void SYS_PORTS_Initialize(void)
{
/* PORT B Initialization */
PLIB_PORTS_OpenDrainEnable(PORTS_ID_0, PORT_CHANNEL_B, SYS_PORT_B_ODC);
PLIB_PORTS_Write( PORTS_ID_0, PORT_CHANNEL_B, SYS_PORT_B_LAT);
PLIB_PORTS_DirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_B, SYS_PORT_B_TRIS ^ 0xFFFF);
PLIB_PORTS_ChangeNoticePerPortTurnOn(PORTS_ID_0, PORT_CHANNEL_B);
PLIB_PORTS_ChannelModeSelect(PORTS_ID_0, PORT_CHANNEL_B, SYS_PORT_B_ANSEL ^ 0xFFFF, PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_ChannelChangeNoticeEnable(PORTS_ID_0, PORT_CHANNEL_B, SYS_PORT_B_CNEN);
PLIB_PORTS_ChannelChangeNoticePullUpEnable(PORTS_ID_0, PORT_CHANNEL_B, SYS_PORT_B_CNPU);
PLIB_PORTS_ChannelChangeNoticePullDownEnable(PORTS_ID_0, PORT_CHANNEL_B, SYS_PORT_B_CNPD);
/* PORT H Initialization */
PLIB_PORTS_OpenDrainEnable(PORTS_ID_0, PORT_CHANNEL_H, SYS_PORT_H_ODC);
PLIB_PORTS_Write( PORTS_ID_0, PORT_CHANNEL_H, SYS_PORT_H_LAT);
PLIB_PORTS_DirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_H, SYS_PORT_H_TRIS ^ 0xFFFF);
PLIB_PORTS_ChangeNoticePerPortTurnOn(PORTS_ID_0, PORT_CHANNEL_H);
PLIB_PORTS_ChannelModeSelect(PORTS_ID_0, PORT_CHANNEL_H, SYS_PORT_H_ANSEL ^ 0xFFFF, PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_ChannelChangeNoticeEnable(PORTS_ID_0, PORT_CHANNEL_H, SYS_PORT_H_CNEN);
PLIB_PORTS_ChannelChangeNoticePullUpEnable(PORTS_ID_0, PORT_CHANNEL_H, SYS_PORT_H_CNPU);
PLIB_PORTS_ChannelChangeNoticePullDownEnable(PORTS_ID_0, PORT_CHANNEL_H, SYS_PORT_H_CNPD);
/* PPS Input Remapping */
/* PPS Output Remapping */
}
void MOTOR_Initialize ( void )
{
/* Place the App state machine in its initial state. */
motorData.state = MOTOR_STATE_INIT;
/* Place the App state machine in its initial state. */
motorData.RxSeqNum = 0;
motorData.TxSeqNum = 0;
motorData.LEncode = 0;
motorData.REncode = 0;
motorData.REncodeTotal = 0;
motorData.LEncodeTotal = 0;
motorData.LDist = 0;
motorData.RDist = 0;
motorData.LSet = 0;
motorData.RSet = 0;
motorData.LMes = 0;
motorData.RMes = 0;
motorData.LAvg = 0.0;
motorData.RAvg = 0;
motorData.LOCSet = 0;
motorData.ROCSet = 0;
motorData.ratio = 0;
motorData.RTestTick = 0;
motorData.LTestTick = 0;
motorData.n = 0;
//motorData.rxMessage.command = 0;
//motorData.rxMessage.duration = 0;
motorData.theQueue = xQueueCreate(MOTORQUEUELENGTH, sizeof(MOTOR_MESSAGE)); //sizeof(appData.rxMessage));
if(motorData.theQueue == 0)
{
crash("E:Create Motor msgQ");
//failed to create queue
}
PLIB_PORTS_DirectionOutputSet(PORTS_ID_0, PORT_CHANNEL_G, 0x0002);
PLIB_PORTS_DirectionOutputSet(PORTS_ID_0, PORT_CHANNEL_D, 0x0003);
PLIB_PORTS_DirectionOutputSet(PORTS_ID_0, PORT_CHANNEL_C, 0x4000);
PLIB_PORTS_PinWrite (PORTS_ID_0, PORT_CHANNEL_D, PORTS_BIT_POS_1, 0);
PLIB_PORTS_PinWrite (PORTS_ID_0, PORT_CHANNEL_D, PORTS_BIT_POS_0, 0);
DRV_OC1_Initialize();
DRV_OC0_Initialize();
//DRV_OC1_Enable();
//DRV_OC0_Enable(); //same thing as start
DRV_OC1_Stop();
DRV_OC0_Stop();
//25.6 us per count
//count to 200 = 51.2ms per rollover
DRV_TMR0_Initialize(); //OC Timer
DRV_TMR1_Initialize(); //IC Timer
DRV_TMR2_Initialize(); //duration Timer
DRV_TMR0_CounterClear();
DRV_TMR1_CounterClear();
DRV_TMR2_CounterClear();
DRV_TMR0_Stop(); //pwm timer
DRV_TMR1_Stop(); //encoder timer 5ms
DRV_TMR2_Stop(); //duration timer 1ms
// theTimerInit(52);
}
void APP_Initialize ( void )
{
/* Place the App state machine in its initial state. */
appData.state = APP_STATE_INIT;
appData.InstructionNumber = 0;
irTimer = xTimerCreate("IR Timer", 100/portTICK_PERIOD_MS,pdTRUE, (void*) 1, readIR);
xTimerStart(irTimer, 100);
// these two timers run external interrupts
DRV_TMR1_Start();
DRV_TMR2_Start();
// this timer is used by the external interrupt?
DRV_TMR0_Start();
// these commands set up the PWM for the motors
DRV_OC0_Start();
DRV_OC1_Start();
PLIB_TMR_Period16BitSet(1,1000);
PLIB_OC_PulseWidth16BitSet(0,0);
PLIB_OC_PulseWidth16BitSet(1,0);
PLIB_PORTS_PinDirectionOutputSet (PORTS_ID_0, PORT_CHANNEL_C, PORTS_BIT_POS_14);
PLIB_PORTS_PinDirectionOutputSet (PORTS_ID_0, PORT_CHANNEL_G, PORTS_BIT_POS_1);
// these lines configure LEDs for operation
PLIB_PORTS_PinDirectionOutputSet (PORTS_ID_0, PORT_CHANNEL_A, PORTS_BIT_POS_3);
PLIB_PORTS_PinSet (PORTS_ID_0, PORT_CHANNEL_A, PORTS_BIT_POS_3);
// this code declares my message queues, declared in the header
MsgQueue_MapEncoder_Interrupt = xQueueCreate( 50, sizeof( StandardMessage ) );
MsgQueue_MapSensor_Interrupt = xQueueCreate( 50, sizeof( StandardMessage ) );
MsgQueue_MapAlgorithm_Instructions = xQueueCreate( 50, sizeof( StandardMessage ) );
// this code declares some GPIO output pins as outputs for me
PLIB_PORTS_DirectionOutputSet (PORTS_ID_0, PORT_CHANNEL_E, 0xFF);
PLIB_PORTS_DirectionOutputSet (PORTS_ID_0, PORT_CHANNEL_B, 0xFF);
PLIB_PORTS_Write(PORTS_ID_0, PORT_CHANNEL_B, 'a');
appData.rightEncoderCount = 0; //SinceLastIntersection
appData.leftEncoderCount = 0; //SinceLastIntersection
appData.leftPath = 0;
appData.rightPath = 0;
appData.forwardPath = 0;
// this code starts tasks for mapper control threads
/*TaskHandle_t Handle_InterpretDataThread;
xTaskCreate((TaskFunction_t) InterpretDataThread,
"InterpretDataThread",
1024, NULL, 1, NULL);
vTaskStartScheduler();*/
}
/******************************************************************************
Function:
SYS_PORTS_Initialize(void)
Summary:
Initializes Ports System Service
Description:
This function initializes different port pins/channels to the desired state.
