void Initalize_Interrupts(void){
// INTERRUPT FOR FLOOR AQUISITION
TIOS_OUTPUT_PIN(TIOS_IOS5_MASK);
TIE_ENABLE_PIN(TIE_C5I_MASK);
// INTERRUPT FOR KEYPAD
TIOS_OUTPUT_PIN(TIOS_IOS4_MASK);
TIE_ENABLE_PIN(TIE_C4I_MASK);
// INTERRUPT FOR PING
TIOS_OUTPUT_PIN(TIOS_IOS3_MASK);
TIE_ENABLE_PIN(TIE_C3I_MASK);
/// Interrupt for the CAN MESSAGES
TIOS_OUTPUT_PIN(TIOS_IOS2_MASK);
TIE_ENABLE_PIN(TIE_C2I_MASK);
ping_unplugged_flag=0;
ping_rmr =0;
/// PROCESS ONLY FOR THE CALL BOXES // THIS IS
/// THE CALL BOX INTERRUPTS
if(CAN_CURRENT_ADDRESS != CAN_MASTER_AD)
Init_Components();
return;
}
/// INITS INTERRUPT, PORTS , Sets flags //
/// IDEALY SPEED IS MEDIUM
unsigned char STMOTOR_INIT(void){
// init ddr ports // pins and set the watchdog timer
// RESET FLAGS AND INTERRUPT VARIABLES
Stepper_Direction_Flag =0;
Stepper_WholeStep_Flag =0;
Stepper_Count_Steps =0;
Stepper_Steps =0;
Stepper_Speed; // delay by 4us idealy set inbetween 300-1000
STMOTOR_INIT_ENABLE_DDR();
STMOTOR_INIT_DDR();
STMOTOR_ENABLE();
Stepper_Speed = STEPPER_SPEED_SLOW;
TIOS_OUTPUT_PIN(PTP_PTP7_MASK);
TIE_ENABLE_PIN(PTP_PTP7_MASK);
return 0;
}
void Encoder_Init(void){
TIOS_INPUT_PIN((TIOS_IOS0_MASK | TIOS_IOS1_MASK));
TIOS_OUTPUT_PIN(TIOS_IOS4_MASK);
TIE_ENABLE_PIN(((TIE_C0I_MASK) |(TIE_C1I_MASK) | (TIE_C4I_MASK)));
SET_TIMER_CLOCK_EDGE(0,TIMER_CHNL_CAPTURE_BOTH);
SET_TIMER_CLOCK_EDGE(1,TIMER_CHNL_CAPTURE_BOTH);
EN_L_Pulse_Flag =0;
EN_R_Pulse_Flag =0;
L_TIMER =0;
R_TIMER =0;
L_Counter =0;
R_Counter =0;
WATCH_L_COUNTER =0;
WATCH_R_COUNTER =0;
WATCH_DOG_FLAG =0;
}
