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?? p30f2010.h

?? PID control speed of motor using dspIC30f2010
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/*-------------------------------------------------------------------------
 *
 * MPLAB-C30  dsPIC30F2010 processor header
 *
 * (c) Copyright 2005-2006 Microchip Technology, All rights reserved
 *
 * File Description / Notes:
 * =========================
 * 1] This header file defines special function registers (SFR), and useful
 *    macros for the dsPIC30Fxxxx Family of Digital Signal
 *    Controllers (also referred to as the dsPIC).
 * 2] The register and bit names used in this file match the
 *    dsPIC30Fxxxx data sheets as closely as possible.
 * 3] The memory locations of the registers defined in this header file are
 *    specified in the respective linker scripts.
 * 4] SFR definitions are listed in the ascending order of memory addresses
 *    and are grouped based on the module they belong to. For e.g., WREG10
 *    is listed before ACCAL, and the Core SFRs are grouped separately
 *    from the Interrupt Controller SFRs or the General Purpose Timer SFRs.
 *
 * Revision History:
 * =================
 * --------------------------------------------------------------------------
 * Rev:   Date:        Details:                                     Who:
 * --------------------------------------------------------------------------
 * 2.0    23 Apr 2003  New file                                     P Sinha
 * 2.0a   24 Apr 2003  Added CEID bit                               P Sinha
 * 2.0b   30 Apr 2003  Removed suffix 'B' from device number        P Sinha
 * 2.2    17 Jun 2003  Renamed CONV bit to DONE                     P Sinha
 * 2.3    20 Jun 2003  Corrections in Config Fuses comments         P Sinha
 * 2.3b   5  Aug 2003  Added TUN1-4 bits in OSCCON                  P Sinha
 * 2.3c   18 Sep 2003  DFLTCON changes                              P Sinha
 * 2.4    10 Oct 2003  Added macros for data allocation and ISRs    P Sinha
 * 2.5    25 Nov 2003  Renamed TUN1-4 bits to TUNF0-3               P Sinha
 * 3.0    30 Mar 2004  Added defines for unique SFR bit names       P Sinha
 * 3.1    5  Apr 2004  Added underscore before SFR bit labels       P Sinha
 * 3.2    11 Apr 2004  Enhanced config macro usage examples         P Sinha
 * 3.3    14 Apr 2004  Corrected a typo in the _U1RXIE bit label    P Sinha
 * 4.0    28 Sep 2004  Changed data allocation macro definitions    P Sinha
 * 4.1    22 Dec 2004  Corrected a typo in the _U1RXIE definition   P Sinha
 * 4.1a   14 Mar 2005  Removed LVD definitions                      P Sinha
 * 4.2    4  Apr 2005  Renamed EC_IO to ECIO and ERC_IO to ERCIO    P Sinha
 * 4.2a   27 Jun 2005  Fixed typos in comments regarding macros     G McCar
 * 4.3    1  Jul 2005  Updated section syntax in config macros      P Sinha
 * 4.4    12 Aug 2005  Changed FGS to match silicon                 H Vasuki
 * 4.4a   06 Oct 2005  reversed previous change to FGS for 30F2010  H Vasuki
 * v3.00  02 Feb 2007  Added processor check                        S Curtis
 *                      (Rev reflects compiler version)
 * --------------------------------------------------------------------------
 *
 * ------------------------------------------------------------------------*/

#ifndef __dsPIC30F2010__
#error "Include file does not match processor setting"
#endif

#ifndef __30F2010_H
#define __30F2010_H

/* ------------------------- */
/* Core Register Definitions */
/* ------------------------- */

/* W registers W0-W15 */
extern volatile unsigned int WREG0 __attribute__((__sfr__,__deprecated__,__unsafe__));
extern volatile unsigned int WREG1 __attribute__((__sfr__,__deprecated__,__unsafe__));
extern volatile unsigned int WREG2 __attribute__((__sfr__,__deprecated__,__unsafe__));
extern volatile unsigned int WREG3 __attribute__((__sfr__,__deprecated__,__unsafe__));
extern volatile unsigned int WREG4 __attribute__((__sfr__,__deprecated__,__unsafe__));
extern volatile unsigned int WREG5 __attribute__((__sfr__,__deprecated__,__unsafe__));
extern volatile unsigned int WREG6 __attribute__((__sfr__,__deprecated__,__unsafe__));
extern volatile unsigned int WREG7 __attribute__((__sfr__,__deprecated__,__unsafe__));
extern volatile unsigned int WREG8 __attribute__((__sfr__,__deprecated__,__unsafe__));
extern volatile unsigned int WREG9 __attribute__((__sfr__,__deprecated__,__unsafe__));
extern volatile unsigned int WREG10 __attribute__((__sfr__,__deprecated__,__unsafe__));
extern volatile unsigned int WREG11 __attribute__((__sfr__,__deprecated__,__unsafe__));
extern volatile unsigned int WREG12 __attribute__((__sfr__,__deprecated__,__unsafe__));
extern volatile unsigned int WREG13 __attribute__((__sfr__,__deprecated__,__unsafe__));
extern volatile unsigned int WREG14 __attribute__((__sfr__,__deprecated__,__unsafe__));
extern volatile unsigned int WREG15 __attribute__((__sfr__,__deprecated__,__unsafe__));

