C:/Milton/UA/Humanoid/Lab/Fase3_Integration/v3/Slave_Stable1.02/pic2.c File Reference

#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

Define Documentation

#define KT1   (65535-((unsigned int) F_CPU*1000/T1_PRES)*T1_OUT+1)
 

#define T0_OUT   140
 

#define T0_PRESC   16
 

#define T1_OUT   20
 

#define T1_PRES   4
 

#define T2_OUT_HF   (unsigned char) (((unsigned int) DUTY_MAX-DUTY_MIN)*T2_RES_FACTOR/(unsigned int) SERVO_RES)
 

#define T2_POST   9
 

#define T2_PRES   4
 

#define T2_RES_FACTOR   10
 

#define VPOT_3MOTORS   false
 

#define VPOT_MEASURE   true
 


Function Documentation

void finalizeServoMeasures void   ) 
 

void highISR void   ) 
 

void initPic void   ) 
 

static void initVars void   )  [static]
 

void InterruptVectorHigh void   ) 
 

void InterruptVectorLow void   ) 
 

void lowISR void   ) 
 

void updateServoMeasures void   ) 
 

void wait unsigned int  value  ) 
 


Variable Documentation

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) [static]
 

struct { ... } measure[N_SERVOS]
 

struct { ... } servo [static]
 

bool timeTick = false
 

unsigned char vpotImp
 

unsigned int vpotMin
 

unsigned int vpotMin_prev
 

unsigned char which
 


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