void configPinMode(BYTE pin,BYTE mode,BYTE tris,BYTE io){
ClearPinState(pin);
SetPinTris(pin,tris);
SetDIO(pin,io);
getBcsIoDataTable()[pin].PIN.currentChannelMode = mode;
EEWriteMode(pin,mode);
}
void InitServo(uint8_t PIN){
//println_I("Starting servo");
ClearPinState(PIN);
SetPinTris(PIN,OUTPUT);
//DATA.PIN[PIN].State=IS_SERVO;
SetServoPos(PIN,EEReadValue(PIN),0);
if( servoEngineStarted != true){
servoEngineStarted =true;
startServoLoops();
}
}
BOOL setMode(BYTE pin,BYTE mode){
ClearPinState(pin);
println_I("Pin :");p_int_I(pin);print_I(" is mode: ");printMode(mode,INFO_PRINT);
//BYTE pwm,dir;
if (mode == NO_CHANGE){
return TRUE;
}
switch (mode){
case HIGH_IMPEDANCE:
ClearPinState(pin);
// Return here so as not to save this state to the eeprom
return TRUE;
case IS_UART_TX:
case IS_UART_RX:
if(pin == 17 || pin == 16){
configPinMode(16,IS_UART_TX,OUTPUT,ON);
configPinMode(17,IS_UART_RX,INPUT,ON);
InitUART();
return TRUE;
}
break;
case IS_SPI_MOSI:
case IS_SPI_MISO:
case IS_SPI_SCK:
if(pin == 0 || pin == 1||pin == 2 ){
configPinMode(0,IS_SPI_SCK,INPUT,ON);
configPinMode(1,IS_SPI_MISO,INPUT,ON);
configPinMode(2,IS_SPI_MOSI,INPUT,ON);
return TRUE;
}
break;
case IS_ANALOG_IN:
configPinMode(pin,mode,INPUT,OFF);
if(InitADC(pin)){
return TRUE;
}
break;
case IS_PWM:
if(InitPWM(pin)){
return TRUE;
}
return FALSE;
case IS_DC_MOTOR_VEL:
case IS_DC_MOTOR_DIR:
if(InitDCMotor(pin)){
return TRUE;
}
return FALSE;
case IS_SERVO:
InitServo(pin);
configPinMode(pin,mode,OUTPUT,OFF);
return TRUE;
case IS_DO:
configPinMode(pin,mode,OUTPUT,OFF);
return TRUE;
case IS_DI:
case IS_PPM_IN:
case IS_COUNTER_OUTPUT_INT:
case IS_COUNTER_OUTPUT_DIR:
case IS_COUNTER_OUTPUT_HOME:
case IS_COUNTER_INPUT_INT:
case IS_COUNTER_INPUT_DIR:
case IS_COUNTER_INPUT_HOME:
configPinMode(pin,mode,INPUT,ON);
return TRUE;
default:
configPinMode(pin,mode,INPUT,ON);
return TRUE;
}
return FALSE;
}
