void user_init(void) { esos_init_menu(); // initilize the menu, LCD and UI configECAN1(); // init can CHANGE_MODE_ECAN1(ECAN_MODE_NORMAL); // setup the CAN esos_pic24_configI2C1(400); // setup the I2C // used for my own curiosity for the SPI transmission CONFIG_RD2_AS_DIG_OUTPUT(); _LATD2 = 1; u16_position = 0; // initial values u8_dutyCount = 0; // initial values u16_positionDACB = 0; // initial values u8_dutyCountDACB = 0; // initial values b_CANINUSE = 0; esos_create_menu(8); // setup the menu // see the .h file for details esos_insert_menu_title(TEAM, SET, SV3C, "team", '0'); esos_insert_menu_title(WAVEFORM, SET, SV3C, "wvform", '0'); esos_insert_menu_title(FREQ, SET, SVDATA, "freq", '0'); esos_insert_menu_title(AMPLTD, SET, SVDATA, "ampltd", '0'); esos_insert_menu_title(DUTY, SET, SVDATA, "duty", '0'); esos_insert_menu_title(LM60, READ, NONE, "LM60", '0'); esos_insert_menu_title(LEDSET, SET, SVDATA, "LEDs", '0'); esos_insert_menu_title(ABOUT, STATIC, NONE, "About", '0'); esos_setSV3C(TEAM, "APPLE ", "CHERRY ", "TEACHER"); esos_setSV3C(WAVEFORM, "tri ", "sine ", "square "); esos_setSVDATA(FREQ, 64, 2047, FALSE, FALSE); esos_setSVDATA(AMPLTD, 0, 30, FALSE, FALSE); esos_setSVDATA(DUTY, 0, 100, FALSE, FALSE); esos_setSVDATA(LM60, 0, 100, FALSE, FALSE); esos_setSVDATA(LEDSET, 0, 1110, TRUE, TRUE); esos_setStaticInfo(ABOUT, "Developers DIGITAL FUNCTION SYNTHESIZER", "James CPE Andrew EE John CPE Wyatt CPE"); configSPI1(); // configure the spi configTimer2(); // configure timer 2 configTimer3(); // configure timer 3 esos_setSVDATAValue(DUTY, 50); // set the default duty cycle esos_setSVDATAValue(AMPLTD, 30); // set the default ampl esos_setSV3C_VALUE(TEAM, 1); esos_setSV3C_VALUE(WAVEFORM, 1); u8_currentMenuIndex = MY_ID; // initial index is set to MY_ID // enable the interrupts ESOS_REGISTER_PIC24_USER_INTERRUPT( ESOS_IRQ_PIC24_T2, ESOS_USER_IRQ_LEVEL1, _T2Interrupt); ESOS_ENABLE_PIC24_USER_INTERRUPT(ESOS_IRQ_PIC24_T2); ESOS_REGISTER_PIC24_USER_INTERRUPT( ESOS_IRQ_PIC24_T3, ESOS_USER_IRQ_LEVEL1, _T3Interrupt); ESOS_ENABLE_PIC24_USER_INTERRUPT(ESOS_IRQ_PIC24_T3); esos_RegisterTask(LEDS); // for change in LED states esos_RegisterTask(DACA); // for change in wave esos_RegisterTask(DACB); // for change in wave esos_RegisterTask(CAN_RX); // CAN RX esos_RegisterTask(CAN_TEMP_TX); // CAN TX esos_RegisterTask(SET_TEAM); // TEAM SETUP esos_RegisterTask(BUILD_LIST); // LIST esos_RegisterTask(UPDATE_TEMP); // UPDATES THE TEMP } // end user_init()
void servo_init() { // All servo outputs low initially RUBIKS_PLATFORM_PIN = 0; RUBIKS_TWIST_PIN = 0; SIMON_YELLOW_PIN = 0; SIMON_BLUE_PIN = 0; SIMON_RED_PIN = 0; SIMON_GREEN_PIN = 0; ARM_POSITION_PIN = 0; ARM_SLIDE_LEFT_PIN = 0; ARM_SLIDE_RIGHT_PIN = 0; ETCH_VERTICAL_PIN = 0; ETCH_HORIZ_PIN = 0; // Configure timers and output comparators config_servo_timer3(); config_output_capture1(); config_servo_timer2(); config_output_capture2(); u16_slotWidthTicks = usToU16Ticks(SLOT_WIDTH, getTimerPrescale(T3CONbits)); DELAY_MS(500); // Config all the servo outputs CONFIG_RD2_AS_DIG_OUTPUT(); CONFIG_RD3_AS_DIG_OUTPUT(); CONFIG_RD4_AS_DIG_OUTPUT(); CONFIG_RD5_AS_DIG_OUTPUT(); CONFIG_RD6_AS_DIG_OUTPUT(); CONFIG_RD7_AS_DIG_OUTPUT(); CONFIG_RD8_AS_DIG_OUTPUT(); CONFIG_RD9_AS_DIG_OUTPUT(); CONFIG_RD10_AS_DIG_OUTPUT(); CONFIG_RD11_AS_DIG_OUTPUT(); CONFIG_RB13_AS_DIG_OUTPUT(); // Turn on the timers T3CONbits.TON = 1; T2CONbits.TON = 1; }