p30f2010.h

Position PID algorithm control motor by dsPIC

/* ADCON3: ADC Control Register 3 */
extern volatile unsigned int ADCON3 __attribute__((__sfr__));
typedef struct tagADCON3BITS {
        unsigned ADCS   :6;
        unsigned        :1;
        unsigned ADRC   :1;
        unsigned SAMC   :5;
        unsigned        :3;
} ADCON3BITS;
extern volatile ADCON3BITS ADCON3bits __attribute__((__sfr__));

/* ADCHS: ADC Input Channel Select Register */
extern volatile unsigned int ADCHS __attribute__((__sfr__));
typedef struct tagADCHSBITS {
        unsigned CH0SA  :4;
        unsigned CH0NA  :1;
        unsigned CH123SA:1;
        unsigned CH123NA:2;
        unsigned CH0SB  :4;
        unsigned CH0NB  :1;
        unsigned CH123SB:1;
        unsigned CH123NB:2;
} ADCHSBITS;
extern volatile ADCHSBITS ADCHSbits __attribute__((__sfr__));

/* ADPCFG: ADC Port Configuration Register */
extern volatile unsigned int ADPCFG __attribute__((__sfr__));
typedef struct tagADPCFGBITS {
        unsigned PCFG0  :1;
        unsigned PCFG1  :1;
        unsigned PCFG2  :1;
        unsigned PCFG3  :1;
        unsigned PCFG4  :1;
        unsigned PCFG5  :1;
        unsigned        :10;
} ADPCFGBITS;
extern volatile ADPCFGBITS ADPCFGbits __attribute__((__sfr__));

/* ADCSSL: ADC Input Scan Select Register */
extern volatile unsigned int ADCSSL __attribute__((__sfr__));
typedef struct tagADCSSLBITS {
        unsigned CSSL0  :1;
        unsigned CSSL1  :1;
        unsigned CSSL2  :1;
        unsigned CSSL3  :1;
        unsigned CSSL4  :1;
        unsigned CSSL5  :1;
        unsigned        :10;
} ADCSSLBITS;
extern volatile ADCSSLBITS ADCSSLbits __attribute__((__sfr__));


/* ------------------------------ */
/* I/O Ports register definitions */
/* ------------------------------ */

/* TRISB: Port B Direction Control Register */
extern volatile unsigned int TRISB __attribute__((__sfr__));
typedef struct tagTRISBBITS {
        unsigned TRISB0 :1;
        unsigned TRISB1 :1;
        unsigned TRISB2 :1;
        unsigned TRISB3 :1;
        unsigned TRISB4 :1;
        unsigned TRISB5 :1;
        unsigned        :10;
} TRISBBITS;
extern volatile TRISBBITS TRISBbits __attribute__((__sfr__));

/* PORTB: Port B Pin Register */
extern volatile unsigned int PORTB __attribute__((__sfr__));
typedef struct tagPORTBBITS {
        unsigned RB0    :1;
        unsigned RB1    :1;
        unsigned RB2    :1;
        unsigned RB3    :1;
        unsigned RB4    :1;
        unsigned RB5    :1;
        unsigned        :10;
} PORTBBITS;
extern volatile PORTBBITS PORTBbits __attribute__((__sfr__));

/* LATB: Port B Latch Register */
extern volatile unsigned int LATB __attribute__((__sfr__));
typedef struct tagLATBBITS {
        unsigned LATB0  :1;
        unsigned LATB1  :1;
        unsigned LATB2  :1;
        unsigned LATB3  :1;
        unsigned LATB4  :1;
        unsigned LATB5  :1;
        unsigned        :10;
} LATBBITS;
extern volatile LATBBITS LATBbits __attribute__((__sfr__));

/* TRISC: Port C Direction Control Register */
extern volatile unsigned int TRISC __attribute__((__sfr__));
typedef struct tagTRISCBITS {
        unsigned        :13;
        unsigned TRISC13:1;
        unsigned TRISC14:1;
        unsigned TRISC15:1;
} TRISCBITS;
extern volatile TRISCBITS TRISCbits __attribute__((__sfr__));

/* PORTC: Port C Pin Register */
extern volatile unsigned int PORTC __attribute__((__sfr__));
typedef struct tagPORTCBITS {
        unsigned        :13;
        unsigned RC13   :1;
        unsigned RC14   :1;
        unsigned RC15   :1;
} PORTCBITS;
extern volatile PORTCBITS PORTCbits __attribute__((__sfr__));

/* LATC: Port C Latch Register */
extern volatile unsigned int LATC __attribute__((__sfr__));
typedef struct tagLATCBITS {
        unsigned        :13;
        unsigned LATC13 :1;
        unsigned LATC14 :1;
        unsigned LATC15 :1;
} LATCBITS;
extern volatile LATCBITS LATCbits __attribute__((__sfr__));