It also remaps the pins to the desired specific function.
Remarks:
None.
*/
void SYS_PORTS_Initialize(void)
{
/* PORT B Initialization */
PLIB_PORTS_OpenDrainEnable(PORTS_ID_0, PORT_CHANNEL_B, SYS_PORT_B_ODC);
PLIB_PORTS_Write( PORTS_ID_0, PORT_CHANNEL_B, SYS_PORT_B_LAT);
PLIB_PORTS_DirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_B, SYS_PORT_B_TRIS ^ 0xFFFF);
PLIB_PORTS_ChangeNoticePerPortTurnOn(PORTS_ID_0, PORT_CHANNEL_B);
PLIB_PORTS_ChannelModeSelect(PORTS_ID_0, PORT_CHANNEL_B, SYS_PORT_B_ANSEL ^ 0xFFFF, PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_ChannelChangeNoticeEnable(PORTS_ID_0, PORT_CHANNEL_B, SYS_PORT_B_CNEN);
PLIB_PORTS_ChannelChangeNoticePullUpEnable(PORTS_ID_0, PORT_CHANNEL_B, SYS_PORT_B_CNPU);
PLIB_PORTS_ChannelChangeNoticePullDownEnable(PORTS_ID_0, PORT_CHANNEL_B, SYS_PORT_B_CNPD);
/* PORT C Initialization */
PLIB_PORTS_OpenDrainEnable(PORTS_ID_0, PORT_CHANNEL_C, SYS_PORT_C_ODC);
PLIB_PORTS_Write( PORTS_ID_0, PORT_CHANNEL_C, SYS_PORT_C_LAT);
PLIB_PORTS_DirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_C, SYS_PORT_C_TRIS ^ 0xFFFF);
PLIB_PORTS_ChangeNoticePerPortTurnOn(PORTS_ID_0, PORT_CHANNEL_C);
PLIB_PORTS_ChannelModeSelect(PORTS_ID_0, PORT_CHANNEL_C, SYS_PORT_C_ANSEL ^ 0xFFFF, PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_ChannelChangeNoticeEnable(PORTS_ID_0, PORT_CHANNEL_C, SYS_PORT_C_CNEN);
PLIB_PORTS_ChannelChangeNoticePullUpEnable(PORTS_ID_0, PORT_CHANNEL_C, SYS_PORT_C_CNPU);
PLIB_PORTS_ChannelChangeNoticePullDownEnable(PORTS_ID_0, PORT_CHANNEL_C, SYS_PORT_C_CNPD);
/* PORT E Initialization */
PLIB_PORTS_OpenDrainEnable(PORTS_ID_0, PORT_CHANNEL_E, SYS_PORT_E_ODC);
PLIB_PORTS_Write( PORTS_ID_0, PORT_CHANNEL_E, SYS_PORT_E_LAT);
PLIB_PORTS_DirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_E, SYS_PORT_E_TRIS ^ 0xFFFF);
PLIB_PORTS_ChangeNoticePerPortTurnOn(PORTS_ID_0, PORT_CHANNEL_E);
PLIB_PORTS_ChannelModeSelect(PORTS_ID_0, PORT_CHANNEL_E, SYS_PORT_E_ANSEL ^ 0xFFFF, PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_ChannelChangeNoticeEnable(PORTS_ID_0, PORT_CHANNEL_E, SYS_PORT_E_CNEN);
PLIB_PORTS_ChannelChangeNoticePullUpEnable(PORTS_ID_0, PORT_CHANNEL_E, SYS_PORT_E_CNPU);
PLIB_PORTS_ChannelChangeNoticePullDownEnable(PORTS_ID_0, PORT_CHANNEL_E, SYS_PORT_E_CNPD);
/* PORT F Initialization */
PLIB_PORTS_OpenDrainEnable(PORTS_ID_0, PORT_CHANNEL_F, SYS_PORT_F_ODC);
PLIB_PORTS_Write( PORTS_ID_0, PORT_CHANNEL_F, SYS_PORT_F_LAT);
PLIB_PORTS_DirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_F, SYS_PORT_F_TRIS ^ 0xFFFF);
PLIB_PORTS_ChangeNoticePerPortTurnOn(PORTS_ID_0, PORT_CHANNEL_F);
PLIB_PORTS_ChannelModeSelect(PORTS_ID_0, PORT_CHANNEL_F, SYS_PORT_F_ANSEL ^ 0xFFFF, PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_ChannelChangeNoticeEnable(PORTS_ID_0, PORT_CHANNEL_F, SYS_PORT_F_CNEN);
PLIB_PORTS_ChannelChangeNoticePullUpEnable(PORTS_ID_0, PORT_CHANNEL_F, SYS_PORT_F_CNPU);
PLIB_PORTS_ChannelChangeNoticePullDownEnable(PORTS_ID_0, PORT_CHANNEL_F, SYS_PORT_F_CNPD);
/* PPS Input Remapping */
/* PPS Output Remapping */
PLIB_PORTS_RemapOutput(PORTS_ID_0, OUTPUT_FUNC_C2OUT, OUTPUT_PIN_RPB9 );
}
int main(void)
{
/* Disable JTAG to free up PORTA pins */
DDPCONbits.JTAGEN = 0;
/* Set the lower 8 bits of PORTA as output (for Explorer-16 LEDs),
clear the bits to ensure there is no mismatch when they are toggled */
PLIB_PORTS_DirectionOutputSet(PORTS_ID_0, PORT_CHANNEL_A, (PORTS_DATA_MASK)0x00FF);
PLIB_PORTS_Clear(PORTS_ID_0, PORT_CHANNEL_A, (PORTS_DATA_MASK)0x00FF);
/* Enable the DMA module */
PLIB_DMA_Enable(DMA_ID_0);
/* Channel is continuously enabled */
PLIB_DMA_ChannelXAutoEnable(DMA_ID_0, DMA_CHANNEL_0);
/* Set the source and destinaton addresses (addresses are converted from virtual to physical) */
PLIB_DMA_ChannelXSourceStartAddressSet(DMA_ID_0, DMA_CHANNEL_0, (uint32_t)LED_pattern);
PLIB_DMA_ChannelXDestinationStartAddressSet(DMA_ID_0, DMA_CHANNEL_0, (uint32_t)&LATA);
/* Set the source and destination sizes */
PLIB_DMA_ChannelXSourceSizeSet(DMA_ID_0, DMA_CHANNEL_0, sizeof(LED_pattern));
PLIB_DMA_ChannelXDestinationSizeSet(DMA_ID_0, DMA_CHANNEL_0, 1);
/* Set the number of bytes per transfer */
PLIB_DMA_ChannelXCellSizeSet(DMA_ID_0, DMA_CHANNEL_0, 1);
/* DMA transfer to start on Timer 1 interrupt */
PLIB_DMA_ChannelXTriggerEnable(DMA_ID_0, DMA_CHANNEL_0, DMA_CHANNEL_TRIGGER_TRANSFER_START);
PLIB_DMA_ChannelXStartIRQSet(DMA_ID_0, DMA_CHANNEL_0, DMA_TRIGGER_TIMER_1);
/* Setup Timer 1 to trigger an interrupt 10 times a second */
PLIB_TMR_ClockSourceSelect(TMR_ID_1, TMR_CLOCK_SOURCE_PERIPHERAL_CLOCK);
PLIB_TMR_PrescaleSelect(TMR_ID_1, TMR_PRESCALE_VALUE_256);
PLIB_TMR_Counter16BitClear(TMR_ID_1);
PLIB_TMR_Period16BitSet(TMR_ID_1, 3906);
/* Enable the Timer 1 interrupt source, set its priority level to 2, set
its subpriority level to 0 */
PLIB_INT_SourceEnable(INT_ID_0, INT_SOURCE_TIMER_1);
PLIB_INT_VectorPrioritySet(INT_ID_0, INT_VECTOR_T1, INT_PRIORITY_LEVEL2);
PLIB_INT_VectorSubPrioritySet(INT_ID_0, INT_VECTOR_T1, INT_SUBPRIORITY_LEVEL0);
/* Enable multi-vectored interrupts, enable the generation of interrupts to the CPU */
PLIB_INT_MultiVectorSelect(INT_ID_0);
PLIB_INT_Enable(INT_ID_0);
/* Enable DMA channel 0 */
PLIB_DMA_ChannelXEnable(DMA_ID_0, DMA_CHANNEL_0);
