void ADCInit(void)
{
ADC1Init();
ADC2Init();
}
void InitApp(void) {
/* Send Low Level Voltage to all ports */
LATA = 0x0000;
LATB = 0x0000;
LATC = 0x0000;
LATD = 0x0000;
LATE = 0x0000;
LATF = 0x0000;
LATG = 0x0000;
#if defined(__dsPIC33EP512MU814__)
LATH = 0x0000;
LATJ = 0x0000;
LATK = 0x0000;
#endif
/* Disable all analog inputs */
ANSELA = 0x0000;
ANSELB = 0x0000;
ANSELC = 0x0000;
ANSELD = 0x0000;
ANSELE = 0x0000;
ANSELG = 0x0000;
/* Configure all digital ports as outputs */
TRISA = 0x0000;
TRISB = 0x0000;
TRISC = 0x0000;
TRISD = 0x0000;
TRISE = 0x0000;
TRISF = 0x0000;
TRISG = 0x0000;
#if defined(__dsPIC33EP512MU814__)
TRISH = 0x0000;
TRISJ = 0x0000;
TRISK = 0x0000;
#endif
#if STARTKITBOARD
mInitAllLEDs();
mInitAllSwitches();
#endif
/* Configure Nested Interrupts */
INTCON1bits.NSTDIS = 0b0; // Interrupt nesting enabled
initClock();
#if USE_UART1
serial_assign(&Serial1, 1u);
Serial1.init();
Serial1.open();
XBeeInit(&Xbee1, XBEE1_ATAP, &Serial1);
#endif /*USE_UART1*/
#if USE_UART2
serial_assign(&Serial2, 2u);
Serial2.init();
Serial2.open();
XBeeInit(&Xbee2, XBEE2_ATAP, &Serial2);
#endif /*USE_UART2*/
#if USE_UART3
serial_assign(&Serial3, 3u);
Serial3.init();
Serial3.open();
XBeeInit(&Xbee3, XBEE3_ATAP, &Serial3);
#endif /*USE_UART3*/
#if USE_UART4
serial_assign(&Serial4, 4u);
Serial4.init();
Serial4.open();
XBeeInit(&Xbee4, XBEE4_ATAP, &Serial4);
#endif /*USE_UART4*/
#if USE_ADC1
ADC1Init();
ADC1Start();
#endif
#if USE_ENC
EncInit();
#endif
#if USE_PWM
PWMxInit();
PWMxStart();
#endif
#if USE_PWM && USE_ADC1
ServoInit();
asm ("repeat #640;");
Nop();
ServoStart();
#endif /* USE_PWM && USE_ADC1 */
#if USE_IMU
IMUInit();
IMUStart();
#endif
#if USE_SPIS
SPISInit();
SPISStart();
#endif
}
