void rk86_video_init_cursor_timer(void) {
// Setup timer 4.
PR4 = 1 * ((BUSFREQ/2)/1000) - 1;
T4CON = 0x8010;
mT4SetIntPriority(1);
mT4ClearIntFlag();
mT4IntEnable(1);
}
/***************************************************************************************************
InitTimers
Initialise the 1 mSec timer used for internal timekeeping.
****************************************************************************************************/
void initTimers(void) {
// setup timer 4
PR4 = 1 * ((BUSFREQ/2)/1000) - 1; // 1 mSec
T4CON = 0x8010; // T4 on, prescaler 1:2
mT4SetIntPriority(1); // lower priority
mT4ClearIntFlag(); // clear interrupt flag
mT4IntEnable(1); // enable interrupt
P_SD_ACTIVITY_TRIS = 0; P_SD_LED_SET_LO; // initialise the SD card activity led (maintained by timers.c)
}
//******************************************************************
void Stepper_InitIO (void)
{
// Setup timers
//Timer 1
T1CON = 0x8030; //Set up timer 1 Fosc/2, prescaled 1:256
DDPCONbits.JTAGEN = 0; //To release port A pins from use by JTAG port
//Set Tris for Stepper
//X
AD1PCFGbits.PCFG8 = 1; //AtoD port cfg AN8/B8
TRISBbits.TRISB8 = OUTPUT; //Step
AD1PCFGbits.PCFG9 = 1; //AtoD port cfg AN9/B9
TRISBbits.TRISB9 = OUTPUT; //Dir
AD1PCFGbits.PCFG13 = 1; //AtoD port cfg AN13/B13
TRISBbits.TRISB13 = OUTPUT; //Enable
TRISDbits.TRISD4 = INPUT; //X_HomeSwitch
//Y
TRISDbits.TRISD8 = OUTPUT; //Step
TRISDbits.TRISD9 = OUTPUT; //Dir
TRISDbits.TRISD10 = OUTPUT; //Enable
TRISCbits.TRISC13 = INPUT; //Y_HomeSwitch
//Z
TRISDbits.TRISD2 = OUTPUT; //Step
TRISDbits.TRISD7 = OUTPUT; //Dir
TRISDbits.TRISD3 = OUTPUT; //Enable
TRISCbits.TRISC14 = INPUT; //Z_HomeSwitch
X_Disable = TRUE;
Y_Disable = TRUE;
Z_Disable = TRUE;
//Timer 4 is used to time the stepper motor steps
//PB clk = 8MHz Post scaler = 2 to 1 tick every 25nS
T4CON = 0x0; //Clear timer setting register
T4CONSET = 0x0010; //Set PS to 2
TMR4 = 0; //Reset clock
PR4 = 500; //Initialise PR4 value (when T4 matches PR4 it interrupts)
mT4SetIntPriority(7); //Set T4 interrupt to top priority
INTEnableSystemMultiVectoredInt();//Set T4 to vectored i.e. Fast
mT4ClearIntFlag(); //Clear interrupt flag
T4CONSET = 0x8000; //Turn on T4
mT4IntEnable(!TRUE); //Disable T4 interrputs
// init the circular buffer pointers
SBR = 0;
SBW = 0;
// Init Rapid moves
G_CodeRapidXYMove=0;
G_CodeRapidZMove=0;
}//InitStepper
