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QEI_MODE_x2_PULSE QEI_MODE_TIMER QEI_MODE_OFF Position Counter Direction Status QEI_UP_COUNT QEI_DOWN_COUNT Idle Mode Operation QEI_IDLE_STOP QEI_IDLE_CON config2 This contains the parameters to be configured in the DFLTxCON register. In 4x Quadrature Count Mode: Required State of Phase A input signal for match on index pulse MATCH_INDEX_PHASEA_HIGH MATCH_INDEX_PHASEA_LOW Required State of Phase B input signal for match on index pulse MATCH_INDEX_PHASEB_HIGH MATCH_INDEX_PHASEB_LOW dsPIC ® Language Tools Libraries DS51456B-page 168 2004 Microchip Technology Inc. In 2x Quadrature Count Mode: Phase input signal for index state match MATCH_INDEX_INPUT_PHASEA MATCH_INDEX_INPUT_PHASEB Phase input signal state for match on index pulse MATCH_INDEX_INPUT_HIGH MATCH_INDEX_INPUT_LOW Enable/Disable interrupt due to position count event POS_CNT_ERR_INT_ENABLE POS_CNT_ERR_INT_DISABLE QEA/QEB Digital Filter Clock Divide Select bits QEI_QE_CLK_DIVIDE_1_1 QEI_QE_CLK_DIVIDE_1_2 QEI_QE_CLK_DIVIDE_1_4 QEI_QE_CLK_DIVIDE_1_16 3.15.3 Ví dụ sử dụng # xác định __dsPIC30F6010__ # include # include int pos_value; khoảng trống __attribute __ ((__ interrupt__)) _QEIInterrupt (void) { PORTDbits.RD1 = 1; / * Tắt đèn LED trên RD1 * / POSCNT = 0; IFS2bits.QEIIF = 0; / * Rõ ràng QEI gián đoạn cờ * / } int main (void) { int MAX_VALUE; TRISDbits.TRISD1 = 0; PORTDbits.RD1 = 1; / * Tắt đèn LED trên RD1 * / / * Kích hoạt QEI ngắt và ưu tiên để "1" * / ConfigIntQEI (QEI_INT_PRI_1 & QEI_INT_ENABLE); POSCNT = 0; MAXCNT = 0xFFFF; OpenQEI (QEI_INT_CLK & QEI_INDEX_RESET_ENABLE & QEI_CLK_PRESCALE_256 & QEI_GATED_ACC_DISABLE & QEI_INPUTS_NOSWAP & QEI_MODE_TIMER & QEI_DIR_SEL_CNTRL & QEI_IDLE_CON, 0); QEICONbits.UPDN = 1; trong khi (1) { pos_value = ReadQEI (); if (pos_value> = 0x7FFF) { PORTDbits.RD1 = 0; / * Bật đèn LED trên RD1 * / } } CloseQEI (); } dsPIC Thư viện ngoại vi 2004 Microchip Technology Inc DS51456B trang 171 3.16 chức năng PWM Phần này bao gồm một danh sách các chức năng riêng biệt cho mô-đun PWM
QEI_QE_CLK_DIVIDE_1_32 QEI_QE_CLK_DIVIDE_1_64 QEI_QE_CLK_DIVIDE_1_128 QEI_QE_CLK_DIVIDE_1_256 QEA/QEB Digital Filter Output Enable QEI_QE_OUT_ENABLE QEI_QE_OUT_DISABLE Return Value None Remarks: This function configures the QEICON and DFLTCON registers of QEI module. This function also clears the QEICON bit. Source File: OpenQEI.c Code Example: OpenQEI(QEI_DIR_SEL_QEB & QEI_INT_CLK & QEI_INDEX_RESET_ENABLE & QEI_CLK_PRESCALE_1 & QEI_NORMAL_IO & QEI_MODE_TIMER & QEI_UP_COUNT,0); ReadQEI Description: This function read the position count value from the POSCNT register. Include: qei.h Prototype: unsigned int ReadQEI(void); Arguments: None Remarks: None Return Value This functions returns the contents of the POSCNT register. Source File: ReadQEI.c Code Example: unsigned int pos_count; pos_count = ReadQEI(); OpenQEI (Continued) dsPIC Peripheral Libraries 2004 Microchip Technology Inc. DS51456B-page 169 3.15.2 Individual Macros WriteQEI Description: This function sets the maximum count value for QEI. Include: qei.h Prototype: void WriteQEI(unsigned int position); Arguments: position This is the value to be storedinto the MAXCNT register. Return Value None Remarks: None và một ví dụ về sử dụng các chức năng. Chức năng có thể được thực hiện như các macro. 3.16.1 Chức năng cá nhân CloseMCPWM Mô tả: Chức năng này sẽ tắt các mô-đun điều khiển động cơ PWM. Bao gồm: pwm.h Prototype: void closeMCPWM (void); Lập luận: Không Trở lại giá trị Không Bình luận: Chức năng này vô hiệu hóa các động cơ mô-đun điều khiển PWM v xóa PWM, lỗi A và B lỗi ngắt Enable và bit cờ. Chức năng này cũng xóa PTCON, PWMCON1 và PWMCON2 đăng ký. Source File: CloseMCPWM.c Mã số Ví dụ: CloseMCPWM (); ConfigIntMCPWM Mô tả: Chức năng này cấu hình PWM ngắt. Bao gồm: pwm.h Prototype: void ConfigIntMCPWM (int config); Lập luận: config PWM ngắt ưu tiên và bật / tắt thông tin quy định dưới đây: PWM ngắt bật / tắt PWM_INT_EN PWM_INT_DIS Ưu tiên ngắt PWM PWM_INT_PR0 PWM_INT_PR1 PWM_INT_PR2 PWM_INT_PR3 PWM_INT_PR4 PWM_INT_PR5 PWM_INT_PR6 PWM_INT_PR7 Một lỗi ngắt bật / tắt PWM_FLTA_EN_INT PWM_FLTA_DIS_INT Lỗi Một ưu tiên ngắt PWM_FLTA_INT_PR0 PWM_FLTA_INT_PR1
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2004 Microchip Technology Inc. DS51
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dsPIC ®LANGUAGE TOOLS LIBRARIES 20
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215 4.11 variable argument lists .
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and macros for standard C operation
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This documentation is provided on t
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• Development Systems Information
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data section. The alternate startup
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specific libraries.) When compiling
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esults will occur when the function
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A batch file named makedsplib.batis
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-15 or smaller than -1.0. Analogous
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CORCON saved, used, restored DOand
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fractional* srcV ); Arguments: numE
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VectorCorrelateis 4 less than whate
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less than or equal to any previous
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Remarks: The negated value of 0x800
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Cycles (including C-function call a
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plus program words from VectorCopy
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Prototype: extern fractional* Black