/* SPLIM: Stack Pointer Limit */
extern volatile unsigned int SPLIM __attribute__((__sfr__));

/* Alternative access structure for the 40-bit accumulators */
typedef struct tagACC {
    unsigned int L;
    unsigned int H;
    unsigned char U;
} ACC;

/* Acc A<15:0> */
extern volatile unsigned int ACCAL __attribute__((__sfr__));

/* Acc A<31:16> */
extern volatile unsigned int ACCAH __attribute__((__sfr__));

/* Acc A<39:32> */
extern volatile unsigned char ACCAU __attribute__((__sfr__));

/* Acc A defined as a structure consisting of the 3 parts */
extern volatile ACC ACCA __attribute__((__sfr__));

/* Acc B<15:0> */
extern volatile unsigned int ACCBL __attribute__((__sfr__));

/* Acc B<31:16> */
extern volatile unsigned int ACCBH __attribute__((__sfr__));

/* Acc B<39:32> */
extern volatile unsigned char ACCBU __attribute__((__sfr__));

/* Acc B defined as a structure consisting of the 3 parts */
extern volatile ACC ACCB __attribute__((__sfr__));

/* PCL: Program Counter low word */
extern volatile unsigned int PCL __attribute__((__sfr__));

/* PCH: Program Counter high byte */
extern volatile unsigned char PCH __attribute__((__sfr__));

/* TBLPAG: Table Page Register */
extern volatile unsigned char TBLPAG __attribute__((__sfr__));

/* PSVPAG: Program Space Visibility Page Register */
extern volatile unsigned char PSVPAG __attribute__((__sfr__));

/* RCOUNT: REPEAT loop count */
extern volatile unsigned int RCOUNT __attribute__((__sfr__));

/* DCOUNT: DO loop count */
extern volatile unsigned int DCOUNT __attribute__((__sfr__));

/* DOSTARTL: DO loop start address bits <15:0> */
extern volatile unsigned int DOSTARTL __attribute__((__sfr__));

/* DOSTARTH: DO loop start address bits <23:16> */
extern volatile unsigned int DOSTARTH __attribute__((__sfr__));

/* DOENDL: DO loop end address bits <15:0> */
extern volatile unsigned int DOENDL __attribute__((__sfr__));

/* DOENDH: DO loop end address bits <23:16> */
extern volatile unsigned int DOENDH __attribute__((__sfr__));

/* SR: Status Register */
extern volatile unsigned int SR __attribute__((__sfr__));
typedef struct tagSRBITS {
        unsigned C      :1;     /* Carry flag                   */
        unsigned Z      :1;     /* Sticky Zero flag             */
        unsigned OV     :1;     /* Overflow flag                */
        unsigned N      :1;     /* Negative flag                */
        unsigned RA     :1;     /* REPEAT loop active flag      */
        unsigned IPL    :3;     /* CPU Interrupt Priority Level */
        unsigned DC     :1;     /* Digit Carry flag             */
        unsigned DA     :1;     /* DO loop active flag          */
        unsigned SAB    :1;     /* Combined A/B saturation flag */
        unsigned OAB    :1;     /* Combined A/B overflow flag   */
        unsigned SB     :1;     /* Acc B saturation flag        */
        unsigned SA     :1;     /* Acc A saturation flag        */
        unsigned OB     :1;     /* Acc B overflow flag          */
        unsigned OA     :1;     /* Acc A overflow flag          */
} SRBITS;
extern volatile SRBITS SRbits __attribute__((__sfr__));

/* CORCON: CPU Mode control Register */
extern volatile unsigned int CORCON __attribute__((__sfr__));
typedef struct tagCORCONBITS {
        unsigned IF     :1;     /* Integer/Fractional mode              */
        unsigned RND    :1;     /* Rounding mode                        */
        unsigned PSV    :1;     /* Program Space Visibility enable      */
        unsigned IPL3   :1;     /* CPU Interrupt Priority Level bit 3   */
        unsigned ACCSAT :1;     /* Acc saturation mode                  */
        unsigned SATDW  :1;     /* Data space write saturation enable   */
        unsigned SATB   :1;     /* Acc B saturation enable              */
        unsigned SATA   :1;     /* Acc A saturation enable              */
        unsigned DL     :3;     /* DO loop nesting level status         */
        unsigned EDT    :1;     /* Early DO loop termination control    */
        unsigned US     :1;     /* Signed/Unsigned mode                 */
        unsigned        :3;
} CORCONBITS;
extern volatile CORCONBITS CORCONbits __attribute__((__sfr__));

