//************************************************************************************ //** //** File name: E:\LIT\Gryphon_Robot\Flowcode\PID_1824_simplified1.c //** Generated by: Flowcode v4.3.7.63 //** Date: Saturday, April 16, 2011 12:05:44 //** Licence: Professional //** Registered to: LIT //** //** //** http://www.matrixmultimedia.com //************************************************************************************ #define MX_PIC //Defines for microcontroller #define MX_EE_SIZE 256 #define MX_SPI #define MX_SPI_C #define MX_SPI_SDI 1 #define MX_SPI_SDO 2 #define MX_SPI_SCK 0 #define MX_UART #define MX_UART_C #define MX_UART_TX 4 #define MX_UART_RX 5 #define MX_I2C #define MX_MI2C #define MX_I2C_C #define MX_I2C_SDA 1 #define MX_I2C_SCL 0 #define MX_PWM #define MX_PWM_CNT 2 #define MX_PWM_TRIS1 trisc #define MX_PWM_1 5 #define MX_PWM_TRIS2 trisc #define MX_PWM_2 3 #define MX_PWM_TRIS2a trisa #define MX_PWM_2a 5 //Functions #define MX_CLK_SPEED 19660800 #ifdef _BOOSTC #include #endif #ifdef HI_TECH_C #include #endif //Configuration data #ifdef _BOOSTC #pragma DATA 0x8007, 0x9a4 #endif #ifdef HI_TECH_C __CONFIG(0x9a4); #endif #ifdef _BOOSTC #pragma DATA 0x8008, 0x1713 #endif #ifdef HI_TECH_C __CONFIG(0x1713); #endif //Internal functions #include "C:\Program Files (x86)\Matrix Multimedia\Flowcode V4\FCD\internals.h" //Macro function declarations void FCM_PID1(); //Variable declarations short FCV_PID_D1; char FCV_AWAY1; short FCV_GAIN_SCALING; char FCV_MODE; char FCV_ENABLE; char FCV_I_GAIN; char FCV_HOME_SETPOINT1; short FCV_PID_P1; char FCV_SETPOINT1; char FCV_D_GAIN; char FCV_AWAY; short FCV_PID_I1; char FCV_FEEDBACK1; char FCV_AWAY_SETPOINT1; short FCV_PID_PX1; short FCV_PID_Y1; char FCV_P_GAIN; char FCV_HOME; //Defines: /**** Macro Substitutions **** 255 = Timer 2 Rollover Value 0x04 = Timer 2 Prescaler Value %c = Unused 0 = Alternate Pin FCD_PWM0_Enable ******************************/ //PWM(0): //Macro function declarations void FCD_PWM0_Enable(char nIdx); void FCD_PWM0_Disable(char nIdx); void FCD_PWM0_SetDutyCycle(char nIdx, char nDuty); void FCD_PWM0_ChangePeriod(char nPeriodVal, char nPrescalerVal); void FCD_PWM0_SetDutyCycle10bit(char nIdx, short nDuty); //Defines: /**** Macro Substitutions **** 2 = Which ADC Channel 40 = Acquisition time 3 = Conversion Speed 0 = VRef+ Option 500 = VRef Voltage x 0.01V ******************************/ //ADC(2): //Macro function declarations void FCD_ADC2_SampleADC(); char FCD_ADC2_ReadAsByte(); short FCD_ADC2_ReadAsInt(); float FCD_ADC2_ReadAsVoltage(); void FCD_ADC2_ReadAsString(char* FCR_RETVAL, char FCR_RETVAL_SIZE); //Defines: /**** Macro Substitutions **** 4 = Which ADC Channel 40 = Acquisition time 3 = Conversion Speed 0 = VRef+ Option 500 = VRef