variable_globale.c

Who to use ECAN network with dsPIC33F, Microchip microcontroller.

/** *****************************************
           VARIABLE_GLOBALE.C
***************************************** **/

#include "variable_globale.h"
#include "constante.h"

volatile unsigned char reception_ecan=0;
volatile mID rx_ecan1message;

volatile double temps_timer1 = 0;
volatile double temps_timer1_ms = 0;

volatile unsigned int inc=0;        		/* Compte les interruptions       */
volatile unsigned int inc_servo_0 = 0.8*MS_TIMER1;/* Comparaison inc_0 pour servo_0 */
volatile unsigned int inc_servo_1 = 0.8*MS_TIMER1;

volatile unsigned int voulue=0x7fff;
volatile unsigned int pos_value;

volatile unsigned int inc_moteur = 0;
volatile unsigned int inc2_moteur = 0;
volatile double vitesse = 0;
volatile double points_actuels = 0;
volatile double points_voulus = 0;
volatile double points_objectif = 0x7FFF;
volatile double consigne_vit_moteur = 0 ;
volatile double sv_points = 0;

volatile double capteur_distance = 0;

// Define ECAN Message Buffers
volatile ECAN1MSGBUF ecan1msgBuf __attribute__((space(dma),aligned(ECAN1_MSG_BUF_LENGTH*16)));