/* Start Timer 1 */
PLIB_TMR_Start(TMR_ID_1);
/* Stuck in this loop, waiting for interrupts to occur */
while (1);
/* Program should not go here during normal operation */
return EXIT_FAILURE;
}
int main(void)
{
/* Disable JTAG to free up PORTA pins */
DDPCONbits.JTAGEN = 0;
/* Set lower 8 bits of PORTA as output for LEDs, clear the bits to ensure
there is no mismatch when they are toggled */
PLIB_PORTS_DirectionOutputSet(PORTS_ID_0, PORT_CHANNEL_A, (PORTS_DATA_MASK)0x00FF);
PLIB_PORTS_Clear(PORTS_ID_0, PORT_CHANNEL_A, (PORTS_DATA_MASK)0x00FF);
/* Set pin AN2 as analog input */
PLIB_PORTS_PinModeSelect(PORTS_ID_0, PORTS_ANALOG_PIN_2, PORTS_PIN_MODE_ANALOG);
/* ADC setup - ouput in integer format, trigger mode auto, enable autosample */
PLIB_ADC_ResultFormatSelect(ADC_ID_1, ADC_RESULT_FORMAT_INTEGER_16BIT);
PLIB_ADC_SamplingModeSelect(ADC_ID_1, ADC_SAMPLING_MODE_MUXA);
PLIB_ADC_ConversionTriggerSourceSelect(ADC_ID_1, ADC_CONVERSION_TRIGGER_INTERNAL_COUNT);
PLIB_ADC_VoltageReferenceSelect(ADC_ID_1, ADC_REFERENCE_VDD_TO_AVSS );
PLIB_ADC_SampleAcqusitionTimeSet(ADC_ID_1, 0x1F);
PLIB_ADC_ConversionClockSet(ADC_ID_1, SYS_FREQUENCY, 32);
/* Connect AN2 as positive input, Vref- as negative input */
PLIB_ADC_MuxChannel0InputPositiveSelect(ADC_ID_1, ADC_MUX_A, ADC_INPUT_POSITIVE_AN2);
PLIB_ADC_MuxChannel0InputNegativeSelect(ADC_ID_1, ADC_MUX_A, ADC_INPUT_NEGATIVE_VREF_MINUS);
/* Enable the ADC module */
PLIB_ADC_Enable(ADC_ID_1);
int potValue;
int i;
int ledMask;
/* Stuck in this loop, reading the potentiometer and writing to the LEDs */
while (1)
{
potValue = readPotentiometer();
potValue = potValue >> 7; /* 10-bit value to 3-bit value */
ledMask = 0;
/* Creates a mask for the LEDs, corresponding to the value read from
the potentiometer */
for (i = 0; i <= potValue; i++)
{
ledMask |= 1<<(i);
}
/* Write the mask to the LEDs */
PLIB_PORTS_Write(PORTS_ID_0, PORT_CHANNEL_A, (PORTS_DATA_MASK)ledMask);
}
/* Program should not go here during normal operation */
return EXIT_FAILURE;
}
void SYS_PORTS_Initialize(void)
{
/* PORT C Initialization */
PLIB_PORTS_OpenDrainEnable(PORTS_ID_0, PORT_CHANNEL_C, SYS_PORT_C_ODC);
PLIB_PORTS_Write( PORTS_ID_0, PORT_CHANNEL_C, SYS_PORT_C_LAT);
PLIB_PORTS_DirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_C, SYS_PORT_C_TRIS ^ 0xFFFF);
PLIB_PORTS_ChangeNoticePerPortTurnOn(PORTS_ID_0, PORT_CHANNEL_C);
PLIB_PORTS_ChannelModeSelect(PORTS_ID_0, PORT_CHANNEL_C, SYS_PORT_C_ANSEL ^ 0xFFFF, PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_ChannelChangeNoticeEnable(PORTS_ID_0, PORT_CHANNEL_C, SYS_PORT_C_CNEN);
PLIB_PORTS_ChannelChangeNoticePullUpEnable(PORTS_ID_0, PORT_CHANNEL_C, SYS_PORT_C_CNPU);
PLIB_PORTS_ChannelChangeNoticePullDownEnable(PORTS_ID_0, PORT_CHANNEL_C, SYS_PORT_C_CNPD);
/* PORT E Initialization */
PLIB_PORTS_OpenDrainEnable(PORTS_ID_0, PORT_CHANNEL_E, SYS_PORT_E_ODC);
PLIB_PORTS_Write( PORTS_ID_0, PORT_CHANNEL_E, SYS_PORT_E_LAT);
PLIB_PORTS_DirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_E, SYS_PORT_E_TRIS ^ 0xFFFF);
PLIB_PORTS_ChangeNoticePerPortTurnOn(PORTS_ID_0, PORT_CHANNEL_E);
PLIB_PORTS_ChannelModeSelect(PORTS_ID_0, PORT_CHANNEL_E, SYS_PORT_E_ANSEL ^ 0xFFFF, PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_ChannelChangeNoticeEnable(PORTS_ID_0, PORT_CHANNEL_E, SYS_PORT_E_CNEN);
PLIB_PORTS_ChannelChangeNoticePullUpEnable(PORTS_ID_0, PORT_CHANNEL_E, SYS_PORT_E_CNPU);
PLIB_PORTS_ChannelChangeNoticePullDownEnable(PORTS_ID_0, PORT_CHANNEL_E, SYS_PORT_E_CNPD);
/* PORT G Initialization */
PLIB_PORTS_OpenDrainEnable(PORTS_ID_0, PORT_CHANNEL_G, SYS_PORT_G_ODC);
PLIB_PORTS_Write( PORTS_ID_0, PORT_CHANNEL_G, SYS_PORT_G_LAT);
PLIB_PORTS_DirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_G, SYS_PORT_G_TRIS ^ 0xFFFF);
PLIB_PORTS_ChangeNoticePerPortTurnOn(PORTS_ID_0, PORT_CHANNEL_G);
PLIB_PORTS_ChannelModeSelect(PORTS_ID_0, PORT_CHANNEL_G, SYS_PORT_G_ANSEL ^ 0xFFFF, PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_ChannelChangeNoticeEnable(PORTS_ID_0, PORT_CHANNEL_G, SYS_PORT_G_CNEN);
PLIB_PORTS_ChannelChangeNoticePullUpEnable(PORTS_ID_0, PORT_CHANNEL_G, SYS_PORT_G_CNPU);
PLIB_PORTS_ChannelChangeNoticePullDownEnable(PORTS_ID_0, PORT_CHANNEL_G, SYS_PORT_G_CNPD);
/* PPS Input Remapping */
/* PPS Output Remapping */
}
void MOTOR_Initialize ( void )
{
/* Place the App state machine in its initial state. */
motorData.state = MOTOR_STATE_INIT;
/* Place the App state machine in its initial state. */
motorData.RxSeqNum = 0;
motorData.TxSeqNum = 0;
//motorData.rxMessage.command = 0;
//motorData.rxMessage.duration = 0;
motorData.theQueue = xQueueCreate(MOTORQUEUELENGTH, sizeof(MOTOR_MESSAGE)); //sizeof(appData.rxMessage));
if(motorData.theQueue == 0)
{
crash("E:Create Motor msgQ");
//failed to create queue
}
PLIB_PORTS_DirectionOutputSet(PORTS_ID_0, PORT_CHANNEL_G, 0x0002);
PLIB_PORTS_DirectionOutputSet(PORTS_ID_0, PORT_CHANNEL_D, 0x0003);
PLIB_PORTS_DirectionOutputSet(PORTS_ID_0, PORT_CHANNEL_C, 0x4000);
PLIB_PORTS_PinWrite (PORTS_ID_0, PORT_CHANNEL_D, PORTS_BIT_POS_1, 0);
PLIB_PORTS_PinWrite (PORTS_ID_0, PORT_CHANNEL_D, PORTS_BIT_POS_0, 0);
// _OC1_Initialize();
// DRV_OC0_Initialize();
// //DRV_OC1_Enable();
// //DRV_OC0_Enable(); //same thing as start
// DRV_ODRVC1_Stop();
// DRV_OC0_Stop();
