void setup_spi() {
// TODO move it out of here
INTDisableInterrupts();
mCNOpen(CN_ON | CN_IDLE_CON, CN1_ENABLE, CN1_PULLUP_ENABLE);
mPORTCRead();
mCNSetIntPriority(6); // same as below
mCNClearIntFlag();
mCNIntEnable(1);
INTEnableInterrupts();
}
/************ PROCEDURES ********************/
void step (unsigned char data, unsigned char motorNumber) {
data = data & 0x0F; // make sure only the LS-nibble will be overwritten
unsigned int lectura;
switch (motorNumber) {
case 1:
lectura = mPORTDRead() & (~(0xF << 4));
mPORTDWrite(lectura | (data << 4));
break;
case 2:
lectura = mPORTCRead() & (~(0xF << 1));
mPORTCWrite(lectura | (data << 1));
break;
case 3:
case 4:
motorNumber -= 3;
lectura = mPORTERead() & (~(0xF << motorNumber*4));
mPORTEWrite(lectura | (data << motorNumber*4));
break;
}
}
// Initialize LEDs on G12 and G13 as output and the switch on G6 as input
// G6 has an internal pullup resistor enabled by the bootloader
void initLEDs(void) {
TRISBCLR = 0xDFFF;
LATBCLR = 0xDFFF;
TRISCCLR = 0x2000;
LATCCLR = 0x2000;
TRISDCLR = 0x09F0;
LATDCLR = 0x09F0;
TRISECLR = 0x0DFF;
LATDCLR = 0x0DFF;
TRISFCLR = 0x000B;
LATFCLR = 0x000B;
TRISGCLR = 0x038C;
LATGCLR = 0x038C;
TRISDCLR = 0x000F;
TRISBCLR = 0x2000;
TRISGSET = 0x0040;
AD1PCFG=0xFFFF;
TRISCSET = 0x4000;
mPORTCRead();
}
void __ISR(_EXTERNAL_2_VECTOR, ipl1) _Interrupt_XY_Limit(void)
{
unsigned int temp;
temp = mPORTCRead();
if(temp & xLimitInput.pin)
{
xLimitDetected = TRUE;
BSP_AxisDisable(X_AXIS);
//BSP_Timer2Stop();
}
if(temp & yLimitInput.pin)
{
yLimitDetected = TRUE;
BSP_AxisDisable(Y_AXIS);
//BSP_Timer2Stop();
}
/* Clear the interrupt flag */
mINT2ClearIntFlag();
}
