void SYS_Initialize ( void* data )
{
/* Core Processor Initialization */
SYS_CLK_Initialize( NULL );
sysObj.sysDevcon = SYS_DEVCON_Initialize(SYS_DEVCON_INDEX_0, (SYS_MODULE_INIT*)&sysDevconInit);
SYS_DEVCON_PerformanceConfig(SYS_CLK_SystemFrequencyGet());
SYS_DEVCON_JTAGDisable();
SYS_PORTS_Initialize();
/* Initialize Drivers */
/*Initialize TMR0 */
DRV_TMR0_Initialize();
DRV_USART0_Initialize();
DRV_USART1_Initialize();
DRV_USART2_Initialize();
/* Initialize System Services */
SYS_INT_Initialize();
/* Initialize Middleware */
initDebugU();
/* Initialize the Application */
COMMUNICATION_Initialize();
MOTOR_Initialize();
SENSORCOMMUNICATION_Initialize();
}
void SYS_Initialize ( void* data )
{
/* Core Processor Initialization */
SYS_CLK_Initialize( NULL );
sysObj.sysDevcon = SYS_DEVCON_Initialize(SYS_DEVCON_INDEX_0, (SYS_MODULE_INIT*)&sysDevconInit);
SYS_DEVCON_PerformanceConfig(SYS_CLK_SystemFrequencyGet());
SYS_DEVCON_JTAGDisable();
SYS_PORTS_Initialize();
/* Initialize Drivers */
/*Initialize TMR0 */
DRV_TMR0_Initialize();
/*Initialize TMR1 */
DRV_TMR1_Initialize();
/*Initialize TMR2 */
DRV_TMR2_Initialize();
/*Initialize TMR3 */
DRV_TMR3_Initialize();
DRV_USART0_Initialize();
DRV_USART1_Initialize();
/*Initialize OC0 */
DRV_OC0_Initialize();
/*Initialize OC1 */
DRV_OC1_Initialize();
/* Initialize System Services */
SYS_INT_Initialize();
/*Setup the INT_SOURCE_EXTERNAL_1 and Enable it*/
SYS_INT_VectorPrioritySet(INT_VECTOR_INT1, INT_PRIORITY_LEVEL1);
SYS_INT_VectorSubprioritySet(INT_VECTOR_INT1, INT_SUBPRIORITY_LEVEL0);
SYS_INT_ExternalInterruptTriggerSet(INT_EXTERNAL_INT_SOURCE1,INT_EDGE_TRIGGER_RISING);
SYS_INT_SourceEnable(INT_SOURCE_EXTERNAL_1);
/*Setup the INT_SOURCE_EXTERNAL_2 and Enable it*/
SYS_INT_VectorPrioritySet(INT_VECTOR_INT2, INT_PRIORITY_LEVEL1);
SYS_INT_VectorSubprioritySet(INT_VECTOR_INT2, INT_SUBPRIORITY_LEVEL0);
SYS_INT_ExternalInterruptTriggerSet(INT_EXTERNAL_INT_SOURCE2,INT_EDGE_TRIGGER_RISING);
SYS_INT_SourceEnable(INT_SOURCE_EXTERNAL_2);
/* Initialize Middleware */
initDebugU();
/* Initialize the Application */
COMMUNICATION_Initialize();
MOTOR_Initialize();
}
void MOTOR_Initialize ( void )
{
/* Place the App state machine in its initial state. */
motorData.state = MOTOR_STATE_INIT;
/* Place the App state machine in its initial state. */
motorData.RxSeqNum = 0;
motorData.TxSeqNum = 0;
//motorData.rxMessage.command = 0;
//motorData.rxMessage.duration = 0;
motorData.theQueue = xQueueCreate(MOTORQUEUELENGTH, sizeof(MOTOR_MESSAGE)); //sizeof(appData.rxMessage));
if(motorData.theQueue == 0)
{
crash("E:Create Motor msgQ");
//failed to create queue
}
PLIB_PORTS_DirectionOutputSet(PORTS_ID_0, PORT_CHANNEL_G, 0x0002);
PLIB_PORTS_DirectionOutputSet(PORTS_ID_0, PORT_CHANNEL_D, 0x0003);
PLIB_PORTS_DirectionOutputSet(PORTS_ID_0, PORT_CHANNEL_C, 0x4000);
PLIB_PORTS_PinWrite (PORTS_ID_0, PORT_CHANNEL_D, PORTS_BIT_POS_1, 0);
PLIB_PORTS_PinWrite (PORTS_ID_0, PORT_CHANNEL_D, PORTS_BIT_POS_0, 0);
// _OC1_Initialize();
// DRV_OC0_Initialize();
// //DRV_OC1_Enable();
// //DRV_OC0_Enable(); //same thing as start
// DRV_ODRVC1_Stop();
// DRV_OC0_Stop();
// //25.6 us per count
// //count to 200 = 51.2ms per rollover
// DRV_TMR0_Initialize(); //OC Timer
// DRV_TMR1_Initialize(); //IC Timer
// DRV_TMR0_CounterClear();
// DRV_TMR1_CounterClear();
// DRV_TMR0_Start();
// DRV_TMR1_Stop();
initDebugU();
theTimerInit(52);
}