// //25.6 us per count
// //count to 200 = 51.2ms per rollover
// DRV_TMR0_Initialize(); //OC Timer
// DRV_TMR1_Initialize(); //IC Timer
// DRV_TMR0_CounterClear();
// DRV_TMR1_CounterClear();
// DRV_TMR0_Start();
// DRV_TMR1_Stop();
initDebugU();
theTimerInit(52);
}
void SYS_PORTS_Initialize(void)
{
/* AN and CN Pins Initialization */
PLIB_PORTS_AnPinsModeSelect(PORTS_ID_0, SYS_PORT_AD1PCFG, PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_CnPinsPullUpEnable(PORTS_ID_0, SYS_PORT_CNPUE);
PLIB_PORTS_CnPinsEnable(PORTS_ID_0, SYS_PORT_CNEN);
PLIB_PORTS_ChangeNoticeEnable(PORTS_ID_0);
/* PORT A Initialization */
PLIB_PORTS_DirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_B, 0x8000);
PLIB_PORTS_OpenDrainEnable(PORTS_ID_0, PORT_CHANNEL_B, 0);
}
int main(void)
{
int i;
// Set PORTH pins to output (for the three starter-kit LEDs),
// clear the pins to ensure LEDs are off
PLIB_PORTS_PinModePerPortSelect(PORTS_ID_0, PORT_CHANNEL_H,PORTS_BIT_POS_0,PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_PinModePerPortSelect(PORTS_ID_0, PORT_CHANNEL_H,PORTS_BIT_POS_1,PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_PinModePerPortSelect(PORTS_ID_0, PORT_CHANNEL_H,PORTS_BIT_POS_2,PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_DirectionOutputSet(PORTS_ID_0, PORT_CHANNEL_H, (PORTS_DATA_MASK)0x07);
PLIB_PORTS_Clear(PORTS_ID_0, PORT_CHANNEL_H, (PORTS_DATA_MASK)0x07);
//ANSELH = 0;
//TRISH = 0;
//LATH = 0;
// Enable the watchdog timer, turn on the red LED to indicate the device is going into sleep
// mode, then service the watchdog timer
PLIB_WDT_Enable(WDT_ID_0);
PLIB_PORTS_PinSet(PORTS_ID_0, PORT_CHANNEL_H, PORTS_BIT_POS_0);
//LATHSET = 0x1;
PLIB_WDT_TimerClear(WDT_ID_0);
//WDTCONbits.WDTCLRKEY = 0x5743;
// Put device into power saving sleep mode - the device will resume normal
// operation when the WDT fails to be serviced and triggers a WDT timeout reset
PLIB_POWER_DeepSleepModeEnable(POWER_ID_0);
//OSCCONbits.SLPEN = 1;
asm volatile("WAIT");
// The device is now out of sleep mode, turn off the WDT so that it does
// not reset the system after another timeout
PLIB_WDT_Disable(WDT_ID_0);
// Turn off the red LED
PLIB_PORTS_PinClear(PORTS_ID_0, PORT_CHANNEL_H, PORTS_BIT_POS_0);
//LATHCLR = 0x1;
while (1)
{
// Blink green LED to indicate device is functioning normally
PLIB_PORTS_PinToggle(PORTS_ID_0, PORT_CHANNEL_H, PORTS_BIT_POS_2);
//LATHINV = 0x4;
// Some delay
i = 1000 * 1000 * 10;
while (i--);
}
/* Program should not go here during normal operation */
return EXIT_FAILURE;
}
void SYS_PORTS_DirectionSelect( PORTS_MODULE_ID index,
SYS_PORTS_PIN_DIRECTION pinDir,
PORTS_CHANNEL channel,
PORTS_DATA_MASK mask )
{
if (pinDir == SYS_PORTS_DIRECTION_INPUT)
{
PLIB_PORTS_DirectionInputSet(index, channel, mask);
}
else
{
PLIB_PORTS_DirectionOutputSet(index, channel, mask);
}
}
void SYS_PORTS_Initialize(void)
{
/* AN and CN Pins Initialization */
PLIB_PORTS_AnPinsModeSelect(PORTS_ID_0, SYS_PORT_AD1PCFG, PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_CnPinsPullUpEnable(PORTS_ID_0, SYS_PORT_CNPUE);
PLIB_PORTS_CnPinsEnable(PORTS_ID_0, SYS_PORT_CNEN);
PLIB_PORTS_ChangeNoticeEnable(PORTS_ID_0);
/* PORT C Initialization */
PLIB_PORTS_OpenDrainEnable(PORTS_ID_0, PORT_CHANNEL_C, SYS_PORT_C_ODC);
PLIB_PORTS_Write( PORTS_ID_0, PORT_CHANNEL_C, SYS_PORT_C_LAT);
PLIB_PORTS_DirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_C, SYS_PORT_C_TRIS ^ 0xFFFF);
/* PORT D Initialization */
PLIB_PORTS_OpenDrainEnable(PORTS_ID_0, PORT_CHANNEL_D, SYS_PORT_D_ODC);
PLIB_PORTS_Write( PORTS_ID_0, PORT_CHANNEL_D, SYS_PORT_D_LAT);
PLIB_PORTS_DirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_D, SYS_PORT_D_TRIS ^ 0xFFFF);
/* PORT E Initialization */
PLIB_PORTS_OpenDrainEnable(PORTS_ID_0, PORT_CHANNEL_E, SYS_PORT_E_ODC);
PLIB_PORTS_Write( PORTS_ID_0, PORT_CHANNEL_E, SYS_PORT_E_LAT);
PLIB_PORTS_DirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_E, SYS_PORT_E_TRIS ^ 0xFFFF);
/* PORT F Initialization */
PLIB_PORTS_OpenDrainEnable(PORTS_ID_0, PORT_CHANNEL_F, SYS_PORT_F_ODC);
PLIB_PORTS_Write( PORTS_ID_0, PORT_CHANNEL_F, SYS_PORT_F_LAT);
PLIB_PORTS_DirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_F, SYS_PORT_F_TRIS ^ 0xFFFF);
/* PORT G Initialization */
PLIB_PORTS_OpenDrainEnable(PORTS_ID_0, PORT_CHANNEL_G, SYS_PORT_G_ODC);
PLIB_PORTS_Write( PORTS_ID_0, PORT_CHANNEL_G, SYS_PORT_G_LAT);
PLIB_PORTS_DirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_G, SYS_PORT_G_TRIS ^ 0xFFFF);
}
void SYS_PORTS_Initialize(void)
{
/* PORT D Initialization */
PLIB_PORTS_DirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_D, SYS_PORT_D_TRIS ^ 0xFFFF);
PLIB_PORTS_OpenDrainEnable(PORTS_ID_0, PORT_CHANNEL_D, SYS_PORT_D_ODC);
PLIB_PORTS_ChangeNoticePerPortTurnOn(PORTS_ID_0, PORT_CHANNEL_D);
PLIB_PORTS_ChannelModeSelect(PORTS_ID_0, PORT_CHANNEL_D, SYS_PORT_D_ANSEL, PORTS_PIN_MODE_ANALOG);
PLIB_PORTS_ChannelChangeNoticeEnable(PORTS_ID_0, PORT_CHANNEL_D, SYS_PORT_D_CNEN);
PLIB_PORTS_ChannelChangeNoticePullUpEnable(PORTS_ID_0, PORT_CHANNEL_D, SYS_PORT_D_CNPU);
PLIB_PORTS_ChannelChangeNoticePullDownEnable(PORTS_ID_0, PORT_CHANNEL_D, SYS_PORT_D_CNPD);
/* PPS Input Remapping */
/* PPS Output Remapping */
}
void readIR()
{
