// Now create any global variables such as motors, servos, sensors etc // This routine is called once only and allows you to do set up the hardware // Dont use any 'clock' functions here - use 'delay' functions instead void appInitHardware(void){ a2dSetPrescaler(ADC_PRESCALE_DIV128); cyrf6936_Initialise_hard(); // Initialise SPI bus as master. (RF modules connected to hardware SPI) spiBusInit(&bus, TRUE); spiDeviceSelect(&cyrf_0, TRUE); spiDeviceSelect(&cyrf_0, FALSE); spiDeviceSelect(&cyrf_1, TRUE); spiDeviceSelect(&cyrf_1, FALSE); // set I/O pins for RF module(s). pin_make_input(D4, FALSE); // set PACTL pin to input. (module on connector J1) pin_make_input(D5, FALSE); // set PACTLn pin to input. (module on connector J1) pin_make_input(D6, FALSE); // set PACTL pin to input. (module on connector J2) pin_make_input(D7, FALSE); // set PACTLn pin to input. (module on connector J2) #ifdef RF_MODULE_ARTAFLEX // pin_make_output(D4, FALSE); // set RXPA pin to output. (module on connector J1) pin_make_output(D5, FALSE); // set TXPA pin to output. (module on connector J1) pin_make_output(D6, FALSE); // set RXPA pin to output. (module on connector J2) pin_make_output(D7, FALSE); // set TXPA pin to output. (module on connector J2) #endif pin_make_input(E7, TRUE); // set UNIGEN RF module IRQ pin to input. (module on connector J1) pin_make_input(E6, TRUE); // set UNIGEN RF module IRQ pin to input. (module on connector J2) pin_make_output(G3, FALSE); // set UNIGEN RF module RST pin to output. (both modules) //pin_low(G3); // don't reset yet. // set I/O pins for status LEDs pin_make_output(C0, TRUE); // set LED pin for output pin_make_output(C1, TRUE); // set LED pin for output pin_make_output(C2, FALSE); // set LED pin for output //pin_high(C0); // LED off //pin_high(C1); // LED off //pin_low(C2); // LED on // Set UART1 to 19200 baud uartInit(UART1, 38400); // Tell rprintf to output to UART1 rprintfInit(&uart1SendByte); // Initialise the servo controller using Hardware PWM servoPWMInit(&bank1); // Initialise WatchDog Timer wdt_enable( WDTO_500MS ); }
// ----------- Initialise my added devices ------ void initHardware(void){ servoPWMInit(&_Servos1_); servoPWMInit(&_servos2_); }