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); Arguments: numElems number of el
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the base address of the matrix. Bec
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in default RAM memory space (X-Data
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0 ≤i < numRows1 0 ≤j < numCols2
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20 + 3(numRows*numCols) MatrixSubtr
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(of the same dimension) whose eleme
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history of the filter. After perfor
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Oppenheim and Ronald Schafer’s Di
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modulo buffer. Source samples, x[n]
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FIRDelayInit Description: FIRDelayI
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filter. Include: dsp.h Prototype: e
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FIRStruct* filter, fractional* refS
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energyEstimate estimated energy val
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fractional* delayBase ); Arguments:
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Source File: iircan.asm DSP Library
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srcSamps pointer to source samples
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} IIRTransposedStruct; extern fract
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no REPEATinstructions Program words
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Language Tools Libraries DS51456B-p
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for instance if: a = Op1 (b, c), wi
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and stores the results in the desti
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Description: DCTIPcomputes the Disc
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int log2N, fractcomplex* dstCV, fra
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fractcomplex* srcCV, fractcomplex*
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value can be calculated using the i
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A complex vector of size N/2 must h
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specific libraries. When compiling
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Control I/O pin definitions RW_PIN
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y calling the BusyXLCD()function. T
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COM1_COM16 COM16_COM1 Display On/Of
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Source File: CAN1AbortAll.c CAN2Abo
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char CAN2IsRXPassive(void); Argumen
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CAN2SendMessage Description: This f
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CAN2SetMask Description: This funct
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CAN_IDLE_CON_NO_WAITCAN On in Idle
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CAN_INDI_INVMESS_DIS CAN_INDI_WAK_D
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{ /* Length of data tobe transmitte
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Return Value: If the value of DONE
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dsPIC Peripheral Libraries 2004 Mic
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..... SKIP_SCAN_AN15 Return Value:
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DS51456B-page 100 3.5.2 Individual
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3.6 ADC10 FUNCTIONS This section co
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Module On/Off ADC_MODULE_ON ADC_MOD
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ADPCFG register as defined below: E
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ADC_CHX_NEG_SAMPLEB_AN6AN7AN8 ADC_C
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Scanselect = SKIP_SCAN_AN2 & SKIP_S
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dsPIC ® Language Tools Libraries D
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void OpenTimer4(unsigned int config
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Tx_SOURCE_EXT Tx_SOURCE_INT period
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3.7.2 Individual Macros WriteTimer2
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SetPriorityIntT4 SetPriorityIntT5 D
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Code Example: char reset_state; res
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Arguments: None Remarks: This macro
Page 149 and 150: stored into CNPU2 register. The upp
Page 151 and 152: SetPriorityInt2 SetPriorityInt3 Set
Page 153 and 154: IC_INT_PRIOR_3 IC_INT_PRIOR_4 IC_IN
Page 155 and 156: ReadCapture3 ReadCapture4 ReadCaptu
Page 157 and 158: dsPIC ® Language Tools Libraries D
Page 159 and 160: void CloseOC4(void); void CloseOC5(
Page 161 and 162: Include: outcompare.h Prototype: vo
Page 163 and 164: Include: outcompare.h Prototype: un
Page 165 and 166: SetDCOC3PWM SetDCOC4PWM SetDCOC5PWM
Page 167 and 168: Code Example: pulse_start = 0x40 ;
Page 169 and 170: T3CON = 0x8000; T1CON = 0X8000; /*
Page 171 and 172: Transmit Interrupt Priority UART_TX
Page 173 and 174: UART_1STOPBIT config2 This contains
Page 175 and 176: Source File: WriteUART1.c WriteUART
Page 177 and 178: Code Example: EnableIntU2TX; Disabl
Page 179 and 180: ConfigIntUART1(UART_RX_INT_EN & UAR
Page 181 and 182: DCI_INT_PRI_4 DCI_INT_PRI_5 DCI_INT
Page 183 and 184: DCI_FRAME_LEN_15 DCI_FRAME_LEN_14 .
Page 185 and 186: Prototype: unsigned int ReadDCI(uns
Page 187 and 188: contents are sent duringthe timeslo
Page 189 and 190: SPI_INT_PRI_4 SPI_INT_PRI_5 SPI_INT
Page 191 and 192: Prototype: void WriteSPI1(unsigned
