nagkakaproblema po ako sa pagprogram ng dspic30f4011. kapag naginitialize po ako ng motor control pwm module na may interrupt tapos kapag naginitialize po ako ng change notification module na may interrupt naghahang po yung mga interrupts ko kapag may nagchange sa inputs ko..anu po kaya ang problema dito?
eto po ang code ko
#include "dspic30f4011.h"
#include "pwmmc.h"
#include "uart.h"
#include "cin.h"
#include "function.h"
void main(){
spd = 10;
port_init();
uart_init();
pwmmc_init();
joint4 = 0;
// move4 = 1;
cin_init();
while(1){
if(joint4 >= 2880){
PWM1_MC_Stop();
}
}
/*
while(1){
while(fin) {
if (UART2_Data_Ready()) {
UART2_Read_Text(command,".",5);
cmd_decode();
}
}
while(fin == 0){
move4 = 1;
cin_init();
if (joint4_hold < mj4){
pwm_dir = 1; //movement is counterclockwise
pwmmc_init();
angle4 = mj4 - joint4_hold;
joint4 = 0;
while(joint4_pos < angle4){
Ctrl4 = 1;
if(UART2_Read() == 's'){
PWM1_MC_Stop();
fin = 1;
cmd++;
}
}
Ctrl4 = 0;
PWM1_MC_Stop();
}
else if(joint4_hold > mj4){
pwm_dir = 0; //movement is clockwise
pwmmc_init();
angle4 = joint4_hold - mj4;
joint4 = 0;
while(joint4_pos < angle4){
Ctrl4 = 1;
if(UART2_Read() == 's'){
PWM1_MC_Stop();
fin = 1;
cmd++;
}
}
Ctrl4 = 0;
PWM1_MC_Stop();
}
else {
Ctrl4 = 0;
joint4 = 0;
PWM1_MC_Stop();
}
joint4_hold = mj4;
move4 = 0;
cin_init();
fin = 1;
}
if(cmd == 7){
UART2_Write_Text("Adept Cobra 600 Motor Control\r\n");
cmd = 0;
}
}
*/
}
//PWM interrupt subroutine
void pwmmc_isr(void) iv IVT_ADDR_PWMINTERRUPT {
//increment indeces
index1++;
index2++;
index3++;
//reset indeces
if(index1 == 16) index1 = 0;
if(index2 == 16) index2 = 0;
if(index3 == 16) index3 = 0;
//update PWM duty cycles
if (pwm_dir){
PWM1_MC_Set_Duty(sine_table[index1], 1); //initialize PWM1 to index1
PWM1_MC_Set_Duty(sine_table[index2], 2); //initialize PWM2 to index2
PWM1_MC_Set_Duty(sine_table[index3], 3); //initialize PWM3 to index3
}
else {
PWM1_MC_Set_Duty(sine_table[index1], 1); //initialize PWM1 to index1
PWM1_MC_Set_Duty(sine_table[index3], 2); //initialize PWM2 to index3
PWM1_MC_Set_Duty(sine_table[index2], 3); //initialize PWM3 to index2
}
IFS2bits.PWMIF = 0; //clear PWM Interrupt flag
}
//PWM initialize function
void pwmmc_init(void) {
TRISE = 0x0100; //initialize PWM pins as outputs and FLTA as input
switch(spd){
case 1: volt = 0.1;
break;
case 2: volt = 0.2;
break;
case 3: volt = 0.3;
break;
case 4: volt = 0.4;
break;
case 5: volt = 0.5;
break;
case 6: volt = 0.6;
break;
case 7: volt = 0.7;
break;
case 8: volt = 0.8;
break;
case 9: volt = 0.9;
break;
default: volt = 1.0;
break;
}
pwm_period = PWM1_MC_Init(320, 0x00, 0xFF, 0x0000); //initialize to 12kHz PWM, 0 prescaler, 0 postscaler, and complementary mode
if (pwm_dir){
PWM1_MC_Set_Duty(sine_table[index1], 1); //initialize PWM1 to index1
PWM1_MC_Set_Duty(sine_table[index2], 2); //initialize PWM2 to index2
PWM1_MC_Set_Duty(sine_table[index3], 3); //initialize PWM3 to index3
}
else {
PWM1_MC_Set_Duty(sine_table[index1], 1); //initialize PWM1 to index1
PWM1_MC_Set_Duty(sine_table[index3], 2); //initialize PWM2 to index3
PWM1_MC_Set_Duty(sine_table[index2], 3); //initialize PWM3 to index2
}
DTCON1 = 0x0002; //~1us deadtime
IFS2bits.PWMIF = 0; //clear PWM Interrupt flag
IPC9bits.PWMIP = 1; //priority set to 7
IEC2 |= 0x0080; //enable PWM interrupt
PWM1_MC_Start(); //enable all PWM pins
}
//encoder update function
void cin_isr(void) iv IVT_ADDR_CNINTERRUPT {
if (pwm_dir){
//joint1 encoder
if(QEA1){
if(QEB1) joint1++;
else joint1 = joint1;
}
else {
if(QEB1) joint1 = joint1;
else joint1++;
}
//joint2 encoder
if(QEA2){
if(QEB2) joint2++;
else joint2 = joint2;
}
else {
if(QEB2) joint2 = joint2;
else joint2++;
}
//joint3 encoder
if(QEA3){
if(QEB3) joint3++;
else joint3 = joint3;