PLIB_PORTS_DirectionInputSet(PORTS_ID_0, PORT_CHANNEL_E, 0xFF);
const TickType_t waitDecay = 4 / portTICK_PERIOD_MS;
vTaskDelay(waitDecay);
char IRData = PLIB_PORTS_Read(PORTS_ID_0, PORT_CHANNEL_E);
IRData = IRData & 0x3F;
PLIB_PORTS_DirectionOutputSet(PORTS_ID_0, PORT_CHANNEL_E, 0xFF);
PLIB_PORTS_Write(PORTS_ID_0, PORT_CHANNEL_E, 0xFF);
StandardMessage msg;
msg.data = IRData;
if( xQueueSendFromISR( MsgQueue_MapSensor_Interrupt, &msg, 100) );
}
void BSP_InitIO (void)
{
unsigned int i,j;
PLIB_PORTS_PinModePerPortSelect(PORTS_ID_0, PORT_CHANNEL_H,PORTS_BIT_POS_0,PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_PinModePerPortSelect(PORTS_ID_0, PORT_CHANNEL_H,PORTS_BIT_POS_1,PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_PinModePerPortSelect(PORTS_ID_0, PORT_CHANNEL_H,PORTS_BIT_POS_2,PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_DirectionOutputSet(PORTS_ID_0, PORT_CHANNEL_H, (PORTS_DATA_MASK)0x07);
PLIB_PORTS_Clear(PORTS_ID_0, PORT_CHANNEL_H, (PORTS_DATA_MASK)0x07);
PLIB_PORTS_PinModePerPortSelect(PORTS_ID_0, PORT_CHANNEL_B,PORTS_BIT_POS_12,PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_PinModePerPortSelect(PORTS_ID_0, PORT_CHANNEL_B,PORTS_BIT_POS_13,PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_PinModePerPortSelect(PORTS_ID_0, PORT_CHANNEL_B,PORTS_BIT_POS_14,PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_ChangeNoticePullUpPerPortEnable(PORTS_ID_0, PORT_CHANNEL_B, PORTS_BIT_POS_12);
PLIB_PORTS_ChangeNoticePullUpPerPortEnable(PORTS_ID_0, PORT_CHANNEL_B, PORTS_BIT_POS_13);
PLIB_PORTS_ChangeNoticePullUpPerPortEnable(PORTS_ID_0, PORT_CHANNEL_B, PORTS_BIT_POS_14);
//CNPUBbits.CNPUB12 = 1;
//CNPUBbits.CNPUB13 = 1;
//CNPUBbits.CNPUB14 = 1;
/* set the switch pins as input */
PLIB_PORTS_PinDirectionInputSet ( PORTS_ID_0 ,PORT_CHANNEL_B ,SWITCH_1);
PLIB_PORTS_PinDirectionInputSet ( PORTS_ID_0 ,PORT_CHANNEL_B ,SWITCH_2 );
PLIB_PORTS_PinDirectionInputSet ( PORTS_ID_0 ,PORT_CHANNEL_B ,SWITCH_3 );
PLIB_INT_MultiVectorSelect(INT_ID_0);
//INTCON = 0x1000;
/* set priority for USB interrupt source */
PLIB_INT_VectorPrioritySet(INT_ID_0,INT_VECTOR_USB, INT_PRIORITY_LEVEL3);
/* set sub-priority for USB interrupt source */
PLIB_INT_VectorSubPrioritySet(INT_ID_0,INT_VECTOR_USB, INT_SUBPRIORITY_LEVEL3);
PLIB_INT_VectorPrioritySet(INT_ID_0,INT_VECTOR_CT,INT_PRIORITY_LEVEL2);
PLIB_INT_SourceEnable(INT_ID_0,INT_SOURCE_TIMER_CORE);
//IPC0SET = 0x00000006;//set priority of core timer .
//IEC0SET = 0x00000001;//enable core timer
}
/******************************************************************************
Function:
SYS_PORTS_Initialize(void)
Summary:
Initializes Ports System Service
Description:
This function initializes different port pins/channels to the desired state.
It also remaps the pins to the desired specific function.
Remarks:
None.
*/
void SYS_PORTS_Initialize(void)
{
/* AN and CN Pins Initialization */
PLIB_PORTS_AnPinsModeSelect(PORTS_ID_0, SYS_PORT_AD1PCFG, PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_CnPinsPullUpEnable(PORTS_ID_0, SYS_PORT_CNPUE);
PLIB_PORTS_CnPinsEnable(PORTS_ID_0, SYS_PORT_CNEN);
PLIB_PORTS_ChangeNoticeEnable(PORTS_ID_0);
PLIB_PORTS_Read(PORTS_ID_0, PORT_CHANNEL_D);
PLIB_INT_SourceFlagClear(INT_ID_0, INT_SOURCE_CHANGE_NOTICE);
PLIB_INT_SourceEnable(INT_ID_0, INT_SOURCE_CHANGE_NOTICE);
PLIB_INT_VectorPrioritySet(INT_ID_0, INT_VECTOR_CN, INT_PRIORITY_LEVEL2);
PLIB_INT_VectorSubPrioritySet(INT_ID_0, INT_VECTOR_CN, INT_SUBPRIORITY_LEVEL0);
/* PORT D Initialization */
PLIB_PORTS_OpenDrainEnable(PORTS_ID_0, PORT_CHANNEL_D, SYS_PORT_D_ODC);
PLIB_PORTS_Write( PORTS_ID_0, PORT_CHANNEL_D, SYS_PORT_D_LAT);
PLIB_PORTS_DirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_D, SYS_PORT_D_TRIS ^ 0xFFFF);
}
int main(void)
{
int i;
/* Disable JTAG to free up PORTA pins */
DDPCONbits.JTAGEN = 0;
/* Set the lower 8 bits of PORTA as output (for Explorer-16 LEDs),
clear the bits to ensure there is no mismatch when they are toggled */
PLIB_PORTS_DirectionOutputSet(PORTS_ID_0, PORT_CHANNEL_A, (PORTS_DATA_MASK)0x00FF);
PLIB_PORTS_Clear(PORTS_ID_0, PORT_CHANNEL_A, (PORTS_DATA_MASK)0x00FF);
// Enable the watchdog timer, turn on the left-most LED to indicate the device will be in sleep
// mode, then service the watchdog timer
PLIB_WDT_Enable(WDT_ID_0);
PLIB_PORTS_PinSet(PORTS_ID_0, PORT_CHANNEL_A, PORTS_BIT_POS_7);
PLIB_WDT_TimerClear(WDT_ID_0);
// Put device into power saving sleep mode - the device will resume normal
// operation when the WDT fails to be serviced and triggers a WDT timeout
// reset
PLIB_POWER_DeepSleepModeEnable(POWER_ID_0);
// The device is now out of sleep mode, turn off the WDT so that it does
// not reset the system after another timeout
PLIB_WDT_Disable(WDT_ID_0);
// Turn off the left-most LED
PLIB_PORTS_PinClear(PORTS_ID_0, PORT_CHANNEL_A, PORTS_BIT_POS_7);
while (1)
{
// Toggle first (right-most) LED to indicate device is out of sleep mode
PLIB_PORTS_PinToggle(PORTS_ID_0, PORT_CHANNEL_A, PORTS_BIT_POS_0);
// Some delay
i = 1000 * 200;
while(i--);
}
}
/******************************************************************************
Function:
SYS_PORTS_Initialize(void)
Summary:
Initializes Ports System Service
Description:
This function initializes different port pins/channels to the desired state.