Page 193 and 194: Remarks: This functions initializes
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Page 197 and 198: SEC_PRESCAL_7_1 & PRI_PRESCAL_64_1;
Page 199: enables/disables the interrupt. Sou
Page 203 and 204: } int main(void) { unsigned int max
Page 207 and 208: PWM_PEN2H PWM_PDIS2H PWM_PEN1H PWM_
Page 209 and 210: PWM_POUT_1L Bit defines related to
Page 211 and 212: PWM_DTS3I_UA PWM_DTS3I_UB Dead Time
Page 213 and 214: PWM_OVA3H_INACTIVE PWM_OVA2H_INACTI
Page 215 and 216: Language Tools Libraries DS51456B-p
Page 217 and 218: #include #include void __attribute
Page 219 and 220: Prototype: void ConfigIntI2C(unsign
Page 221 and 222: Arguments: None Return Value None R
Page 223 and 224: a #definestatement in the i2c.h Sou
Page 225 and 226: I2C_IDLE_CON SCL Release Control bi
Page 227 and 228: i2c_data_wait This is the timeout c
Page 229 and 230: 3.17.2 Individual Macros StartI2C D
Page 231 and 232: Arguments: None Remarks: This macro
Page 233 and 234: • src\libm- source code for math
Page 235 and 236: Remarks: The expression evaluates t
Page 237 and 238: if (isalpha(ch)) printf("# is alpha
Page 239 and 240: Remarks: A character is considered
Page 241 and 242: ch = '&'; if (isprint(ch)) printf("
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Page 245 and 246: int ch; ch = 'B'; printf("B changes
Page 249 and 250: DBL_MIN_10_EXP Description: Minimum
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Include: Value: 1 Remarks: Rounds
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Description: Maximum value of a lon
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abort - terminating See the example
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} Output: Illegal instruction execu
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must be at least one named argument
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Include: Prototype: #define va_end
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to perform input and output operati
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_IOLBF Description: Indicates line
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Include: Prototype: void clearerr(
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Include: Prototype: int feof(FILE
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Error indicator reset Standard C Li
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fpos_t pos; char buf[25]; if ((myfi
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Description: Opens a file. Include:
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Explanation: afile1must exist befor
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Arguments: s string to be written s
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10.0/2 = 5.000000 10.0/3 = 3.333333
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Explanation: This program uses myfi
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SEEK_CUR- seeks from the current po
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*pos if successful; otherwise, fset
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if ((myfile = fopen("afile.out", "r
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10.0/2 = 5.000000 10.0/3 = 3.333333
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Return Value: Returns the character
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Standard C Libraries with Math Func
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e, E doublein scientific notation f
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putchar Description: Put a characte
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Output: File renamed dsPIC ® Langu
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® Language Tools Libraries DS51456
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setbuf(myfile1, NULL); printf("myfi
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int main(void) { char sbuf[100], s[
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Include: Prototype: char *tmpnam(c
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ungetc (Continued) Standard C Libra
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va_list ap; va_start(ap, fmt); prin
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with operands of type long. Include
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i = -2; printf("The absolute value
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(int) strtol(s,0,10)except it does
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eturn 0; else return 1; } Output: S
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printf("For div(%d, %d)\n", x, y);
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free Description: Frees memory. Inc
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printf("The absolute value of %7ld
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is undefined. malloc Description: A
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with the key Remarks: qsortoverwrit
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object. If reallocsucceeds in alloc
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optional whitespace, followed by an
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® Language Tools Libraries DS51456
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Prototype: size_t wcstombs(char *s,
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characters in s2and returns a value
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printf("\n"); memcpy(buf1, buf3, 5)
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printf("\n"); printf("memset(\"%s\"
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printf("buf1 : %s\n\n", buf1); ptr
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uf3 : Why? buf2 comes before buf1 b
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str1, str2, res); res = strcspn(str
