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2002 Microchip Technology Inc.

Preliminary

DS30485A-page 121

PIC18FXX39

14.4

Developing Applications Using

the Motor Control Kernel

The Motor Control kernel allows users to develop their

applications without having knowledge of motor con-

trol. The key parameters of the motor control kernel can

be set and read through the Application Program Inter-

face (API) methods discussed in the previous section.

The overall application can be thought of as a protocol

stack, as shown in Figure 14-3. In this case, the API

methods reside between the user’s application and the

ProMPT kernel, and are used to exchange parameter

values. The motor control kernel sets the PWM duty

cycles based on the inputs from the application

software.

A typical motor control routine is shown in

Example 14-1. In this case, the motor will run at 20 Hz

for 10 seconds, accelerate to 60 Hz at the rate of

10 Hz/s, remain at 60 Hz for 20 seconds, and finally

stop.

FIGURE 14-3:

LAYERS OF THE

MOTOR CONTROL

ARCHITECTURE STACK

EXAMPLE 14-1:

MOTOR CONTROL ROUTINE USING THE ProMPT APIs

ProMPT Motor

Hardware

Application Program

Interface (API)

Application Software

Parameters

Control Kernel

Methods

and User Interface

Void main()

{

unsigned char i;

unsigned char j;

ProMPT_Init(0);

// Initialize the ProMPT block

i = ProMPT_SetFrequency(10);

// Set motor frequency to 10Hz

for (i=0;i<161;i++)

// Set counter for 10 sec @ 1/16 sec per tick

{

j = ProMPT_Tick(void);

// Tick of 1/16 sec

ProMPT_ClearTick(void);

// Clearing the Tick flag

}

ProMPT_SetAccelRate(10);

// Set acceleration rate to 10 Hz/sec

i = ProMPT_SetFrequency(60);

// Set motor frequency to 60 Hz

for (i=0;i<161;i++)

// Set counter for 20 Sec @ 1/16 sec per tick

{

// (2 loops of 10 Sec each)

j = ProMPT_Tick(void);

// Tick of 1/16 Sec

ProMPT_ClearTick(void);

// Clearing the Tick flag

j = ProMPT_Tick(void);

// Tick of 1/16 Sec

ProMPT_ClearTick(void);

// Clearing the Tick flag

}

i = ProMPT_SetFrequency(0);

// Set motor frequency to 0 Hz (stop)

while(1);

}

// End of the task

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