#include "init.h"

#include "i2c.h"

#include "timer.h"

#include "uart.h"

#include "pwm.h"

#include "ports.h"

extern unsigned long t1_ticks;

void SetupADC(void)

{

AD1CON1bits.ADON = 0; //disable

AD1CON1bits.ADSIDL = 0; //continue in idle mode

AD1CON1bits.AD12B = 0; //10 bit mode

AD1CON1bits.FORM = 0b00; //integer (0000 00dd dddd dddd) format output

AD1CON1bits.SSRC = 0b011; //Sample clock source based on PWM

AD1CON1bits.SIMSAM = 1; //Sample channels simultaneously

AD1CON1bits.ASAM = 0; //Auto sampling off

AD1CON2bits.VCFG = 0b000; //Vdd is pos. ref and Vss is neg. ref.

AD1CON2bits.CSCNA = 0; //Do not scan inputs

AD1CON2bits.CHPS = 0b01; //Convert channels 0 and 1

AD1CON2bits.SMPI = 0b0001; //Interrupt after 2 conversions (depends on CHPS and SIMSAM)

AD1CON2bits.BUFM = 1; //Always fill conversion buffer from first element

AD1CON2bits.ALTS = 0; //Do not alternate MUXes for analog input selection

AD1CON3bits.ADRC = 0; //Derive conversion clock from system clock

// AD1CON3bits.SAMC = 0b00001; //Auto sampling clock period is one Tad

AD1CON3bits.ADCS = 0b00000010; // Each TAD is 3 Tcy

AD1PCFGL = 0xFFF0; //Enable AN0 - AN3 as analog inputs

AD1CHS0bits.CH0SA = 0b00001; //Select AN1 for CH0 +ve input

AD1CHS0bits.CH0NA = 0b00000; //Select Vref- for CH0 -ve input

AD1CHS123bits.CH123SA = 0b1; //Select AN3 for CH1 +ve input

AD1CHS123bits.CH123NA = 0b00; //Select Vref- for CH1 -ve input

AD1CON1bits.ADON = 1; //enable

// unsigned int AD1CON1value, AD1CON2value, AD1CON3value, AD1CON4value, AD1PCFGHvalue, AD1PCFGLvalue, AD1CSSHvalue, AD1CSSLvalue, AD1CHS0value, AD1CHS123value;

//

// AD1CON1value = ADC_MODULE_ON & ADC_IDLE_CONTINUE &

// ADC_AD12B_10BIT & ADC_FORMAT_INTG & ADC_CLK_MPWM &

// ADC_MULTIPLE & ADC_AUTO_SAMPLING_ON & ADC_SAMP_ON;

// //AD1CON2value = ADC_VREF_AVDD_AVSS & ADC_SCAN_OFF & ADC_SELECT_CHAN_01 &

// AD1CON2value = ADC_VREF_AVDD_AVSS & ADC_SCAN_OFF & ADC_SELECT_CHAN_0 &

// ADC_DMA_ADD_INC_1 & ADC_ALT_BUF_OFF & ADC_ALT_INPUT_OFF;

// AD1CON3value = ADC_CONV_CLK_SYSTEM & ADC_CONV_CLK_3Tcy & ADC_SAMPLE_TIME_1;

// AD1CON4value = ADC_DMA_BUF_LOC_1;

// AD1PCFGHvalue = ENABLE_ALL_DIG_16_31;

// AD1PCFGLvalue = ENABLE_AN0_ANA & ENABLE_AN1_ANA & ENABLE_AN2_ANA & ENABLE_AN3_ANA;

// AD1CSSHvalue = SCAN_NONE_16_31;

// AD1CSSLvalue = 0x000F; // Enabling AN0-3

// //DisableIntADC1;

// AD1CHS0value = ADC_CH0_NEG_SAMPLEA_VREFN & ADC_CH0_POS_SAMPLEA_AN1;

//// AD1CHS123value = ADC_CH123_NEG_SAMPLEA_VREFN & ADC_CH123_POS_SAMPLEA_3_4_5;

//// SetChanADC1(AD1CHS123value, AD1CHS0value);

// SetChanADC1(0x0000, AD1CHS0value);

// OpenADC1(AD1CON1value, AD1CON2value, AD1CON3value, AD1CON4value, AD1PCFGLvalue, AD1PCFGHvalue, AD1CSSHvalue, AD1CSSLvalue);

}

/*

void SetupCamera(void)

{

OVCAM_PWDN = 0; // PDWN: CAM On

delay_us(5000);

SCCB_SetupOV7660();

}

*/

void SetupI2C(void)

{

unsigned int I2C1CONvalue, I2C1BRGvalue;

I2C1CONvalue = I2C1_ON & I2C1_IDLE_CON & I2C1_CLK_HLD &

I2C1_IPMI_DIS & I2C1_7BIT_ADD & I2C1_SLW_DIS &

I2C1_SM_DIS & I2C1_GCALL_DIS & I2C1_STR_DIS &

I2C1_NACK & I2C1_ACK_DIS & I2C1_RCV_DIS &

I2C1_STOP_DIS & I2C1_RESTART_DIS & I2C1_START_DIS;