/* MODCON: Modulo Addressing Control Register */
extern volatile unsigned int MODCON __attribute__((__sfr__));
typedef struct tagMODCONBITS {
        unsigned XWM    :4;     /* X-RAGU/X-WAGU modulo addressing register select  */
        unsigned YWM    :4;     /* Y-RAGU modulo addressing register select         */
        unsigned BWM    :4;     /* Bit-reversed addressing register select          */
        unsigned        :2;
        unsigned YMODEN :1;     /* Y-RAGU modulo addressing enable                  */
        unsigned XMODEN :1;     /* X-RAGU/X-WAGU modulo addressing enable           */
} MODCONBITS;
extern volatile MODCONBITS MODCONbits __attribute__((__sfr__));

/* XMODSRT: X-RAGU/X-WAGU modulo buffer start address */
extern volatile unsigned int XMODSRT __attribute__((__sfr__));

/* XMODEND: X-RAGU/X-WAGU modulo buffer end address */
extern volatile unsigned int XMODEND __attribute__((__sfr__));

/* YMODSRT: Y-RAGU modulo buffer start address */
extern volatile unsigned int YMODSRT __attribute__((__sfr__));

/* YMODEND: Y-RAGU modulo buffer end address */
extern volatile unsigned int YMODEND __attribute__((__sfr__));

/* XBREV: X-WAGU Bit-reversed Addressing Control Register */
extern volatile unsigned int XBREV __attribute__((__sfr__));
typedef struct tagXBREVBITS {
        unsigned XB     :15;    /* Bit-reversed addressing register select  */
        unsigned BREN   :1;     /* Bit-reversed addressing enable           */
} XBREVBITS;
extern volatile XBREVBITS XBREVbits __attribute__((__sfr__));

/* DISICNT: Disable Interrupt Cycle Count */
extern volatile unsigned int DISICNT __attribute__((__sfr__));
typedef struct tagDISICNTBITS {
        unsigned DISICNT:14;
        unsigned        :2;
} DISICNTBITS;
extern volatile DISICNTBITS DISICNTbits __attribute__((__sfr__));

/* ----------------------------------------- */
/* Interrupt Controller register definitions */
/* ----------------------------------------- */

/* INTCON1: Interrupt Control Register 1 */
extern volatile unsigned int INTCON1 __attribute__((__sfr__));
typedef struct tagINTCON1BITS {
        unsigned        :1;
        unsigned OSCFAIL:1;
        unsigned STKERR :1;
        unsigned ADDRERR:1;
        unsigned MATHERR:1;
        unsigned        :3;
        unsigned COVTE  :1;
        unsigned OVBTE  :1;
        unsigned OVATE  :1;
        unsigned        :4;
        unsigned NSTDIS :1;
} INTCON1BITS;
extern volatile INTCON1BITS INTCON1bits __attribute__((__sfr__));

/* INTCON2: Interrupt Control Register 2 */
extern volatile unsigned int INTCON2 __attribute__((__sfr__));
typedef struct tagINTCON2BITS {
        unsigned INT0EP :1;
        unsigned INT1EP :1;
        unsigned INT2EP :1;
        unsigned        :11;
        unsigned DISI   :1;
        unsigned ALTIVT :1;
} INTCON2BITS;
extern volatile INTCON2BITS INTCON2bits __attribute__((__sfr__));

/* IFS0: Interrupt Flag Status Register 0 */
extern volatile unsigned int IFS0 __attribute__((__sfr__));
typedef struct tagIFS0BITS {
        unsigned INT0IF :1;
        unsigned IC1IF  :1;
        unsigned OC1IF  :1;
        unsigned T1IF   :1;
        unsigned IC2IF  :1;
        unsigned OC2IF  :1;
        unsigned T2IF   :1;
        unsigned T3IF   :1;
        unsigned SPI1IF :1;
        unsigned U1RXIF :1;
        unsigned U1TXIF :1;
        unsigned ADIF   :1;
        unsigned NVMIF  :1;
        unsigned SI2CIF  :1;
        unsigned MI2CIF  :1;
        unsigned CNIF   :1;
} IFS0BITS;
extern volatile IFS0BITS IFS0bits __attribute__((__sfr__));

