// DSPIC30F4012 Configuration Bit Settings

#include <xc.h>
#include <p30F6015.h>

#pragma config FOSFPR = FRC_PLL4           // Primary Oscillator Mode (FRC w/ PLL 4x)  //15.03.2023
#pragma config FCKSMEN = CSW_FSCM_OFF   // Clock Switching and Monitor (Sw Disabled, Mon Disabled)

#pragma config FWPSB = WDTPSB_16        // WDT Prescaler B (1:16)
#pragma config FWPSA = WDTPSA_512       // WDT Prescaler A (1:512)
#pragma config WDT = WDT_OFF            // Watchdog Timer (Disabled)

#pragma config FPWRT = PWRT_64          // POR Timer Value (64ms)
#pragma config BODENV = BORV20          // Brown Out Voltage (Reserved)
#pragma config BOREN = PBOR_OFF         // PBOR Enable (Disabled)
#pragma config LPOL = PWMxL_ACT_LO      // Low-side PWM Output Polarity (Active low)  //15.03.2023
#pragma config HPOL = PWMxH_ACT_HI      // High-side PWM Output Polarity (Active High)
#pragma config PWMPIN = RST_IOPIN       // PWM Output Pin Reset (Control with PORT/TRIS regs)
#pragma config MCLRE = MCLR_DIS         // Master Clear Enable (Disabled)

#pragma config GWRP = GWRP_OFF          // General Code Segment Write Protect (Disabled)
#pragma config GCP = GSS_OFF      // General Segment Code Protection (Disabled)           //15.03.2023

#pragma config ICS = ICS_PGD            // Comm Channel Select (Use PGC/EMUC and PGD/EMUD)



#define FCY 7370000//xtal = 5.0Mhz; PLLx8
#define MILLISEC FCY/10000// 1 mSec delay constant
#define FPWM 16000
#define Ksp 1200
#define Ksi 10
#define RPMConstant 60*(FCY/256)
#define S2 !PORTCbits.RC14
#define _int __attribute__ ((__interrupt__,__auto_psv__))
void InitADC10(void);
void AverageADC(void);
void DelayNmSec(unsigned int N);
void InitMCPWM(void);
struct
{
unsigned RunMotor : 1;
unsigned Minus : 1;
unsigned start : 1;//5.4.2015
unsigned flag : 1;//5.4.2015
unsigned unused : 12;
} Flags;
unsigned int HallValue;
int Speed;
unsigned int Var;
unsigned int Slow;//21.07.2019


unsigned int StateLoTable[] = {0x0000, 0x0108,0x0420, 0x0120, //06.02.2022 bionx rückwärts
0x1002, 0x1008, 0x0402, 0x0000};

void _int _CNInterrupt(void)
{
IFS0bits.CNIF = 0; // clear flag
HallValue = PORTD & 0x00e0; // mask RD5,6 & 7       //15.03.2023
HallValue = HallValue >>5; // shift right 3 times  //15.03.2023
/*
if (HallValue==5)HallValue = 0;
if (HallValue==4)HallValue = 1;
if (HallValue==6)HallValue = 3;
if (HallValue==2)HallValue = 7;
if (HallValue==3)HallValue = 6;
if (HallValue==1)HallValue = 4;
    switch (HallValue) 
    {
        case 5:
            HallValue = 1;
            break;
        case 4:
            HallValue = 5;
            break;
        case 6:
            HallValue = 4;
            break;
        case 2:
            HallValue = 6;
            break;
        case 3:
            HallValue = 2;
            break;
        case 1:
            HallValue = 3;
            break;
    }

*/
OVDCON = StateLoTable[HallValue];// Load the overide control register
/*
if(HallValue == 7)//07.06.2015 Geschwindigkeitsmessung
{
    Var++;
    if(Var == 3)
    {
        LATDbits.LATD0 = 1;//07.06.2015
    }
    if(Var == 6)
    {
        Var = 0;
        LATDbits.LATD0 = 0;//07.06.2015
    }
}//14.02.2015
 * */
}

void _int _ADCInterrupt(void)
{
IFS0bits.ADIF = 0;
if(Slow==0)//21.07.2019
{
PDC1 = ADCBUF0;
PDC2 = PDC1; // and load all three PWMs ...
PDC3 = PDC1; // duty cycles
}
else//21.07.2019
{
PDC1 = ADCBUF0/2;//21.07.2019
PDC2 = PDC1; // and load all three PWMs ...
PDC3 = PDC1; // duty cycles
}
}

void _int _INT0Interrupt(void)//21.07.2019
{
IFS0bits.INT0IF = 0;
Slow = 1;
//asm ("rlc PDC1");
//asm ("mov SR,w0");
//asm ("btsc SR,#0x00");
//asm ("goto 0x120");
}