/* TRISD: Port D Direction Control Register */
extern volatile unsigned int TRISD __attribute__((__sfr__));
typedef struct tagTRISDBITS {
        unsigned TRISD0 :1;
        unsigned TRISD1 :1;
        unsigned        :14;
} TRISDBITS;
extern volatile TRISDBITS TRISDbits __attribute__((__sfr__));

/* PORTD: Port D Pin Register */
extern volatile unsigned int PORTD __attribute__((__sfr__));
typedef struct tagPORTDBITS {
        unsigned RD0    :1;
        unsigned RD1    :1;
        unsigned        :14;
} PORTDBITS;
extern volatile PORTDBITS PORTDbits __attribute__((__sfr__));

/* LATD: Port D Latch Register */
extern volatile unsigned int LATD __attribute__((__sfr__));
typedef struct tagLATDBITS {
        unsigned LATD0  :1;
        unsigned LATD1  :1;
        unsigned        :14;
} LATDBITS;
extern volatile LATDBITS LATDbits __attribute__((__sfr__));

/* TRISE: Port E Direction Control Register */
extern volatile unsigned int TRISE __attribute__((__sfr__));
typedef struct tagTRISEBITS {
        unsigned TRISE0 :1;
        unsigned TRISE1 :1;
        unsigned TRISE2 :1;
        unsigned TRISE3 :1;
        unsigned TRISE4 :1;
        unsigned TRISE5 :1;
        unsigned        :2;
        unsigned TRISE8 :1;
        unsigned        :7;
} TRISEBITS;
extern volatile TRISEBITS TRISEbits __attribute__((__sfr__));

/* PORTE: Port E Pin Register */
extern volatile unsigned int PORTE __attribute__((__sfr__));
typedef struct tagPORTEBITS {
        unsigned RE0    :1;
        unsigned RE1    :1;
        unsigned RE2    :1;
        unsigned RE3    :1;
        unsigned RE4    :1;
        unsigned RE5    :1;
        unsigned        :2;
        unsigned RE8    :1;
        unsigned        :7;
} PORTEBITS;
extern volatile PORTEBITS PORTEbits __attribute__((__sfr__));

/* LATE: Port E Latch Register */
extern volatile unsigned int LATE __attribute__((__sfr__));
typedef struct tagLATEBITS {
        unsigned LATE0  :1;
        unsigned LATE1  :1;
        unsigned LATE2  :1;
        unsigned LATE3  :1;
        unsigned LATE4  :1;
        unsigned LATE5  :1;
        unsigned        :2;
        unsigned LATE8  :1;
        unsigned        :7;
} LATEBITS;
extern volatile LATEBITS LATEbits __attribute__((__sfr__));

/* TRISF: Port F Direction Control Register */
extern volatile unsigned int TRISF __attribute__((__sfr__));
typedef struct tagTRISFBITS {
        unsigned        :2;
        unsigned TRISF2 :1;
        unsigned TRISF3 :1;
        unsigned        :12;
} TRISFBITS;
extern volatile TRISFBITS TRISFbits __attribute__((__sfr__));

/* PORTF: Port F Pin Register */
extern volatile unsigned int PORTF __attribute__((__sfr__));
typedef struct tagPORTFBITS {
        unsigned        :2;
        unsigned RF2    :1;
        unsigned RF3    :1;
        unsigned        :12;
} PORTFBITS;
extern volatile PORTFBITS PORTFbits __attribute__((__sfr__));

/* LATF: Port F Latch Register */
extern volatile unsigned int LATF __attribute__((__sfr__));
typedef struct tagLATFBITS {
        unsigned        :2;
        unsigned LATF2  :1;
        unsigned LATF3  :1;
        unsigned        :12;
} LATFBITS;
extern volatile LATFBITS LATFbits __attribute__((__sfr__));


/* --------------------------------------- */
/* System Integration register definitions */
/* --------------------------------------- */

/* RCON: Reset Control Register */
extern volatile unsigned int RCON __attribute__((__sfr__));
typedef struct tagRCONBITS {
        unsigned POR    :1;
        unsigned BOR    :1;
        unsigned IDLE   :1;
        unsigned SLEEP  :1;
        unsigned WDTO   :1;
        unsigned SWDTEN :1;
        unsigned SWR    :1;
        unsigned EXTR   :1;
        unsigned        :5;
        unsigned BGST   :1;
        unsigned IOPUWR :1;
        unsigned TRAPR  :1;
} RCONBITS;
extern volatile RCONBITS RCONbits __attribute__((__sfr__));

/* OSCCON: Oscillator Control Register */
extern volatile unsigned int OSCCON __attribute__((__sfr__));
typedef struct tagOSCCONBITS {
        unsigned OSWEN  :1;
        unsigned LPOSCEN:1;
        unsigned        :1;
        unsigned CF     :1;
        unsigned        :1;
        unsigned LOCK   :1;
        unsigned POST   :2;
        unsigned NOSC   :2;
        unsigned TUN0   :1;
        unsigned TUN1   :1;
        unsigned COSC   :2;
        unsigned TUN2   :1;
        unsigned TUN3   :1;
} OSCCONBITS;
extern volatile OSCCONBITS OSCCONbits __attribute__((__sfr__));

