void IRrecv_enableIRIn(u8 recvpin)
{
u32 f=GetPeripheralClock();
// Configure interrupt
IntConfigureSystem(INT_SYSTEM_CONFIG_MULT_VECTOR);
IntSetVectorPriority(INT_TIMER3_VECTOR, 7, 3);
IntClearFlag(INT_TIMER3);
IntEnable(INT_TIMER3);
// Configure Timer3 to overload every 50us
T3CON = 0; // no prescaler
TMR3 = 0; // clear timer register
PR3 = 50*(f/1000/1000); // nb cycles / 50 us
T3CONSET = 0x8000; // start timer 1
// initialize state machine variables
irparams.recvpin = recvpin;
irparams.blinkflag = 0;
irparams.rcvstate = STATE_IDLE;
irparams.rawlen = 0;
// set pin modes
pinmode(irparams.recvpin, INPUT);
}
u32 OnTimer1(callback func, u32 timediv, u32 delay)
{
u32 tckps=0, freqhz, period;
if (intUsed[INT_TIMER1] == INT_NOT_USED)
{
intUsed[INT_TIMER1] = INT_USED;
intFunction[INT_TIMER1] = func;
intCount[1] = 0;
intCountLimit[1] = delay;
// TMR1 Count register increments on every PBCLK clock cycle
freqhz = GetPeripheralClock();
// Freq (Hz) = Nb ticks/sec.
switch(timediv)
{
case INT_SEC: period = freqhz; break;
case INT_MILLISEC: period = freqhz / 1000; break;
case INT_MICROSEC: period = freqhz / 1000000; break;
}
// Timer1 period is 16-bit, only 4 prescaler values
while ((period > 0xFFFF) & (tckps < 5))
{
tckps += 1;
period /= prescaler1[tckps];
}
if (tckps == 4)
{
tckps = 3; // divided per 256
intCountLimit[1] = delay * 8;
}
// Configure interrupt
IntConfigureSystem(INT_SYSTEM_CONFIG_MULT_VECTOR);
IntSetVectorPriority(INT_TIMER1_VECTOR, 7, 3);
IntClearFlag(INT_TIMER1);
IntEnable(INT_TIMER1);
// Configure Timer1
T1CON = tckps << 4; // set prescaler (bit 5-4)
TMR1 = 0; // clear timer register
PR1 = period; // load period register
T1CONSET = 0x8000; // start timer 1
return INT_TIMER1;
}
else
{
#ifdef DEBUG
debug("Error : TIMER1 interrupt is already used !");
#endif
return false;
}
}
void RTCC_SetAlarmIntEnable(int enable)
{
if (enable)
{
IntConfigureSystem(INT_SYSTEM_CONFIG_MULT_VECTOR);
IntSetVectorPriority(INT_RTCC_VECTOR, INT_PRIORITY_3, INT_SUBPRIORITY_1);
IntClearFlag(INT_REAL_TIME_CLOCK);
IntEnable(INT_REAL_TIME_CLOCK);
}
else
{
IntDisable(INT_REAL_TIME_CLOCK);
}
}
void servos_init()
{
unsigned int a;
unsigned int fpb;
// Filling up the servovalues table to 255.
for(a=0;a<TotalPICpins;a++)
{
servovalues[a]=255; // Filling up the servovalues table to 255.
maxminpos[0][a]= DefaultSERVOMIN; // Setting min servo position to 1000 usec.
maxminpos[1][a]= DefaultSERVOMAX; // Setting max servo position to 2000 usec.
}
// Filling up the activated servos matrix.
for(a=0;a<TotalPICports;a++)
activatedservos[a]=0x00; // Setting all pins as deactivated as servo.
// Timer2 Configuration
// The Timer2 clock prescale (TCKPS) is 1:64
// TMR2 count register increments on every Peripheral clock cycle
// TMR2 increments every 64 * 1/Fpb
// 500 us => 500 / (64 / Fpb) = ( 500 * Fpb ) / 64 cycles
// 2500 us => 2500 / (64 / Fpb) = ( 2500 * Fpb ) / 64 cycles
fpb = GetPeripheralClock() / 1000 / 1000;
f500us = ( 500 * fpb ) / 64;
f20ms = ( 20000 * fpb ) / 64;
IntConfigureSystem(INT_SYSTEM_CONFIG_MULT_VECTOR);
// bit 6-4 TCKPS<2:0>: Timer Input Clock Prescale Select bits
// 0 = 1:1 default prescale value
// 1 = 1:2 prescale value
// 2 = 1:4 prescale value
// 3 = 1:8 prescale value
// 4 = 1:16 prescale value
// 5 = 1:32 prescale value
// 6 = 1:64 prescale value
// 7 = 1:256 prescale value
T2CON = 6 << 4; // prescaler 1:64, internal peripheral clock
TMR2 = 0; // clear timer register
PR2 = f500us; // load period register
IntSetVectorPriority(INT_TIMER2_VECTOR, 7, 3);
IntClearFlag(INT_TIMER2);
IntEnable(INT_TIMER2);
T2CONSET = 0x8000; // start timer 1
}