}
else {
if(QEB3) joint3 = joint3;
else joint3++;
}
//joint4 encoder
if(QEA4){
if(QEB4) joint4++;
else joint4 = joint4;
}
else {
if(QEB4) joint4 = joint4;
else joint4++;
}
}
else {
//joint1 encoder
if(QEA1){
if(QEB1) joint1 = joint1;
else joint1++;
}
else {
if(QEB1) joint1++;
else joint1 = joint1;
}
//joint2 encoder
if(QEA2){
if(QEB2) joint2 = joint2;
else joint2++;
}
else {
if(QEB2) joint2++;
else joint2 = joint2;
}
//joint3 encoder
if(QEA3){
if(QEB3) joint3 = joint3;
else joint3++;
}
else {
if(QEB3) joint3++;
else joint3 = joint3;
}
//joint4 encoder
if(QEA4){
if(QEB4) joint4 = joint4;
else joint4++;
}
else {
if(QEB4) joint4++;
else joint4 = joint4;
}
}
Ctrl1 = ~Ctrl1;
//joint1_pos = joint1*joint1_res;
//joint2_pos = joint2*joint2_res;
//joint3_pos = joint3*joint3_res;
//joint4_pos = joint4*joint4_res;
}
void cin_init(){
/*
if (move1){
CNEN1.CN6IE = 1;
CNPU1.CN6PUE = 1;
}
else if (move2){
CNEN1.CN2IE = 1;
CNPU1.CN2PUE = 1;
}
else if (move3){
CNEN1.CN4IE = 1;
CNPU1.CN4PUE = 1;
}*/
//else if (move4){
CNEN1.CN1IE = 1;
CNPU1.CN1PUE = 1;
/*
}
else {
CNEN1.CN1IE = 0;
CNEN1.CN2IE = 0;
CNEN1.CN4IE = 0;
CNEN1.CN6IE = 0;
CNPU1.CN1PUE = 0;
CNPU1.CN2PUE = 0;
CNPU1.CN4PUE = 0;
CNPU1.CN6PUE = 0;
}
*/
IFS0bits.CNIF = 0;
//IPC3bits.CNIP = 7;
IEC0bits.CNIE = 1;
}
//system configuration
#define Fosc 8000000
#define Fcy Fosc/4
//resolution per encoder count
#define joint1_res 0.00045
#define joint2_res 0.00072
#define joint3_res 0.0015
#define joint4_res 0.03125
//control pins for motor joints
#define Ctrl1 PORTFbits.RF1
#define Ctrl2 PORTFbits.RF6
#define Ctrl3 PORTDbits.RD0
#define Ctrl4 PORTDbits.RD2
//encoder pins for motor joints
#define QEA2 PORTBbits.RB0
#define QEB2 PORTBbits.RB1
#define QEA3 PORTBbits.RB2
#define QEA1 PORTBbits.RB4
#define QEB1 PORTBbits.RB5
#define limit1 PORTBbits.RB3
#define limit2 PORTBbits.RB6
#define limit3 PORTBbits.RB7
#define QEB3 PORTBbits.RB8
#define QEA4 PORTCbits.RC13
#define QEB4 PORTCbits.RC14
#define INDX4 PORTDbits.RD1
//variable declarations
static char command[5];
static int cfg, mj1, mj2, mj3, mj4, spd;
static int index1 = 0, index2 = 5, index3 = 11;
static int cmd = 0, pwm_dir = 0, nest = 0, fin = 1;
static int move1 = 0, move2 = 0, move3 = 0, move4 = 0;
static int angle1 = 0, angle2 = 0, angle3 = 0, angle4 = 0;
static int joint1 = 0, joint2 = 0, joint3 = 0, joint4 = 0;
static int joint1_pos, joint2_pos, joint3_pos, joint4_pos;
static int joint1_hold, joint2_hold, joint3_hold, joint4_hold;
static int state4 = 0;
unsigned int pwm_period;
static float volt;
static float table[16];
static float volt_table[10] = {0.10,0.20,0.30,0.40,0.50,0.60,0.70,0.80,0.90,1.00};
static float sine_table1[16] = {1.00,1.38,1.70,1.92,2.00,1.92,1.70,1.38,1.00,0.62,0.30,0.08,0.00,0.08,0.30,0.62};
static int sine_table[16] = {5750,7935,9775,11040,11500,11040,9775,7935,5750,3565,1725,460,0,460,1725,3565};
void port_init(){
ADPCFG = 0xFFFF; //set PORTB as digital I/O
TRISBbits.TRISB0 = 1;
TRISBbits.TRISB1 = 1;
TRISBbits.TRISB2 = 1;
TRISBbits.TRISB3 = 1;
TRISBbits.TRISB4 = 1;
TRISBbits.TRISB5 = 1;
TRISBbits.TRISB6 = 1;
TRISBbits.TRISB7 = 1;
TRISBbits.TRISB8 = 1;
TRISCbits.TRISC13 = 1;
TRISCbits.TRISC14 = 1;
TRISDbits.TRISD1 = 1;
TRISDbits.TRISD0 = 0;
TRISDbits.TRISD2 = 0;
TRISFbits.TRISF1 = 0;
TRISFbits.TRISF6 = 0;
}
//UART receive interrupt subroutine
void UARTRX_isr(void) iv IVT_ADDR_U1RXINTERRUPT {
IFS1bits.U2RXIF = 0;
}
//UART transmit interrupt subroutine
void UARTTX_isr(void) iv IVT_ADDR_U1TXINTERRUPT {
IFS1bits.U2TXIF = 0; //clear the UART1 transmitter interrupt flag
}
//uart initialize function
void uart_init(){
UART2_Init(9600);
delay_ms(100);
if (UART2_Tx_Idle() == 1){
UART2_Write_Text("Adept Cobra 600 Motor Control\r\n");
}
}