/* IFS1: Interrupt Flag Status Register 1 */
extern volatile unsigned int IFS1 __attribute__((__sfr__));
typedef struct tagIFS1BITS {
        unsigned INT1IF :1;
        unsigned IC7IF  :1;
        unsigned IC8IF  :1;
        unsigned        :4;
        unsigned INT2IF :1;
        unsigned        :8;
} IFS1BITS;
extern volatile IFS1BITS IFS1bits __attribute__((__sfr__));

/* IFS2: Interrupt Flag Status Register 2 */
extern volatile unsigned int IFS2 __attribute__((__sfr__));
typedef struct tagIFS2BITS {
        unsigned        :7;
        unsigned PWMIF  :1;
        unsigned QEIIF  :1;
        unsigned        :2;
        unsigned FLTAIF :1;
        unsigned FLTBIF :1;
        unsigned        :3;
} IFS2BITS;
extern volatile IFS2BITS IFS2bits __attribute__((__sfr__));

/* IEC0: Interrupt Enable Control Register 0 */
extern volatile unsigned int IEC0 __attribute__((__sfr__));
typedef struct tagIEC0BITS {
        unsigned INT0IE :1;
        unsigned IC1IE  :1;
        unsigned OC1IE  :1;
        unsigned T1IE   :1;
        unsigned IC2IE  :1;
        unsigned OC2IE  :1;
        unsigned T2IE   :1;
        unsigned T3IE   :1;
        unsigned SPI1IE :1;
        unsigned U1RXIE :1;
        unsigned U1TXIE :1;
        unsigned ADIE   :1;
        unsigned NVMIE  :1;
        unsigned SI2CIE  :1;
        unsigned MI2CIE  :1;
        unsigned CNIE   :1;
} IEC0BITS;
extern volatile IEC0BITS IEC0bits __attribute__((__sfr__));

/* IEC1: Interrupt Enable Control Register 1 */
extern volatile unsigned int IEC1 __attribute__((__sfr__));
typedef struct tagIEC1BITS {
        unsigned INT1IE :1;
        unsigned IC7IE  :1;
        unsigned IC8IE  :1;
        unsigned        :4;
        unsigned INT2IE :1;
        unsigned        :8;
} IEC1BITS;
extern volatile IEC1BITS IEC1bits __attribute__((__sfr__));

/* IEC2: Interrupt Enable Control Register 2 */
extern volatile unsigned int IEC2 __attribute__((__sfr__));
typedef struct tagIEC2BITS {
        unsigned        :7;
        unsigned PWMIE  :1;
        unsigned QEIIE  :1;
        unsigned        :2;
        unsigned FLTAIE :1;
        unsigned FLTBIE :1;
        unsigned        :3;
} IEC2BITS;
extern volatile IEC2BITS IEC2bits __attribute__((__sfr__));

/* IPC0: Interrupt Priority Control Register 0 */
extern volatile unsigned int IPC0 __attribute__((__sfr__));
typedef struct tagIPC0BITS {
        unsigned INT0IP :3;
        unsigned        :1;
        unsigned IC1IP  :3;
        unsigned        :1;
        unsigned OC1IP  :3;
        unsigned        :1;
        unsigned T1IP   :3;
        unsigned        :1;
} IPC0BITS;
extern volatile IPC0BITS IPC0bits __attribute__((__sfr__));

/* IPC1: Interrupt Priority Control Register 1 */
extern volatile unsigned int IPC1 __attribute__((__sfr__));
typedef struct tagIPC1BITS {
        unsigned IC2IP  :3;
        unsigned        :1;
        unsigned OC2IP  :3;
        unsigned        :1;
        unsigned T2IP   :3;
        unsigned        :1;
        unsigned T3IP   :3;
        unsigned        :1;
} IPC1BITS;
extern volatile IPC1BITS IPC1bits __attribute__((__sfr__));

/* IPC2: Interrupt Priority Control Register 2 */
extern volatile unsigned int IPC2 __attribute__((__sfr__));
typedef struct tagIPC2BITS {
        unsigned SPI1IP :3;
        unsigned        :1;
        unsigned U1RXIP :3;
        unsigned        :1;
        unsigned U1TXIP :3;
        unsigned        :1;
        unsigned ADIP   :3;
        unsigned        :1;
} IPC2BITS;
extern volatile IPC2BITS IPC2bits __attribute__((__sfr__));

/* IPC3: Interrupt Priority Control Register 3 */
extern volatile unsigned int IPC3 __attribute__((__sfr__));
typedef struct tagIPC3BITS {
        unsigned NVMIP  :3;
        unsigned        :1;
        unsigned SI2CIP  :3;

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