void motorSetup(void){
//Setup output compare
CloseOC1();
CloseOC2();
//Configure output compare using Timer 3
ConfigIntOC1(OC_INT_OFF & OC_INT_PRIOR_5);
ConfigIntOC2(OC_INT_OFF & OC_INT_PRIOR_5);
PR3 = MOTOR_PWM_PERIOD;
T3CONbits.TON = 1;
T3CONbits.TSIDL = 1;
T3CONbits.TGATE = 0;
T3CONbits.TCKPS = 0b10; //prescaling 1:64
T3CONbits.TCS = 0;
OpenOC1(OC_IDLE_CON & OC_TIMER3_SRC & OC_PWM_FAULT_PIN_DISABLE , 0x00,0x00 );
OpenOC2(OC_IDLE_CON & OC_TIMER3_SRC & OC_PWM_FAULT_PIN_DISABLE , 0x00,0x00 );
//Write decent values to the control values
motorSet(0.0,0.0, MOTOR_MODE_COAST);
}
void Initialize_OC()
{
UnlockRP;
_RP10R = 0b10010; //Tie OC1 to RP10 (PWM1)
_RP11R = 0b10011; //Tie OC2 to RP11 (PWM2)
_RP12R = 0b10100; //Tie OC3 to RP12 (PWM3)
_RP13R = 0b10101; //Tie OC4 to RP13 (PWM4)
LockRP;
OpenOC1(OC_IDLE_CON & OC_TIMER3_SRC & OC_OFF, 1000, 0);
OpenOC2(OC_IDLE_CON & OC_TIMER3_SRC & OC_OFF, 1000, 0);
OpenOC3(OC_IDLE_CON & OC_TIMER3_SRC & OC_OFF, 1000, 0);
OpenOC4(OC_IDLE_CON & OC_TIMER3_SRC & OC_OFF, 1000, 0); //dans l'ordre OCxRS et OCxR
ConfigIntOC1(OC_INT_OFF & OC_INT_PRIOR_2);
ConfigIntOC2(OC_INT_OFF & OC_INT_PRIOR_2);
ConfigIntOC3(OC_INT_OFF & OC_INT_PRIOR_2);
ConfigIntOC4(OC_INT_OFF & OC_INT_PRIOR_2);
}