PWM制御鉄道模型コントローラの試作品の制御用PIC16F1向けプログラム。シリアルで入力されたDuty ratioで駆動する。Microchip MCCで生成されたハードウェア制御用メソッドを呼び出している

pwm_controller.c

#include "mcc_generated_files/mcc.h"
#include <stdio.h>

void move(unsigned char direction)
{
    if (direction == 1) {
        PWM1_DutyCycleSet(639);
        PWM1_LoadBufferSet();
    } else {
        PWM2_DutyCycleSet(639);
        PWM2_LoadBufferSet();
    }
    __delay_ms(10);
}

void main(void)
{
    // initialize the device
    SYSTEM_Initialize();

    // Enable the Global Interrupts
    INTERRUPT_GlobalInterruptEnable();

    // Enable the Peripheral Interrupts
    INTERRUPT_PeripheralInterruptEnable();

    
    unsigned int level = 0;
    unsigned int new_level = 0;
    unsigned char direction = 1;
    unsigned char got_char;
    
    dir2_SetLow();
    
    PWM1_Start();
    PWM1_DutyCycleSet(0);
    PWM1_LoadBufferSet();
    
    printf("init\n\r");
    
    while (1)
    {
        got_char = EUSART_Read();
        
//        if (PIR1bits.RCIF) {
//            got_char = RCREGbits.RCREG;
//        }
        
        if (got_char < '!'){
            if (direction == 1) {
                if (level) {
                    PWM1_DutyCycleSet(level * 3 / 4);
                    PWM1_LoadBufferSet();
                    __delay_ms(500);
                }
                
                PWM1_DutyCycleSet(0);
                PWM1_LoadBufferSet();
                PWM1_Stop();
                
                __delay_ms(500);
                dir2_SetHigh();
                __delay_ms(200);
                
                PWM2_Start();
                PWM2_DutyCycleSet(level);
                PWM2_LoadBufferSet();
                
                printf("houten to 2\n\r");
                direction = 2;
                
                if (level) {
                    move(direction);
                }
                
            } else {
                if (level) {
                    PWM2_DutyCycleSet(level * 3 / 4);
                    PWM2_LoadBufferSet();
                    __delay_ms(500);
                }
                
                __delay_ms(500);
                PWM2_DutyCycleSet(0);
                PWM2_LoadBufferSet();
                PWM2_Stop();
                
                dir2_SetLow();
                __delay_ms(200);
                
                PWM1_Start();
                PWM1_DutyCycleSet(level);
                PWM1_LoadBufferSet();
                
                printf("houten to 1\n\r");
                direction = 1;
                
                if (level) {
                    move(direction);
                }
            }
        } else if (got_char < '~') {
            new_level = (got_char - '!') * 5;
            printf("%d", new_level);
        }
        
        if (new_level > level) {
            move(direction);
        }
        
        //ADC1_GetConversion(channel_AN11)
        level = new_level;
        if (direction == 1) {
            PWM1_DutyCycleSet(level);
            PWM1_LoadBufferSet();
        } else {
            PWM2_DutyCycleSet(level);
            PWM2_LoadBufferSet();
        }
        
        __delay_ms(50);
    }
}