Voltage x 0.01V ******************************/ //ADC(3): //Macro function declarations void FCD_ADC3_SampleADC(); char FCD_ADC3_ReadAsByte(); short FCD_ADC3_ReadAsInt(); float FCD_ADC3_ReadAsVoltage(); void FCD_ADC3_ReadAsString(char* FCR_RETVAL, char FCR_RETVAL_SIZE); //Supplementary defines #define option_reg OPTION_REG //PWM(0): //Macro implementations void FCD_PWM0_Enable(char nIdx) { //error checking #ifndef MX_PWM #ifdef _BOOSTC #pragma error "This chip does not have PWM capability" #endif #ifdef HI_TECH_C #error This chip does not have PWM capability #endif #else #ifndef MX_PWM_CNT #ifdef _BOOSTC #pragma error "FCD file error (no MX_PWM_CNT)" #endif #ifdef HI_TECH_C #error FCD file error (no MX_PWM_CNT) #endif #endif #if (MX_PWM_CNT < 1) #ifdef _BOOSTC #pragma error "FCD file error (MX_PWM_CNT < 1)" #endif #ifdef HI_TECH_C #error FCD file error (MX_PWM_CNT < 1) #endif #endif #if (MX_PWM_CNT > 2) #ifdef _BOOSTC #pragma error "FCD file error (MX_PWM_CNT > 2)" #endif #ifdef HI_TECH_C #error FCD file error (MX_PWM_CNT > 2) #endif #endif #ifndef MX_PWM_TRIS1 #ifdef _BOOSTC #pragma error "FCD file error (no MX_PWM_TRIS1)" #endif #ifdef HI_TECH_C #error FCD file error (no MX_PWM_TRIS1) #endif #endif #ifndef MX_PWM_1 #ifdef _BOOSTC #pragma error "FCD file error (no MX_PWM_1)" #endif #ifdef HI_TECH_C #error FCD file error (no MX_PWM_1) #endif #endif #if (MX_PWM_CNT == 2) #ifndef MX_PWM_TRIS2 #ifdef _BOOSTC #pragma error "FCD file error (no MX_PWM_TRIS2)" #endif #ifdef HI_TECH_C #error FCD file error (no MX_PWM_TRIS2) #endif #endif #ifndef MX_PWM_2 #ifdef _BOOSTC #pragma error "FCD file error (no MX_PWM_2)" #endif #ifdef HI_TECH_C #error FCD file error (no MX_PWM_2) #endif #endif #endif #if (0 == 1) #ifndef MX_PWM_TRIS1a #ifdef _BOOSTC #pragma error "PWM component error (using alternative, but no MX_PWM_TRIS1a)" #endif #ifdef HI_TECH_C #error PWM component error (using alternative, but no MX_PWM_TRIS1a) #endif #define MX_PWM_ALT_ERROR #endif #ifndef MX_PWM_1a #ifdef _BOOSTC #pragma error "PWM component error (using alternative, but no MX_PWM_1a)" #endif #ifdef HI_TECH_C #error PWM component error (using alternative, but no MX_PWM_1a) #endif #define MX_PWM_ALT_ERROR #endif #endif #if (0 == 2) #ifndef MX_PWM_TRIS2a #ifdef _BOOSTC #pragma error "PWM component error (using alternative, but no MX_PWM_TRIS2a)" #endif #ifdef HI_TECH_C #error PWM component error (using alternative, but no MX_PWM_TRIS2a) #endif #define MX_PWM_ALT_ERROR #endif #ifndef MX_PWM_2a #ifdef _BOOSTC #pragma error "PWM component error (using alternative, but no MX_PWM_2a)" #endif #ifdef HI_TECH_C #error PWM component error (using alternative, but no MX_PWM_2a) #endif #define MX_PWM_ALT_ERROR #endif #endif #endif #ifdef MX_PWM pr2 = 255; t2con = 0x04; #if (MX_PWM_CNT >= 1) if (nIdx == 1) { ccp1con = 0x0C; #if (0 == 1) #ifndef MX_PWM_ALT_ERROR clear_bit(MX_PWM_TRIS1a, MX_PWM_1a); #endif #else clear_bit(MX_PWM_TRIS1, MX_PWM_1); #endif } #endif #if (MX_PWM_CNT >= 2) if (nIdx == 2) { ccp2con = 0x0C; #if (0 == 2) #ifndef MX_PWM_ALT_ERROR clear_bit(MX_PWM_TRIS2a, MX_PWM_2a); #endif #else clear_bit(MX_PWM_TRIS2, MX_PWM_2); #endif } #endif #endif #ifdef MX_PWM_ALT_ERROR #undef MX_PWM_ALT_ERROR #endif } void FCD_PWM0_Disable(char nIdx) { //error checking #ifndef MX_PWM #ifdef _BOOSTC #pragma error "This chip does not have PWM capability" #endif #ifdef HI_TECH_C #error This chip does not have PWM capability #endif #endif #ifdef MX_PWM #if (MX_PWM_CNT >= 1) if (nIdx == 1) { ccp1con = 0x00; } #endif #if (MX_PWM_CNT >= 2) if (nIdx == 2) { ccp2con = 0x00; } #endif #endif } void FCD_PWM0_SetDutyCycle(char nIdx, char nDuty) { //error checking #ifndef MX_PWM #ifdef _BOOSTC #pragma error "This chip does not have PWM capability" #endif #ifdef HI_TECH_C #error This chip does not have PWM capability #endif #endif #ifdef MX_PWM #if (MX_PWM_CNT >= 1) if (nIdx == 1) { ccpr1l = nDuty; } #endif #if (MX_PWM_CNT >= 2) if (nIdx == 2) { ccpr2l = nDuty; } #endif #endif } void FCD_PWM0_ChangePeriod(char nPeriodVal, char nPrescalerVal) { //error checking #ifndef MX_PWM #ifdef _BOOSTC #pragma error "This chip does not have PWM capability" #endif #ifdef HI_TECH_C #error This chip does not have PWM capability #endif #endif #ifdef MX_PWM pr2 = nPeriodVal; switch (nPrescalerVal) { case 1: t2con = 0x04; break; case 4: t2con = 0x05; break; case 16: t2con = 0x06; break; } #endif } void FCD_PWM0_SetDutyCycle10bit(char nIdx, short nDuty) { char nCCPxCONtemp; //error checking #ifndef MX_PWM #ifdef _BOOSTC #pragma error "This chip does not have PWM capability" #endif #ifdef HI_TECH_C #error This chip does not have PWM capability #endif #endif #ifdef MX_PWM #if (MX_PWM_CNT >= 1) if (nIdx == 1) { ccpr1l = (nDuty & 0x3FC) >> 2; nDuty = (nDuty & 0x03) << 4; nCCPxCONtemp = (ccp1con & 0xCF) | nDuty; ccp1con = nCCPxCONtemp; } #endif #if (MX_PWM_CNT >= 2) if (nIdx == 2) { ccpr2l = (nDuty & 0x3FC) >> 2; nDuty = (nDuty & 0x03) << 4; nCCPxCONtemp = (ccp2con & 0xCF) | nDuty; ccp2con = nCCPxCONtemp; } #endif #endif } //ADC(2): //Macro implementations void FCD_ADC2_SampleADC() { /*******Supported Devices****************************************************************** // 16F1826, 16F1827 ******************************************************************************************/ #define MX_ADC_CHANNEL 2 #define MX_ADC_SAMP_TIME 40 #define MX_ADC_CONV_SP 3 #define MX_ADC_VREF_OPT 0 //set up ADC conversion char old_tris, cnt; adcon1 = (MX_ADC_CONV_SP & 0x07) << 4; //find appropriate bit #if (MX_ADC_CHANNEL == 0) #define MX_ADC_TRIS_REG trisa #define MX_ADC_TRIS_MSK 0x01 #define MX_ADC_ANSEL_REG ansela #endif #if (MX_ADC_CHANNEL == 1) #define MX_ADC_TRIS_REG trisa #define MX_ADC_TRIS_MSK 0x02 #define MX_ADC_ANSEL_REG ansela #endif #if (MX_ADC_CHANNEL == 2) #define MX_ADC_TRIS_REG trisa #define MX_ADC_TRIS_MSK 0x04 #define MX_ADC_ANSEL_REG ansela #endif #if (MX_ADC_CHANNEL == 3) #define MX_ADC_TRIS_REG trisa #define MX_ADC_TRIS_MSK 0x08 #define MX_ADC_ANSEL_REG ansela #if (MX_ADC_VREF_OPT != 0) #ifdef _BOOSTC #pragma error "Target device is currently using AN3 for VREF+" #endif #ifdef HI_TECH_C #error Target device is currently using AN3 for VREF+ #endif #endif #endif #if (MX_ADC_CHANNEL == 4) #define MX_ADC_TRIS_REG trisa #define MX_ADC_TRIS_MSK 0x10 #define MX_ADC_ANSEL_REG ansela #endif #if (MX_ADC_CHANNEL == 5) #define MX_ADC_TRIS_REG trisb #define MX_ADC_TRIS_MSK 0x40 #define MX_ADC_ANSEL_REG anselb #endif #if (MX_ADC_CHANNEL == 6) #define MX_ADC_TRIS_REG trisb #define MX_ADC_TRIS_MSK 0x80 #define MX_ADC_ANSEL_REG anselb #endif #if (MX_ADC_CHANNEL == 7) #define MX_ADC_TRIS_REG trisb #define MX_ADC_TRIS_MSK 0x20 #define MX_ADC_ANSEL_REG anselb #endif #if (MX_ADC_CHANNEL == 8) #define MX_ADC_TRIS_REG trisb #define MX_ADC_TRIS_MSK 0x10 #define MX_ADC_ANSEL_REG anselb #endif #if (MX_ADC_CHANNEL == 9) #define MX_ADC_TRIS_REG trisb #define MX_ADC_TRIS_MSK 0x08 #define MX_ADC_ANSEL_REG anselb #endif #if (MX_ADC_CHANNEL == 10) #define MX_ADC_TRIS_REG trisb #define MX_ADC_TRIS_MSK 0x04 #define MX_ADC_ANSEL_REG anselb #endif #if (MX_ADC_CHANNEL == 11) #define MX_ADC_TRIS_REG trisb #define MX_ADC_TRIS_MSK 0x02 #define MX_ADC_ANSEL_REG anselb #endif //sanity check #ifndef MX_ADC_TRIS_REG #ifdef _BOOSTC #pragma error "ADC Type 23 conversion code error - please contact technical support" #endif #ifdef HI_TECH_C #error ADC Type 23 conversion code error - please contact technical support #endif #endif //assign VREF functionality #if (MX_ADC_VREF_OPT != 0) st_bit(adcon1, ADPREF1); #endif //store old tris value, and set the i/o pin as an analogue input old_tris = MX_ADC_TRIS_REG; MX_ADC_TRIS_REG = MX_ADC_TRIS_REG | MX_ADC_TRIS_MSK; MX_ADC_ANSEL_REG = MX_ADC_ANSEL_REG | MX_ADC_TRIS_MSK; //turn ADC on adcon0 = 0x01 | (MX_ADC_CHANNEL << 2); //wait the acquisition time cnt = 0; while (cnt < MX_ADC_SAMP_TIME) cnt++; //begin conversion and wait until it has finished adcon0 = adcon0 | 0x02; while (adcon0 & 0x02); //restore old tris value, and reset adc registers MX_ADC_TRIS_REG = old_tris; MX_ADC_ANSEL_REG = 0x00; adcon0 = 0x00; #undef MX_ADC_TRIS_REG #undef MX_ADC_TRIS_MSK #undef MX_ADC_ANSEL_REG #undef MX_ADC_SAMP_TIME #undef MX_ADC_CHANNEL #undef MX_ADC_CONV_SP #undef MX_ADC_VREF_OPT } char FCD_ADC2_ReadAsByte() { FCD_ADC2_SampleADC(); #ifdef _BOOSTC #ifdef ADRES return ADRES; #else return ADRESH; #endif #endif #ifdef HI_TECH_C #ifdef adres return adres; #else return adresh; #endif #endif } short FCD_ADC2_ReadAsInt() { short iRetVal; FCD_ADC2_SampleADC(); #ifdef adres iRetVal = (adres << 2); #else iRetVal = (adresh << 2); iRetVal = iRetVal | (adresl >> 6); #endif return (iRetVal); } float FCD_ADC2_ReadAsVoltage() { int iSample; float fSample, fVoltage, fVperDiv; #define MX_ADC_VREF_V 500 iSample = FCD_ADC2_ReadAsInt(); //Read as 10-bit Integer #ifdef _BOOSTC fVoltage = float32_from_int32(MX_ADC_VREF_V); //Convert reference voltage count to floating point (0 - 500 x 10mV) fVoltage = float32_mul(fVoltage, 0.01); //Convert reference voltage count to actual voltage (0 - 5) fVperDiv = float32_mul(fVoltage, 0.000976); //Convert actual voltage to voltage per division (VRef / 1024) fSample = float32_from_int32(iSample); //Convert to floating point variable fVoltage = float32_mul(fSample, fVperDiv); //Calculate floating point voltage #endif #ifdef HI_TECH_C fVoltage = MX_ADC_VREF_V; //Convert reference voltage count to floating point (0 - 500 x 10mV) fVoltage = fVoltage * 0.01; //Convert reference voltage count to actual voltage (0 - 5) fVperDiv = fVoltage * 0.000976; //Convert actual voltage to voltage per division (VRef / 1024) fSample = iSample; //Convert to floating point variable fVoltage = fSample * fVperDiv; //Calculate floating point voltage #endif #undef MX_ADC_VREF_V return (fVoltage); } void FCD_ADC2_ReadAsString(char* FCR_RETVAL, char FCR_RETVAL_SIZE) { float fVoltage; fVoltage = FCD_ADC2_ReadAsVoltage(); FCI_FLOAT_TO_STRING(fVoltage, 2, FCR_RETVAL, FCR_RETVAL_SIZE); //Convert to String } //ADC(3): //Macro implementations void FCD_ADC3_SampleADC() { /*******Supported Devices****************************************************************** // 16F1826, 16F1827 ******************************************************************************************/ #define MX_ADC_CHANNEL 4 #define MX_ADC_SAMP_TIME 40 #define MX_ADC_CONV_SP 3 #define MX_ADC_VREF_OPT 0 //set up ADC conversion char old_tris, cnt; adcon1 = (MX_ADC_CONV_SP & 0x07) << 4; //find appropriate bit #if (MX_ADC_CHANNEL == 0) #define MX_ADC_TRIS_REG trisa #define MX_ADC_TRIS_MSK 0x01 #define MX_ADC_ANSEL_REG ansela #endif #if (MX_ADC_CHANNEL == 1) #define MX_ADC_TRIS_REG trisa #define MX_ADC_TRIS_MSK 0x02 #define MX_ADC_ANSEL_REG ansela #endif #if (MX_ADC_CHANNEL == 2) #define MX_ADC_TRIS_REG trisa #define MX_ADC_TRIS_MSK 0x04 #define MX_ADC_ANSEL_REG ansela #endif #if (MX_ADC_CHANNEL == 3) #define MX_ADC_TRIS_REG trisa #define MX_ADC_TRIS_MSK 0x08 #define MX_ADC_ANSEL_REG ansela #if (MX_ADC_VREF_OPT != 0) #ifdef _BOOSTC #pragma error "Target device is currently