#include "pic2.h"
#include "can.h"
Defines | |
#define | VPOT_MEASURE true |
#define | VPOT_3MOTORS false |
#define | T0_PRESC 16 |
#define | T0_OUT 140 |
#define | T1_PRES 4 |
#define | T1_OUT 20 |
#define | KT1 (65535-((unsigned int) F_CPU*1000/T1_PRES)*T1_OUT+1) |
#define | T2_PRES 4 |
#define | T2_POST 9 |
#define | T2_RES_FACTOR 10 |
#define | T2_OUT_HF (unsigned char) (((unsigned int) DUTY_MAX-DUTY_MIN)*T2_RES_FACTOR/(unsigned int) SERVO_RES) |
Functions | |
void | highISR (void) |
void | lowISR (void) |
void | InterruptVectorHigh (void) |
void | InterruptVectorLow (void) |
static void | initVars (void) |
void | initPic (void) |
void | wait (unsigned int value) |
void | updateServoMeasures (void) |
void | finalizeServoMeasures (void) |
Variables | |
static const unsigned char | kt0 = (unsigned char) (255-(unsigned int) F_CPU*T0_OUT/T0_PRESC+11) |
static const unsigned char | kt1H = (unsigned char) (KT1 >> 8) |
static const unsigned char | kt1L = (unsigned char) (KT1 & 0xFF) |
static const unsigned int | kt1max = KT1+(unsigned int) F_CPU*(DUTY_MIN-T0_OUT)/T1_PRES+1 |
static const unsigned int | kt1min = KT1+(unsigned int) F_CPU*DUTY_MAX/T1_PRES+1 |
static const unsigned char | kt2_1st = (unsigned char) ((unsigned int) DUTY_MIN*F_CPU/(T2_PRES*T2_POST)-5) |
static const unsigned char | kt2_hf = (unsigned char) ((unsigned int) T2_OUT_HF*F_CPU/T2_RES_FACTOR-1) |
struct { | |
enum CAN_ERRORS flags | |
byte tx_count | |
byte rx_count | |
unsigned char which | |
struct { | |
unsigned char vpotImp | |
unsigned int vpotMin | |
unsigned int vpotMin_prev | |
} measure [N_SERVOS] | |
} | servo |
bool | timeTick = false |
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