timer1.h

Position PID algorithm control motor by dsPIC

#include "p30f2010.h"

#define FCY 29491200
// TCY=1/FCY = 33.9 ns 
// 1ms 29491.2
// 5ms 1474456
//#define MIN_ENCODER_PER_PWM	6000
#define T1_ON               0xffff      /* Timer1 ON */
#define T1_OFF              0x7fff      /* Timer1 OFF */

#define T1_IDLE_CON         0xdfff      /* operate during sleep */
#define T1_IDLE_STOP        0xffff      /* stop operation during sleep */

#define T1_GATE_ON          0xffff      /* Timer Gate time accumulation enabled */
#define T1_GATE_OFF         0xffbf      /* Timer Gate time accumulation disabled */

#define T1_PS_1_1           0xffcf      /* Prescaler 1:1 */
#define T1_PS_1_8           0xffdf      /*           1:8 */
#define T1_PS_1_64          0xffef      /*          1:64 */
#define T1_PS_1_256         0xffff      /*         1:256 */

#define T1_SYNC_EXT_ON      0xffff      /* Synch external clk input */
#define T1_SYNC_EXT_OFF     0xfffb      /* Do not synch external clk input */

#define T1_SOURCE_EXT       0xffff      /* External clock source */
#define T1_SOURCE_INT       0xfffd      /* Internal clock source */

/* defines for Timer Interrupts */

#define T1_INT_PRIOR_7      0xffff      /* 111 = Interrupt is priority 7 */
#define T1_INT_PRIOR_6      0xfffe      /* 110 = Interrupt is priority 6 */
#define T1_INT_PRIOR_5      0xfffd      /* 101 = Interrupt is priority 5 */
#define T1_INT_PRIOR_4      0xfffc      /* 100 = Interrupt is priority 4 */
#define T1_INT_PRIOR_3      0xfffb      /* 011 = Interrupt is priority 3 */
#define T1_INT_PRIOR_2      0xfffa      /* 010 = Interrupt is priority 2 */
#define T1_INT_PRIOR_1      0xfff9      /* 001 = Interrupt is priority 1 */
#define T1_INT_PRIOR_0      0xfff8      /* 000 = Interrupt is priority 0 */

#define T1_INT_ON           0xffff      /* Interrupt Enable */
#define T1_INT_OFF          0xfff7      /* Interrupt Disable */

/* Macros to  Enable/Disable interrupts and set Interrupt priority of Timers 1*/
#define EnableIntT1                    _T1IE = 1
#define DisableIntT1                   _T1IE = 0
#define SetPriorityIntT1(priority)     _T1IP = priority


/****************************************************************************************** 
This function first disables the 16-bit timer interrupt and then turns off the timer module. 
The Interrupt Flag bit (TxIF) is also cleared.
*******************************************************************************************/
void CloseTimer1(void);

/*********************************************************************************************
This function clears the 16-bit Interrupt Flag (TxIF) bit and then sets the interrupt priority
and enables/disables the interrupt.
**********************************************************************************************/
void ConfigIntTimer1(unsigned int config);

/***********************************************************
This function configures the 16-bit Timer Control register 
and sets the period match value into the PR register.
***********************************************************/
void OpenTimer1(unsigned int config,unsigned int period);

/************************************************************
This function returns the contents of the 16-bit TMR register
*************************************************************/
//unsigned int ReadTimer1(void);

/************************************************************
This function writes the 16-bit value into the Timer register.
*************************************************************/
//void WriteTimer1(unsigned int timer);



void timer1_init(void);
void __attribute__((__interrupt__,__no_auto_psv__ , __shadow__)) _T1Interrupt(void);