int main(void)
{    
    /*
TRISDbits.TRISD1 = 0;   //08.05.2015
OC2R = 0x0000;          //08.05.2015
PR2 = 0x1fff;           //08.05.2015 half time period
OC2CON = 0x0003;        //08.05.2015 OC-PIN toggels,
T2CON = 0x8020;         //08.05.2015 T2 on, prescaler 1/64
     */
Slow = 0;//22.07.2019
//INTCON2bits.INT0EP = 1;   //17.03.2023
//IEC0bits.INT0IE = 1;//21.07.2019 (RE8) Motor zuviel Strom   //17.03.2023
//TRISDbits.TISD0 = 0;//21.07.2019
LATE = 0x0015;                          // 23.03.2023
TRISE = 0xFFC0; // PWMs are outputs  // 21.03.2023
CNEN1 = 0xc000; // CN14 and CN15 enabled   //15.03.2023
CNEN2 = 0x0001; // CN16 enabled           //15.03.2023
//CNPU1 = 0x00E0; // enable internal pullups //disable,because IR-Sensors 25.01.2015
IFS0bits.CNIF = 0; // clear CNIF
IEC0bits.CNIE = 1; //enable CN interrupt
InitMCPWM();
InitADC10();
while(1)//07.04.2015
    {
if(ADCBUF0 < 0x000e)//07.04.2015 darf beim Einschalten von Stromquelle nicht anspringen!
{
break;//07.04.2015
}
    }
while(1)
{
    while(1)//07.04.2015
    {
if(ADCBUF0 > 0x000f)//07.04.2015
{
Slow = 0;//22.07.2019
T2CON = 0;   //08.05.2015
OC2CON = 0;   //08.05.2015
    break;
}
    }
DelayNmSec(10);
/* 03.05.2015
    TMR5 = 0xa000;
    Flags.start = 1;//5.4.2015
    IFS1bits.T5IF = 0;//5.4.2015
    T5CON = 0x8020;//5.4.2015
    IEC1bits.T5IE = 1;//5.4.2015

8.5.2015 	T1CONbits.TON = 1;
	T1CONbits.TCKPS0 = 1;
	T1CONbits.TCKPS1 = 1;
	IEC0bits.T1IE = 1;
	IFS0bits.T1IF = 0;
 * 8.5.2015
 *
 */
HallValue = PORTD & 0x00e0; // mask RD5,6 & 7   //17.03.2023
HallValue = HallValue >> 5; // shift right to get value 1, 2 ... 6   //17.03.2023
OVDCON = StateLoTable[HallValue]; // Load the overide control register
PWMCON1 = 0x0777; // enable PWM outputs
Flags.RunMotor = 1; // set flag
DelayNmSec(100);//13.03.2015
FLTACON = 0x0000;//21.07.2019 //vorher 0x0007
//IFS2bits.FLTAIF = 0;//13.03.2015
while (Flags.RunMotor) // while motor is running
{
    /*//21.07.2019
    if(IFS2bits.FLTAIF == 1)
    {
PWMCON1 = 0x0700;//13.03.2015 disable PWM outputs
OVDCON = 0x0000;//13.03.2015 overide PWM low.
Flags.RunMotor = 0;//13.03.2015 reset run flag
TRISDbits.TRISD1 = 0;   //08.05.2015
OC2R = 0x0000;          //08.05.2015
PR2 = 0x1fff;           //08.05.2015
OC2CON = 0x0003;        //08.05.2015 OC-PIN toggels,
T2CON = 0x8020;         //08.05.2015 T2 on, prescaler 1/64
//DelayNmSec(600);      //13.03.2015 Motor soll bremsen, deshalb Verzögerung 1Sek.????
FLTACON = 0x0000;//13.03.2015
while(1)
    {
if(ADCBUF0 < 0x00e)//07.04.2015
{
IFS2bits.FLTAIF = 0;//07.04.2015
T2CON = 0;   //08.05.2015
OC2CON = 0;   //08.05.2015
TRISDbits.TRISD1 = 1;
break;//07.04.2015
}
    }
    }
    */
if(ADCBUF0 < 0x0000e)//07.04.2015
{
PWMCON1 = 0x0700; // disable PWM outputs
OVDCON = 0x0000; // overide PWM low.
Flags.RunMotor = 0; // reset run flag
//while (S2) // wait for key release
DelayNmSec(10);
//DelayNmSec(600);//12.02.2015 Motor soll bremsen, deshalb Verzögerung 1Sek.
    break;
}
}
} // end of while (1)
}

void InitADC10(void)
{
ADPCFG = 0xfbff; // all PORTS = Digital;R10 = analog  //16 .03.2023
    
ADCON1 = 0x0064; //PWM starts conversion
ADCON2 = 0x0100;// sample CH0 + CH1 channel  //15.03.2023
ADCHS = 0x000a; // Connect RB10/AN10 as CH1 = pot.  //15.03.2023

ADCON3 = 0x0080; // Tad = internal RC (4uS)
IFS0bits.ADIF = 0; // clear flag
IEC0bits.ADIE = 1;// enable interrupt
ADCON1bits.ADON = 1; // turn ADC ON
}

void InitMCPWM(void)
{
PTPER = FCY/FPWM - 1;
PWMCON1 = 0x0700;// disable PWMs
PDC1 = 100; // init PWM 1, 2 and 3 to 100
PDC2 = 100;
PDC3 = 100;
SEVTCMP = PTPER; // special trigger is 16 period values
PWMCON2 = 0x0F00; // 16postscale values
PTCON = 0x8000; // start PWM
}

void DelayNmSec(unsigned int N)
{
unsigned int j;
while(N--)
for(j=0;j < MILLISEC;j++);
}