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(string length = 11 characters) str
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s2 second string n number of charac
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printf("buf1 : %s\n", buf1); printf
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contained in s2. Example: #include
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else printf("%c not found\n", ch2);
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printf("\"%s\" found at position %d
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Output: str1 : Here, on top of the
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MMMis month of the year ddis day of
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printf("Local time = %s\n", asctime
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Example: #include /* for strftime,
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(in magnitude) to be represented in
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Argument: x value between -1 and 1
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y = atan (x); printf("The arctangen
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if (errno) perror("Error"); printf(
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for (i=0; i
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} Output: The cosine of -1.000000 i
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Error: range error The hyperbolic c
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errno = 0; x = -1E3; y = exp (x); i
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y = fabs (x); printf("The absolute
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-2.0F, -1.75F, -1.5F, -1.25F}; floa
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x, y, z); errno = 0; x = 7.0; y = 0
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perror("Error"); printf("For fmodf
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Return Value: Returns the fraction,
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printf("For a number = %fand an exp
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ldexpf(-0.625000, 2) = -2.500000 Fo
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x, y); errno = 0; x = 0.0; y = log1
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NaN is returned if xis a negative n
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Arguments: x single precision float
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The sine of -1.000000 is -0.841471
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The hyperbolic sine of 0.000000 is
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Error: domain error The square root
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Return Value: Returns the tangent o
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x, y); } Output: The hyperbolic tan
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the calling process's data segment.
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eginning of the file. A return valu
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through the simulator. The return v
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uffer points to the storage locatio
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div.sd __builtin_divud Description:
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mul.uu dsPIC ® Language Tools Libr
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Return Value: Returns the psv page
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__builtin_mulus ...................
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arcsine Double Floating Point......
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Set Priority Macro.................
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isxdigit...........................
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String to Unsigned LongInteger ....
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DCT................................
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EnableIntlCx.......................
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Single Floating Point .............
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DBL_MAX_10_EXP ....................
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Single Floating Point..............
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tanhf .............................
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Set Capture Interrupt Priority ....
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ldiv_t ............................
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long long unsigned int Maximum Valu
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MatrixInvert ......................
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Single Floating Point..............
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system.............................
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Quick Sort ........................
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SEEK_SET...........................
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Minimum Value .....................
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va_arg ............................
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atoi ..............................
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strncpy ...........................
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Write..............................
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unsigned short int Maximum Value ..
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Zero, divide by....................
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