I2C1BRGvalue = 363; // Fcy(1/Fscl - 1/1111111)-1

OpenI2C1(I2C1CONvalue, I2C1BRGvalue);

IdleI2C1();

}

void SetupInterrupts(void)

{

#if defined(__IMAGEPROC2)

ConfigINT2(RISING_EDGE_INT & EXT_INT_ENABLE & EXT_INT_PRI_7); // Battery Supervisor

#elif defined(__IMAGEPROC1)

ConfigINT0(RISING_EDGE_INT & EXT_INT_ENABLE & EXT_INT_PRI_7); // Battery Supervisor

#endif

ConfigIntTimer1(T1_INT_PRIOR_4 & T1_INT_OFF);

ConfigIntTimer2(T2_INT_PRIOR_4 & T2_INT_OFF);

}

// timer 1 is used for main pid motor control loop

void SetupTimer1(void)

{

unsigned int T1CON1value, T1PERvalue;

T1CON1value = T1_ON & T1_SOURCE_INT & T1_PS_1_8 & T1_GATE_OFF &

T1_SYNC_EXT_OFF & T1_INT_PRIOR_7;

T1PERvalue = 0x03E8; //clock period = 0.0002s = ((T1PERvalue * prescaler)/FCY) (5000Hz)

t1_ticks = 0;

OpenTimer1(T1CON1value, T1PERvalue);

}

void SetupTimer2(void)

{

unsigned int T2CON1value, T2PERvalue;

T2CON1value = T2_ON & T2_SOURCE_INT & T2_PS_1_8 & T2_GATE_OFF;

T2PERvalue = 0xC350; // clock period = 0.01s = ((T1PERvalue * prescaler)/FCY) (100Hz)

OpenTimer2(T2CON1value, T2PERvalue);

}

void SetupUART2(void)

{

/// UART2 for RS-232 w/PC @ 230400, 8bit, No parity, 1 stop bit

unsigned int U2MODEvalue, U2STAvalue, U2BRGvalue;

U2MODEvalue = UART_EN & UART_IDLE_CON & UART_IrDA_DISABLE &

UART_MODE_FLOW & UART_UEN_10 & UART_DIS_WAKE &

UART_DIS_LOOPBACK & UART_DIS_ABAUD & UART_UXRX_IDLE_ONE &

UART_BRGH_FOUR & UART_NO_PAR_8BIT & UART_1STOPBIT;

U2STAvalue = UART_INT_TX & UART_INT_RX_CHAR &UART_SYNC_BREAK_DISABLED &

UART_TX_ENABLE & UART_ADR_DETECT_DIS &

UART_IrDA_POL_INV_ZERO; // If not, whole output inverted.

U2BRGvalue = 43; // (Fcy / ({16|4} * baudrate)) - 1

OpenUART2(U2MODEvalue, U2STAvalue, U2BRGvalue);

}

unsigned int PTPERvalue=4999;

void SetupPWM(void){

LATB = 0x0000;

TRISB = 0b0000011011111011;

PORTBbits.RB8 = 0;

PORTBbits.RB11 = 0;

unsigned int SEVTCMPvalue, PTCONvalue, PWMCON1value, PWMCON2value;

SEVTCMPvalue = 160; //Special event compare register triggers special event

//SEVTCMPvalue = 4839; //Special event compare register triggers special event

//at this point in the PWM period. Useful for sampling

//back EMF when motor is turned off, for example.

//Values larger than 4839 for a time base of 4999 give

//unreliable results. Consequently, running the motor

//at greater than 96.7% duty cycle means you cannot

//sense back EMF.

PTCONvalue = PWM_EN & PWM_IDLE_CON & PWM_OP_SCALE1 &

// PWM_IPCLK_SCALE4 & PWM_MOD_FREE;

PWM_IPCLK_SCALE16 & PWM_MOD_FREE;

PWMCON1value = PWM_MOD1_IND & PWM_PEN1L & PWM_PEN1H &

PWM_MOD2_IND & PWM_PEN2L & PWM_PEN2H &

PWM_MOD3_IND & PWM_PEN3L & PWM_PEN3H;

PWMCON2value = PWM_SEVOPS1 & PWM_OSYNC_TCY & PWM_UEN;

ConfigIntMCPWM(PWM_INT_DIS & PWM_FLTA_DIS_INT & PWM_FLTB_DIS_INT);

OpenMCPWM(PTPERvalue, SEVTCMPvalue, PTCONvalue, PWMCON1value, PWMCON2value);

P1OVDCONbits.POVD1L = 1;

P1OVDCONbits.POVD1H = 1;

P1OVDCONbits.POVD2L = 1;

P1OVDCONbits.POVD2H = 1;

P1OVDCONbits.POVD3L = 1;

P1OVDCONbits.POVD3H = 1;

SetDCMCPWM(1, 0, 0);

SetDCMCPWM(2, 0, 0);

SetDCMCPWM(3, 0, 0);

}