/*********************************************************************
* Function: void InitSymbolTimer()
*
* PreCondition: none
*
* Input: none
*
* Output: none
*
* Side Effects: TMR0 for PIC18 is configured for calculating
* the correct symbol times. TMR2/3 for PIC24/dsPIC
* is configured for calculating the correct symbol
* times
*
* Overview: This function will configure the UART for use at
* in 8 bits, 1 stop, no flowcontrol mode
*
* Note: The timer interrupt is enabled causing the timer
* roll over calculations. Interrupts are required
* to be enabled in order to extend the timer to
* 4 bytes in PIC18. PIC24/dsPIC version do not
* enable or require interrupts
********************************************************************/
void InitSymbolTimer()
{
#if defined(__18CXX)
TMR_CON = 0b00000000 | CLOCK_DIVIDER_SETTING;
TMR_IP = 1;
TMR_IF = 0;
TMR_IE = 1;
TMR_ON = 1;
timerExtension1 = 0;
timerExtension2 = 0;
#elif defined(__dsPIC30F__) || defined(__dsPIC33F__) || defined(__PIC24F__) || defined(__PIC24FK__) || defined(__PIC24H__)
T2CON = 0b0000000000001000 | CLOCK_DIVIDER_SETTING;
T2CONbits.TON = 1;
#elif defined(__PIC32MX__)
#if defined (SECOND_PROTOTYPE) //Timer 3 freed for ADC rjk
CloseTimer4();
WriteTimer4(0x00);
WriteTimer5(0x00);
WritePeriod5(0xFFFF);
OpenTimer4((T4_ON|T4_32BIT_MODE_ON|CLOCK_DIVIDER_SETTING),0xFFFFFFFF);
#else
CloseTimer2();
WriteTimer2(0x00);
WriteTimer3(0x00);
WritePeriod3(0xFFFF);
OpenTimer2((T2_ON|T2_32BIT_MODE_ON|CLOCK_DIVIDER_SETTING),0xFFFFFFFF);
#endif
#else
#error "Symbol timer implementation required for stack usage."
#endif
}
char Stepper_ChangeStepRate(unsigned short int rate)
{
unsigned short int overflowPeriod;
if ((rate > TWENTY_KILOHERTZ)||(stepperState == off)) return ERROR;
dbprintf("\nChanging step rate");
T5CONbits.ON = 0; // halt timer5
overflowPeriod = CalculateOverflowPeriod(rate);
WritePeriod5(overflowPeriod);
if (stepperState != halted) {
T3CONbits.ON = 1; // restart timer3
}
return SUCCESS;
}