp:i)9e6!6

E

s&L ,4 J mL


19/36

E

i@s(psp:t)ian=9e6!6

E

s&L ,4 mL J s&R &%2 mR J

1"TRG s&L

1"TRG s&R

s2L ,4 J mL

s2R &%2 J mR

14TRG s2L

14TRG s2R


E

s&L ,4 mL J


20/36

s2L ,4 J mL

s2R &%2 J mR

14TRG s2L

14TRG s2R

*+idmean'm:9e@t'nsi=ned int mL 'nsi=ned intmR6

E

i@s(psp:t)ian=9e6!6

E

s&L ,4 mL J

s&R &%2 J mR

1"TRG s&L

1"TRG s&R

s2L ,4 J mL

s2R &%2 mR J

14TRG s2L

14TRG s2R


E

s&L ,4 mL J


21/36


22/36

s&R &%2 mR J


23/36

s2L ,4 mR J

s2R &%2

14TRG s2L

14TRG s2R


E

s&L ,4 J mL


24/36

E

i@s(psp:t)ian=9e6!6

E

s&L ,4 s&R &%2 J mR

1"TRG s&L

1"TRG s&R

s2R ,4

s2L &%2 mL J

14TRG s2L

14TRG s2R


E

s&L ,4

s&R &%2 J mR


25/36


26/36

e9se

E

s&L ,4 mL s&R &%2

1"TRG s&L

1"TRG s&R

s2L ,4 J mR

s2R &%2

14TRG s2L

14TRG s2R

*+id mean'm:"&5'nsi=ned int mL 'nsi=ned intmR6

E

i@s(psp:t)ian=9e6!6

E

s&L ,4

s&R &%2 mR J

1"TRG s&L

1"TRG s&R

s2R ,4

s2L &%2 J mL

14TRG s2L

14TRG s2R


E

s&L ,4


27/36

s&R &%2 mR J


28/36

s2L ,4 mL J

s2R &%2 J mR

14TRG s2L

14TRG s2R


E

s&L ,4 mL J


29/36

E

i@s(psp:t)ian=9e6!6

E

s&L ,4 J mL s&R &%2 mR J

1"TRG s&L

1"TRG s&R

s2L ,4 J mL

s2R &%2 mR J

14TRG s2L

14TRG s2R


E

s&L ,4 J mL


30/36

s2L ,4 J mL

s2R &%2 mR

14TRG s2L

14TRG s2R

*+id mean'm:t')n&'nsi=ned int mL 'nsi=ned intmR6

E

i@s(psp:t)ian=9e6!6

E

s&L ,4 J mL

s&R &%2 mR J

1"TRG s&L

1"TRG s&R

s2L ,4 mL J

s2R &%2 J mR

14TRG s2L

14TRG s2R


E

s&L ,4 J mL


31/36


32/36

*+idmean'm:)e9a


33/36

sp:)e9a


34/36

M4B!

// sp4


35/36

e9se

E

sp&2!!!

sp22!!! sp"2!!!

sp42!!!

*+idsp:)e9a


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LD:BL1&

de9a

programming used 3

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