using AN3 for VREF+" #endif #ifdef HI_TECH_C #error Target device is currently using AN3 for VREF+ #endif #endif #endif #if (MX_ADC_CHANNEL == 4) #define MX_ADC_TRIS_REG trisa #define MX_ADC_TRIS_MSK 0x10 #define MX_ADC_ANSEL_REG ansela #endif #if (MX_ADC_CHANNEL == 5) #define MX_ADC_TRIS_REG trisb #define MX_ADC_TRIS_MSK 0x40 #define MX_ADC_ANSEL_REG anselb #endif #if (MX_ADC_CHANNEL == 6) #define MX_ADC_TRIS_REG trisb #define MX_ADC_TRIS_MSK 0x80 #define MX_ADC_ANSEL_REG anselb #endif #if (MX_ADC_CHANNEL == 7) #define MX_ADC_TRIS_REG trisb #define MX_ADC_TRIS_MSK 0x20 #define MX_ADC_ANSEL_REG anselb #endif #if (MX_ADC_CHANNEL == 8) #define MX_ADC_TRIS_REG trisb #define MX_ADC_TRIS_MSK 0x10 #define MX_ADC_ANSEL_REG anselb #endif #if (MX_ADC_CHANNEL == 9) #define MX_ADC_TRIS_REG trisb #define MX_ADC_TRIS_MSK 0x08 #define MX_ADC_ANSEL_REG anselb #endif #if (MX_ADC_CHANNEL == 10) #define MX_ADC_TRIS_REG trisb #define MX_ADC_TRIS_MSK 0x04 #define MX_ADC_ANSEL_REG anselb #endif #if (MX_ADC_CHANNEL == 11) #define MX_ADC_TRIS_REG trisb #define MX_ADC_TRIS_MSK 0x02 #define MX_ADC_ANSEL_REG anselb #endif //sanity check #ifndef MX_ADC_TRIS_REG #ifdef _BOOSTC #pragma error "ADC Type 23 conversion code error - please contact technical support" #endif #ifdef HI_TECH_C #error ADC Type 23 conversion code error - please contact technical support #endif #endif //assign VREF functionality #if (MX_ADC_VREF_OPT != 0) st_bit(adcon1, ADPREF1); #endif //store old tris value, and set the i/o pin as an analogue input old_tris = MX_ADC_TRIS_REG; MX_ADC_TRIS_REG = MX_ADC_TRIS_REG | MX_ADC_TRIS_MSK; MX_ADC_ANSEL_REG = MX_ADC_ANSEL_REG | MX_ADC_TRIS_MSK; //turn ADC on adcon0 = 0x01 | (MX_ADC_CHANNEL << 2); //wait the acquisition time cnt = 0; while (cnt < MX_ADC_SAMP_TIME) cnt++; //begin conversion and wait until it has finished adcon0 = adcon0 | 0x02; while (adcon0 & 0x02); //restore old tris value, and reset adc registers MX_ADC_TRIS_REG = old_tris; MX_ADC_ANSEL_REG = 0x00; adcon0 = 0x00; #undef MX_ADC_TRIS_REG #undef MX_ADC_TRIS_MSK #undef MX_ADC_ANSEL_REG #undef MX_ADC_SAMP_TIME #undef MX_ADC_CHANNEL #undef MX_ADC_CONV_SP #undef MX_ADC_VREF_OPT } char FCD_ADC3_ReadAsByte() { FCD_ADC3_SampleADC(); #ifdef _BOOSTC #ifdef ADRES return ADRES; #else return ADRESH; #endif #endif #ifdef HI_TECH_C #ifdef adres return adres; #else return adresh; #endif #endif } short FCD_ADC3_ReadAsInt() { short iRetVal; FCD_ADC3_SampleADC(); #ifdef adres iRetVal = (adres << 2); #else iRetVal = (adresh << 2); iRetVal = iRetVal | (adresl >> 6); #endif return (iRetVal); } float FCD_ADC3_ReadAsVoltage() { int iSample; float fSample, fVoltage, fVperDiv; #define MX_ADC_VREF_V 500 iSample = FCD_ADC3_ReadAsInt(); //Read as 10-bit Integer #ifdef _BOOSTC fVoltage = float32_from_int32(MX_ADC_VREF_V); //Convert reference voltage count to floating point (0 - 500 x 10mV) fVoltage = float32_mul(fVoltage, 0.01); //Convert reference voltage count to actual voltage (0 - 5) fVperDiv = float32_mul(fVoltage, 0.000976); //Convert actual voltage to voltage per division (VRef / 1024) fSample = float32_from_int32(iSample); //Convert to floating point variable fVoltage = float32_mul(fSample, fVperDiv); //Calculate floating point voltage #endif #ifdef HI_TECH_C fVoltage = MX_ADC_VREF_V; //Convert reference voltage count to floating point (0 - 500 x 10mV) fVoltage = fVoltage * 0.01; //Convert reference voltage count to actual voltage (0 - 5) fVperDiv = fVoltage * 0.000976; //Convert actual voltage to voltage per division (VRef / 1024) fSample = iSample; //Convert to floating point variable fVoltage = fSample * fVperDiv; //Calculate floating point voltage #endif #undef MX_ADC_VREF_V return (fVoltage); } void FCD_ADC3_ReadAsString(char* FCR_RETVAL, char FCR_RETVAL_SIZE) { float fVoltage; fVoltage = FCD_ADC3_ReadAsVoltage(); FCI_FLOAT_TO_STRING(fVoltage, 2, FCR_RETVAL, FCR_RETVAL_SIZE); //Convert to String } //Macro implementations void FCM_PID1() { //Read the 8-bit feedback //Call Component Macro: Feedback1=ADC(2)::ReadAsByte FCV_FEEDBACK1 = FCD_ADC2_ReadAsByte(); //Calculate P and D values //Calculation: // PID_p1 = Setpoint1 - Feedback1 // PID_d1 = PID_p1 - PID_px1 // PID_px1 = PID_p1 FCV_PID_P1 = FCV_SETPOINT1 - FCV_FEEDBACK1; FCV_PID_D1 = FCV_PID_P1 - FCV_PID_PX1; FCV_PID_PX1 = FCV_PID_P1; //Scale and add the PID terms //Calculation: // PID_y1 = ( PID_p1 * P_gain ) // PID_y1 = PID_y1 + ( PID_i1 * I_gain ) // PID_y1 = PID_y1 + ( PID_d1 * D_gain ) // PID_y1 = PID_y1 / Gain_scaling FCV_PID_Y1 = ( FCV_PID_P1 * FCV_P_GAIN ); FCV_PID_Y1 = FCV_PID_Y1 + ( FCV_PID_I1 * FCV_I_GAIN ); FCV_PID_Y1 = FCV_PID_Y1 + ( FCV_PID_D1 * FCV_D_GAIN ); FCV_PID_Y1 = FCV_PID_Y1 / FCV_GAIN_SCALING; //Decision //Decision: PID_y1 > 255? if (FCV_PID_Y1 > 255) { //Positive saturation //Calculation: // PID_y1 = 255 FCV_PID_Y1 = 255; } else { //Decision //Decision: PID_y1 < 0? if (FCV_PID_Y1 < 0) { //Negative saturation //Calculation: // PID_y1 = 0 FCV_PID_Y1 = 0; } else { //Update I if not saturated //Calculation: // PID_i1 = PID_i1 + PID_p1 FCV_PID_I1 = FCV_PID_I1 + FCV_PID_P1; } } } //Supplementary implementations void main() { //Initialisation ansela = 0x00; anselc = 0x00; //Interrupt initialisation code option_reg = 0xC0; //C Code //C Code: /*Enter C code below these comments Alternatively, to enter assembly code, use the asm operator in front of each instruction, e.g. asm movlw 5 or enclose several statements within an asm block: asm { movlw 8 movlw4 } */ osccon = 0x7A; //Gain settings //Calculation: // P_gain = 20 // I_gain = 0 // D_gain = 0 // Gain_scaling = 1 FCV_P_GAIN = 20; FCV_I_GAIN = 0; FCV_D_GAIN = 0; FCV_GAIN_SCALING = 1; //PWM output enable //Call Component Macro: PWM(0)::Enable(2) FCD_PWM0_Enable(2); //Term initialisation //Calculation: // PID_i1 = 0 // PID_p1 = 0 // PID_d1 = 0 // PID_px1 = 0 // Setpoint1 = 127 FCV_PID_I1 = 0; FCV_PID_P1 = 0; FCV_PID_D1 = 0; FCV_PID_PX1 = 0; FCV_SETPOINT1 = 127; //Loop //Loop: While 1 while (1) { //Input //Input: A5 -> Enable trisa = trisa | 0x20; FCV_ENABLE = ((porta & 0x20) == 0x20); //Input //Input: A4 -> Mode trisa = trisa | 0x10; FCV_MODE = ((porta & 0x10) == 0x10); //Input //Input: A3 -> Home trisa = trisa | 0x08; FCV_HOME = ((porta & 0x08) == 0x08); //Input //Input: C4 -> Away trisc = trisc | 0x10; FCV_AWAY = ((portc & 0x10) == 0x10); //Comment: //If Mode is high ==> Automatic Mode //If Mode is low ==> Manual Mode //Decision //Decision: Mode==0? if (FCV_MODE==0) { //Comment: //Read setpoint from //external potentiometer //Call Component Macro //Call Component Macro: Setpoint1=ADC(3)::ReadAsByte FCV_SETPOINT1 = FCD_ADC3_ReadAsByte(); //Decision //Decision: Home == 0? if (FCV_HOME == 0) { } else { //Comment: //Store Home Setpoint if in //Manual Mode and Home = 1. //Calculation //Calculation: // Home_setpoint1 = Setpoint1 FCV_HOME_SETPOINT1 = FCV_SETPOINT1; } //Decision //Decision: Away == 0? if (FCV_AWAY == 0) { } else { //Comment: //Store Away Setpoint if in //Automatic Mode and Away = 1. //Calculation //Calculation: // Away_setpoint1 = Setpoint1 FCV_AWAY_SETPOINT1 = FCV_SETPOINT1; } } else { //Decision //Decision: Home==0? if (FCV_HOME==0) { } else { //Comment: //Use stored home setpoint when //in Automatic Mode and Home = 1. //Calculation //Calculation: // Setpoint1 = Home_setpoint1 FCV_SETPOINT1 = FCV_HOME_SETPOINT1; } //Decision //Decision: Away==0? if (FCV_AWAY==0) { } else { //Comment: //Use stored Away setpoint when //in Automatic Mode and Away = 1. //Calculation //Calculation: // Setpoint1 = Away_setpoint1 FCV_SETPOINT1 = FCV_AWAY_SETPOINT1; } //Decision //Decision: (Home==0) && (Away==0)? if ((FCV_HOME==0) && (FCV_AWAY==0)) { //Comment: //Use last setpoint if both //Home && Away are low. //Calculation //Calculation: // Setpoint1 = Setpoint1 FCV_SETPOINT1 = FCV_SETPOINT1; } } //Call Macro //Call Macro: PID1 FCM_PID1(); //Decision //Decision: Enable==1? if (FCV_ENABLE==1) { //Update PWM output //Call Component Macro: PWM(0)::SetDutyCycle(2, PID_y1) FCD_PWM0_SetDutyCycle(2, FCV_PID_Y1); } else { //Update PWM output //Call Component Macro: PWM(0)::SetDutyCycle(2, 127) FCD_PWM0_SetDutyCycle(2, 127); } //Delay //Delay: 1 ms delay_ms(1); //Comment: //If Mode is low //(i.e. Manual Mode) } mainendloop: goto mainendloop; } void MX_INTERRUPT_MACRO(void) { }