It also remaps the pins to the desired specific function.
Remarks:
None.
*/
void SYS_PORTS_Initialize(void)
{
/* PORT A Initialization */
PLIB_PORTS_OpenDrainEnable(PORTS_ID_0, PORT_CHANNEL_A, SYS_PORT_A_ODC);
PLIB_PORTS_Write( PORTS_ID_0, PORT_CHANNEL_A, SYS_PORT_A_LAT);
PLIB_PORTS_DirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_A, SYS_PORT_A_TRIS ^ 0xFFFF);
PLIB_PORTS_ChangeNoticePerPortTurnOn(PORTS_ID_0, PORT_CHANNEL_A);
PLIB_PORTS_ChannelModeSelect(PORTS_ID_0, PORT_CHANNEL_A, SYS_PORT_A_ANSEL ^ 0xFFFF, PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_ChannelChangeNoticeEnable(PORTS_ID_0, PORT_CHANNEL_A, SYS_PORT_A_CNEN);
PLIB_PORTS_ChannelChangeNoticePullUpEnable(PORTS_ID_0, PORT_CHANNEL_A, SYS_PORT_A_CNPU);
PLIB_PORTS_ChannelChangeNoticePullDownEnable(PORTS_ID_0, PORT_CHANNEL_A, SYS_PORT_A_CNPD);
/* PORT B Initialization */
PLIB_PORTS_OpenDrainEnable(PORTS_ID_0, PORT_CHANNEL_B, SYS_PORT_B_ODC);
PLIB_PORTS_Write( PORTS_ID_0, PORT_CHANNEL_B, SYS_PORT_B_LAT);
PLIB_PORTS_DirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_B, SYS_PORT_B_TRIS ^ 0xFFFF);
PLIB_PORTS_ChangeNoticePerPortTurnOn(PORTS_ID_0, PORT_CHANNEL_B);
PLIB_PORTS_ChannelModeSelect(PORTS_ID_0, PORT_CHANNEL_B, SYS_PORT_B_ANSEL ^ 0xFFFF, PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_ChannelChangeNoticeEnable(PORTS_ID_0, PORT_CHANNEL_B, SYS_PORT_B_CNEN);
PLIB_PORTS_ChannelChangeNoticePullUpEnable(PORTS_ID_0, PORT_CHANNEL_B, SYS_PORT_B_CNPU);
PLIB_PORTS_ChannelChangeNoticePullDownEnable(PORTS_ID_0, PORT_CHANNEL_B, SYS_PORT_B_CNPD);
/* PORT C Initialization */
PLIB_PORTS_OpenDrainEnable(PORTS_ID_0, PORT_CHANNEL_C, SYS_PORT_C_ODC);
PLIB_PORTS_Write( PORTS_ID_0, PORT_CHANNEL_C, SYS_PORT_C_LAT);
PLIB_PORTS_DirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_C, SYS_PORT_C_TRIS ^ 0xFFFF);
PLIB_PORTS_ChangeNoticePerPortTurnOn(PORTS_ID_0, PORT_CHANNEL_C);
PLIB_PORTS_ChannelModeSelect(PORTS_ID_0, PORT_CHANNEL_C, SYS_PORT_C_ANSEL ^ 0xFFFF, PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_ChannelChangeNoticeEnable(PORTS_ID_0, PORT_CHANNEL_C, SYS_PORT_C_CNEN);
PLIB_PORTS_ChannelChangeNoticePullUpEnable(PORTS_ID_0, PORT_CHANNEL_C, SYS_PORT_C_CNPU);
PLIB_PORTS_ChannelChangeNoticePullDownEnable(PORTS_ID_0, PORT_CHANNEL_C, SYS_PORT_C_CNPD);
/* PORT D Initialization */
PLIB_PORTS_OpenDrainEnable(PORTS_ID_0, PORT_CHANNEL_D, SYS_PORT_D_ODC);
PLIB_PORTS_Write( PORTS_ID_0, PORT_CHANNEL_D, SYS_PORT_D_LAT);
PLIB_PORTS_DirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_D, SYS_PORT_D_TRIS ^ 0xFFFF);
PLIB_PORTS_ChangeNoticePerPortTurnOn(PORTS_ID_0, PORT_CHANNEL_D);
PLIB_PORTS_ChannelModeSelect(PORTS_ID_0, PORT_CHANNEL_D, SYS_PORT_D_ANSEL ^ 0xFFFF, PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_ChannelChangeNoticeEnable(PORTS_ID_0, PORT_CHANNEL_D, SYS_PORT_D_CNEN);
PLIB_PORTS_ChannelChangeNoticePullUpEnable(PORTS_ID_0, PORT_CHANNEL_D, SYS_PORT_D_CNPU);
PLIB_PORTS_ChannelChangeNoticePullDownEnable(PORTS_ID_0, PORT_CHANNEL_D, SYS_PORT_D_CNPD);
/* PORT E Initialization */
PLIB_PORTS_OpenDrainEnable(PORTS_ID_0, PORT_CHANNEL_E, SYS_PORT_E_ODC);
PLIB_PORTS_Write( PORTS_ID_0, PORT_CHANNEL_E, SYS_PORT_E_LAT);
PLIB_PORTS_DirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_E, SYS_PORT_E_TRIS ^ 0xFFFF);
PLIB_PORTS_ChangeNoticePerPortTurnOn(PORTS_ID_0, PORT_CHANNEL_E);
PLIB_PORTS_ChannelModeSelect(PORTS_ID_0, PORT_CHANNEL_E, SYS_PORT_E_ANSEL ^ 0xFFFF, PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_ChannelChangeNoticeEnable(PORTS_ID_0, PORT_CHANNEL_E, SYS_PORT_E_CNEN);
PLIB_PORTS_ChannelChangeNoticePullUpEnable(PORTS_ID_0, PORT_CHANNEL_E, SYS_PORT_E_CNPU);
PLIB_PORTS_ChannelChangeNoticePullDownEnable(PORTS_ID_0, PORT_CHANNEL_E, SYS_PORT_E_CNPD);
/* PORT F Initialization */
PLIB_PORTS_OpenDrainEnable(PORTS_ID_0, PORT_CHANNEL_F, SYS_PORT_F_ODC);
PLIB_PORTS_Write( PORTS_ID_0, PORT_CHANNEL_F, SYS_PORT_F_LAT);
PLIB_PORTS_DirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_F, SYS_PORT_F_TRIS ^ 0xFFFF);
PLIB_PORTS_ChangeNoticePerPortTurnOn(PORTS_ID_0, PORT_CHANNEL_F);
PLIB_PORTS_ChannelModeSelect(PORTS_ID_0, PORT_CHANNEL_F, SYS_PORT_F_ANSEL ^ 0xFFFF, PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_ChannelChangeNoticeEnable(PORTS_ID_0, PORT_CHANNEL_F, SYS_PORT_F_CNEN);
PLIB_PORTS_ChannelChangeNoticePullUpEnable(PORTS_ID_0, PORT_CHANNEL_F, SYS_PORT_F_CNPU);
PLIB_PORTS_ChannelChangeNoticePullDownEnable(PORTS_ID_0, PORT_CHANNEL_F, SYS_PORT_F_CNPD);
