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Diffusion Oncilla Motordriver Firmware (load-cell-good) Browse

oncilla-motordriver-fw/src/pindefs.h
df700679f13cload-cell-good

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pindefs.h
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#ifndef PINDEFS_H
#define PINDEFS_H
// define values
#define SLOW_DECAY 1
#define FAST_DECAY 0
// motordriver 1 control pins
#define MODE1 LATCbits.LATC3
#define SLOW_DECAY_1 (MODE1 = 1)
#define FAST_DECAY_1 (MODE1 = 0)
#define DIR1 LATBbits.LATB11
#define TRQ1 LATBbits.LATB14
#define SPD1 LATBbits.LATB10
#define COAST1 LATAbits.LATA4
#define BRAKE1 LATAbits.LATA3
// current feedback motor 1, analog input
#define CSOUT1 PORTAbits.RA0
// pwm registers
#define PWM_TRQ1 P1DC1
#define PWM_SPD1 P1DC3
// motordriver 2 control pins
#define MODE2 LATAbits.LATA9
#define SLOW_DECAY_2 (MODE2 = 1)
#define FAST_DECAY_2 (MODE2 = 0)
#define DIR2 LATAbits.LATA7
#define TRQ2 LATCbits.LATC6
#define SPD2 LATBbits.LATB12
#define COAST2 LATAbits.LATA8
#define BRAKE2 LATAbits.LATA10
// current feedback motor 2, analog input
#define CSOUT2 PORTAbits.RA1
// pwm registers
#define PWM_TRQ2 P2DC1
#define PWM_SPD2 P1DC2
// motordrivers reset output
#define MRST LATBbits.LATB15
#define MRST_ENABLE (MRST = 0)
#define MRST_DISABLE (MRST = 1)
// motordrivers fault 2 input
#define FF2 PORTBbits.RB13
// quadrature encoder inputs
#define QEI1_A PORTCbits.RC4
#define QEI1_B PORTCbits.RC5
#define QEI2A PORTBbits.RB6
#define QEI2B PORTBbits.RB7
// RC servo pins
#define SERVO1 LATBbits.LATB0
#define SERVO2 LATBbits.LATB1
// SPI 1 interface: absolute magnetic encoders
#define SPI1_CLK LATBbits.LATB8
#define SPI1_CS LATBbits.LATB4
#define SPI1_DI LATBbits.LATB9
// SPI 2 interface: force/torque sensors
#define SPI2_CLK LATCbits.LATC7
#define SPI2_CS LATBbits.LATB5
#define SPI2_DI LATCbits.LATC8
#define SPI2_DO LATCbits.LATC9
#define SPI2_SYNC LATBbits.LATB2
// General Purpose led
#define LED LATBbits.LATB3
#define LED_ENABLE (LED = 1)
#define LED_DISABLE (LED = 0)
#define LED_TOGGLE (LED = !LED)
// BUS interface pins
#define RS485_EN LATCbits.LATC2 // RS485 receiver enable
#define RS485_TX LATCbits.LATC1
#define RS485_RX PORTCbits.RC0
#define RS485_TX_DIR TRISCbits.TRISC1
#define PORT_RS485_DRIVER_ENABLE (RS485_EN = 1)
#define PORT_RS485_DRIVER_DISABLE (RS485_EN = 0)
#define PORT_RS485_RECEIVER_ENABLE ; // does not exist on this board, only for software compatibility
#define PORT_RS485_RECEIVER_DISABLE ; // does not exist on this board, only for software compatibility
// debug led
#define LED_TX LATCbits.LATC1
#define LED_TX_ENABLE (LED_TX = 0)
#define LED_TX_DISABLE (LED_TX = 1)
#define LED_TX_TOGGLE (LED_TX = !LED_TX)
void pin_init();
#endif // PINDEFS_H
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