/* ---------------------------------------- */
/* Non-Volatile Memory register definitions */
/* ---------------------------------------- */

/* NVMCON: Non-Volatile Memory Control Register */
extern volatile unsigned int NVMCON __attribute__((__sfr__));
typedef struct tagNVMCONBITS {
        unsigned PROGOP :7;
        unsigned        :1;
        unsigned TWRI   :1;
        unsigned        :4;
        unsigned WRERR  :1;
        unsigned WREN   :1;
        unsigned WR     :1;
} NVMCONBITS;
extern volatile NVMCONBITS NVMCONbits __attribute__((__sfr__));

/* NVM Address bits <15:0> */
extern volatile unsigned int NVMADR __attribute__((__sfr__));

/* NVM Address bits <23:16> */
extern volatile unsigned char NVMADRU __attribute__((__sfr__));

/* NVM Key */
extern volatile unsigned char NVMKEY __attribute__((__sfr__));


/* ---------------------------------------------- */
/* Peripheral Module Disable register definitions */
/* ---------------------------------------------- */

/* PMD1: Peripheral Module Disable Register 1 */
extern volatile unsigned int PMD1 __attribute__((__sfr__));
typedef struct tagPMD1BITS {
        unsigned ADCMD  :1;
        unsigned        :2;
        unsigned SPI1MD :1;
        unsigned        :1;
        unsigned U1MD   :1;
        unsigned        :1;
        unsigned I2CMD  :1;
        unsigned        :1;
        unsigned PWMMD  :1;
        unsigned QEIMD  :1;
        unsigned T1MD   :1;
        unsigned T2MD   :1;
        unsigned T3MD   :1;
        unsigned        :2;
} PMD1BITS;
extern volatile PMD1BITS PMD1bits __attribute__((__sfr__));

/* PMD2: Peripheral Module Disable Register 3 */
extern volatile unsigned int PMD2 __attribute__((__sfr__));
typedef struct tagPMD2BITS {
        unsigned OC1MD  :1;
        unsigned OC2MD  :1;
        unsigned        :6;
        unsigned IC1MD  :1;
        unsigned IC2MD  :1;
        unsigned        :4;
        unsigned IC7MD  :1;
        unsigned IC8MD  :1;
} PMD2BITS;
extern volatile PMD2BITS PMD2bits __attribute__((__sfr__));


/* -------------------------------------------- */
/* Defines for unique SFR bit names             */
/* -------------------------------------------- */

/* SR */
#define _C SRbits.C
#define _Z SRbits.Z
#define _OV SRbits.OV
#define _N SRbits.N
#define _RA SRbits.RA
#define _IPL SRbits.IPL
#define _DC SRbits.DC
#define _DA SRbits.DA
#define _SAB SRbits.SAB
#define _OAB SRbits.OAB
#define _SB SRbits.SB
#define _SA SRbits.SA
#define _OB SRbits.OB
#define _OA SRbits.OA

/* CORCON */
#define _IF CORCONbits.IF
#define _RND CORCONbits.RND
#define _PSV CORCONbits.PSV
#define _IPL3 CORCONbits.IPL3
#define _ACCSAT CORCONbits.ACCSAT
#define _SATDW CORCONbits.SATDW
#define _SATB CORCONbits.SATB
#define _SATA CORCONbits.SATA
#define _DL CORCONbits.DL
#define _EDT CORCONbits.EDT
#define _US CORCONbits.US

/* MODCON */
#define _XWM MODCONbits.XWM
#define _YWM MODCONbits.YWM
#define _BWM MODCONbits.BWM
#define _YMODEN MODCONbits.YMODEN
#define _XMODEN MODCONbits.XMODEN

/* XBREV */
#define _XB XBREVbits.XB
#define _BREN XBREVbits.BREN

/* INTCON1 */
#define _OSCFAIL INTCON1bits.OSCFAIL
#define _STKERR INTCON1bits.STKERR
#define _ADDRERR INTCON1bits.ADDRERR
#define _MATHERR INTCON1bits.MATHERR
#define _COVTE INTCON1bits.COVTE
#define _OVBTE INTCON1bits.OVBTE
#define _OVATE INTCON1bits.OVATE
#define _NSTDIS INTCON1bits.NSTDIS

/* INTCON2 */
#define _INT0EP INTCON2bits.INT0EP
#define _INT1EP INTCON2bits.INT1EP
#define _INT2EP INTCON2bits.INT2EP
#define _DISI INTCON2bits.DISI
#define _ALTIVT INTCON2bits.ALTIVT

/* IFS0 */
#define _INT0IF IFS0bits.INT0IF
#define _IC1IF IFS0bits.IC1IF