PLIB_PORTS_Read(PORTS_ID_0, PORT_CHANNEL_F);
PLIB_INT_SourceFlagClear(INT_ID_0, INT_SOURCE_CHANGE_NOTICE_F);
PLIB_INT_SourceEnable(INT_ID_0, INT_SOURCE_CHANGE_NOTICE_F);
PLIB_INT_VectorPrioritySet(INT_ID_0, INT_VECTOR_CHANGE_NOTICE_F, INT_PRIORITY_LEVEL1);
PLIB_INT_VectorSubPrioritySet(INT_ID_0, INT_VECTOR_CHANGE_NOTICE_F, INT_SUBPRIORITY_LEVEL0);
/* PORT G Initialization */
PLIB_PORTS_OpenDrainEnable(PORTS_ID_0, PORT_CHANNEL_G, SYS_PORT_G_ODC);
PLIB_PORTS_Write( PORTS_ID_0, PORT_CHANNEL_G, SYS_PORT_G_LAT);
PLIB_PORTS_DirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_G, SYS_PORT_G_TRIS ^ 0xFFFF);
PLIB_PORTS_ChangeNoticePerPortTurnOn(PORTS_ID_0, PORT_CHANNEL_G);
PLIB_PORTS_ChannelModeSelect(PORTS_ID_0, PORT_CHANNEL_G, SYS_PORT_G_ANSEL ^ 0xFFFF, PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_ChannelChangeNoticeEnable(PORTS_ID_0, PORT_CHANNEL_G, SYS_PORT_G_CNEN);
PLIB_PORTS_ChannelChangeNoticePullUpEnable(PORTS_ID_0, PORT_CHANNEL_G, SYS_PORT_G_CNPU);
PLIB_PORTS_ChannelChangeNoticePullDownEnable(PORTS_ID_0, PORT_CHANNEL_G, SYS_PORT_G_CNPD);
/* PORT H Initialization */
PLIB_PORTS_OpenDrainEnable(PORTS_ID_0, PORT_CHANNEL_H, SYS_PORT_H_ODC);
PLIB_PORTS_Write( PORTS_ID_0, PORT_CHANNEL_H, SYS_PORT_H_LAT);
PLIB_PORTS_DirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_H, SYS_PORT_H_TRIS ^ 0xFFFF);
PLIB_PORTS_ChangeNoticePerPortTurnOn(PORTS_ID_0, PORT_CHANNEL_H);
PLIB_PORTS_ChannelModeSelect(PORTS_ID_0, PORT_CHANNEL_H, SYS_PORT_H_ANSEL ^ 0xFFFF, PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_ChannelChangeNoticeEnable(PORTS_ID_0, PORT_CHANNEL_H, SYS_PORT_H_CNEN);
PLIB_PORTS_ChannelChangeNoticePullUpEnable(PORTS_ID_0, PORT_CHANNEL_H, SYS_PORT_H_CNPU);
PLIB_PORTS_ChannelChangeNoticePullDownEnable(PORTS_ID_0, PORT_CHANNEL_H, SYS_PORT_H_CNPD);
/* PORT J Initialization */
PLIB_PORTS_OpenDrainEnable(PORTS_ID_0, PORT_CHANNEL_J, SYS_PORT_J_ODC);
PLIB_PORTS_Write( PORTS_ID_0, PORT_CHANNEL_J, SYS_PORT_J_LAT);
PLIB_PORTS_DirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_J, SYS_PORT_J_TRIS ^ 0xFFFF);
PLIB_PORTS_ChangeNoticePerPortTurnOn(PORTS_ID_0, PORT_CHANNEL_J);
PLIB_PORTS_ChannelModeSelect(PORTS_ID_0, PORT_CHANNEL_J, SYS_PORT_J_ANSEL ^ 0xFFFF, PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_ChannelChangeNoticeEnable(PORTS_ID_0, PORT_CHANNEL_J, SYS_PORT_J_CNEN);
PLIB_PORTS_ChannelChangeNoticePullUpEnable(PORTS_ID_0, PORT_CHANNEL_J, SYS_PORT_J_CNPU);
PLIB_PORTS_ChannelChangeNoticePullDownEnable(PORTS_ID_0, PORT_CHANNEL_J, SYS_PORT_J_CNPD);
/* PORT K Initialization */
PLIB_PORTS_OpenDrainEnable(PORTS_ID_0, PORT_CHANNEL_K, SYS_PORT_K_ODC);
PLIB_PORTS_Write( PORTS_ID_0, PORT_CHANNEL_K, SYS_PORT_K_LAT);
PLIB_PORTS_DirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_K, SYS_PORT_K_TRIS ^ 0xFFFF);
PLIB_PORTS_ChangeNoticePerPortTurnOn(PORTS_ID_0, PORT_CHANNEL_K);
PLIB_PORTS_ChannelModeSelect(PORTS_ID_0, PORT_CHANNEL_K, SYS_PORT_K_ANSEL ^ 0xFFFF, PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_ChannelChangeNoticeEnable(PORTS_ID_0, PORT_CHANNEL_K, SYS_PORT_K_CNEN);
PLIB_PORTS_ChannelChangeNoticePullUpEnable(PORTS_ID_0, PORT_CHANNEL_K, SYS_PORT_K_CNPU);
PLIB_PORTS_ChannelChangeNoticePullDownEnable(PORTS_ID_0, PORT_CHANNEL_K, SYS_PORT_K_CNPD);
/* PPS Input Remapping */
PLIB_PORTS_RemapInput(PORTS_ID_0, INPUT_FUNC_SDI6, INPUT_PIN_RPB14 );
PLIB_PORTS_RemapInput(PORTS_ID_0, INPUT_FUNC_U4RX, INPUT_PIN_RPD5 );
PLIB_PORTS_RemapInput(PORTS_ID_0, INPUT_FUNC_SDI2, INPUT_PIN_RPG7 );
PLIB_PORTS_RemapInput(PORTS_ID_0, INPUT_FUNC_U1RX, INPUT_PIN_RPG1 );
PLIB_PORTS_RemapInput(PORTS_ID_0, INPUT_FUNC_U3RX, INPUT_PIN_RPF5 );
PLIB_PORTS_RemapInput(PORTS_ID_0, INPUT_FUNC_SDI1, INPUT_PIN_RPD2 );
/* PPS Output Remapping */
PLIB_PORTS_RemapOutput(PORTS_ID_0, OUTPUT_FUNC_SDO6, OUTPUT_PIN_RPB15 );
PLIB_PORTS_RemapOutput(PORTS_ID_0, OUTPUT_FUNC_U4TX, OUTPUT_PIN_RPD4 );
PLIB_PORTS_RemapOutput(PORTS_ID_0, OUTPUT_FUNC_SDO2, OUTPUT_PIN_RPG8 );
PLIB_PORTS_RemapOutput(PORTS_ID_0, OUTPUT_FUNC_U1TX, OUTPUT_PIN_RPG0 );
PLIB_PORTS_RemapOutput(PORTS_ID_0, OUTPUT_FUNC_U3TX, OUTPUT_PIN_RPA14 );
PLIB_PORTS_RemapOutput(PORTS_ID_0, OUTPUT_FUNC_SDO1, OUTPUT_PIN_RPD3 );
}
/******************************************************************************
Function:
SYS_PORTS_Initialize(void)
Summary:
Initializes Ports System Service
Description:
This function initializes different port pins/channels to the desired state.
It also remaps the pins to the desired specific function.
Remarks:
None.
*/
void SYS_PORTS_Initialize(void)
{
/* PORT A Initialization */
PLIB_PORTS_OpenDrainEnable(PORTS_ID_0, PORT_CHANNEL_A, SYS_PORT_A_ODC);
PLIB_PORTS_Write( PORTS_ID_0, PORT_CHANNEL_A, SYS_PORT_A_LAT);
PLIB_PORTS_DirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_A, SYS_PORT_A_TRIS ^ 0xFFFF);
PLIB_PORTS_ChangeNoticePerPortTurnOn(PORTS_ID_0, PORT_CHANNEL_A);
PLIB_PORTS_ChannelModeSelect(PORTS_ID_0, PORT_CHANNEL_A, SYS_PORT_A_ANSEL ^ 0xFFFF, PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_ChannelChangeNoticeEnable(PORTS_ID_0, PORT_CHANNEL_A, SYS_PORT_A_CNEN);
PLIB_PORTS_ChannelChangeNoticePullUpEnable(PORTS_ID_0, PORT_CHANNEL_A, SYS_PORT_A_CNPU);
PLIB_PORTS_ChannelChangeNoticePullDownEnable(PORTS_ID_0, PORT_CHANNEL_A, SYS_PORT_A_CNPD);
/* PORT C Initialization */
PLIB_PORTS_OpenDrainEnable(PORTS_ID_0, PORT_CHANNEL_C, SYS_PORT_C_ODC);
PLIB_PORTS_Write( PORTS_ID_0, PORT_CHANNEL_C, SYS_PORT_C_LAT);
PLIB_PORTS_DirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_C, SYS_PORT_C_TRIS ^ 0xFFFF);
PLIB_PORTS_ChangeNoticePerPortTurnOn(PORTS_ID_0, PORT_CHANNEL_C);
PLIB_PORTS_ChannelModeSelect(PORTS_ID_0, PORT_CHANNEL_C, SYS_PORT_C_ANSEL ^ 0xFFFF, PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_ChannelChangeNoticeEnable(PORTS_ID_0, PORT_CHANNEL_C, SYS_PORT_C_CNEN);
PLIB_PORTS_ChannelChangeNoticePullUpEnable(PORTS_ID_0, PORT_CHANNEL_C, SYS_PORT_C_CNPU);
PLIB_PORTS_ChannelChangeNoticePullDownEnable(PORTS_ID_0, PORT_CHANNEL_C, SYS_PORT_C_CNPD);
/* PORT D Initialization */
PLIB_PORTS_OpenDrainEnable(PORTS_ID_0, PORT_CHANNEL_D, SYS_PORT_D_ODC);
PLIB_PORTS_Write( PORTS_ID_0, PORT_CHANNEL_D, SYS_PORT_D_LAT);
PLIB_PORTS_DirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_D, SYS_PORT_D_TRIS ^ 0xFFFF);
PLIB_PORTS_ChangeNoticePerPortTurnOn(PORTS_ID_0, PORT_CHANNEL_D);
PLIB_PORTS_ChannelModeSelect(PORTS_ID_0, PORT_CHANNEL_D, SYS_PORT_D_ANSEL ^ 0xFFFF, PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_ChannelChangeNoticeEnable(PORTS_ID_0, PORT_CHANNEL_D, SYS_PORT_D_CNEN);
PLIB_PORTS_ChannelChangeNoticePullUpEnable(PORTS_ID_0, PORT_CHANNEL_D, SYS_PORT_D_CNPU);
PLIB_PORTS_ChannelChangeNoticePullDownEnable(PORTS_ID_0, PORT_CHANNEL_D, SYS_PORT_D_CNPD);
/* PORT E Initialization */
PLIB_PORTS_OpenDrainEnable(PORTS_ID_0, PORT_CHANNEL_E, SYS_PORT_E_ODC);
PLIB_PORTS_Write( PORTS_ID_0, PORT_CHANNEL_E, SYS_PORT_E_LAT);
PLIB_PORTS_DirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_E, SYS_PORT_E_TRIS ^ 0xFFFF);
PLIB_PORTS_ChangeNoticePerPortTurnOn(PORTS_ID_0, PORT_CHANNEL_E);
PLIB_PORTS_ChannelModeSelect(PORTS_ID_0, PORT_CHANNEL_E, SYS_PORT_E_ANSEL ^ 0xFFFF, PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_ChannelChangeNoticeEnable(PORTS_ID_0, PORT_CHANNEL_E, SYS_PORT_E_CNEN);
PLIB_PORTS_ChannelChangeNoticePullUpEnable(PORTS_ID_0, PORT_CHANNEL_E, SYS_PORT_E_CNPU);
PLIB_PORTS_ChannelChangeNoticePullDownEnable(PORTS_ID_0, PORT_CHANNEL_E, SYS_PORT_E_CNPD);
/* PORT G Initialization */
PLIB_PORTS_OpenDrainEnable(PORTS_ID_0, PORT_CHANNEL_G, SYS_PORT_G_ODC);
PLIB_PORTS_Write( PORTS_ID_0, PORT_CHANNEL_G, SYS_PORT_G_LAT);
PLIB_PORTS_DirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_G, SYS_PORT_G_TRIS ^ 0xFFFF);
PLIB_PORTS_ChangeNoticePerPortTurnOn(PORTS_ID_0, PORT_CHANNEL_G);
PLIB_PORTS_ChannelModeSelect(PORTS_ID_0, PORT_CHANNEL_G, SYS_PORT_G_ANSEL ^ 0xFFFF, PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_ChannelChangeNoticeEnable(PORTS_ID_0, PORT_CHANNEL_G, SYS_PORT_G_CNEN);
PLIB_PORTS_ChannelChangeNoticePullUpEnable(PORTS_ID_0, PORT_CHANNEL_G, SYS_PORT_G_CNPU);
PLIB_PORTS_ChannelChangeNoticePullDownEnable(PORTS_ID_0, PORT_CHANNEL_G, SYS_PORT_G_CNPD);
/* PPS Input Remapping */
// SPI2 - OLED MISO
PLIB_PORTS_RemapInput(PORTS_ID_0, INPUT_FUNC_SDI2, INPUT_PIN_RPC13);
/* PPS Output Remapping */
// SPI2 - OLED MOSI
PLIB_PORTS_RemapOutput(PORTS_ID_0, OUTPUT_FUNC_SDO2, OUTPUT_PIN_RPC14);
// SPI2 - OLED CS
PLIB_PORTS_RemapOutput(PORTS_ID_0, OUTPUT_FUNC_SS2, OUTPUT_PIN_RPD1);
}
void traces(char letter)
{
PLIB_PORTS_DirectionOutputSet (PORTS_ID_0, PORT_CHANNEL_A, 0xFF);
PLIB_PORTS_Write(PORTS_ID_0, PORT_CHANNEL_A, letter);
}
void updateLinesNumber_int(int number3){
PLIB_PORTS_DirectionOutputSet (PORTS_ID_0, PORT_CHANNEL_B, 0xFF);
PLIB_PORTS_Write(PORTS_ID_0, PORT_CHANNEL_B, number3);
}
void updateLinesNumber (int8_t number)
{
PLIB_PORTS_DirectionOutputSet (PORTS_ID_0, PORT_CHANNEL_E, 0xFF);
PLIB_PORTS_Write(PORTS_ID_0, PORT_CHANNEL_E, number);
}
void updateLines(char letter)
{
PLIB_PORTS_DirectionOutputSet (PORTS_ID_0, PORT_CHANNEL_E, 0xFF);
PLIB_PORTS_Write(PORTS_ID_0, PORT_CHANNEL_E, letter);
}