void adc_complete(adc_channel_t *ch, volatile int16_t *dst, int len, void *param)
{
int n;
for (n=0; n < len; n++)
buf[n] += 32767;
val = adc_read(ch);
adc_handle_buffer((volatile uint16_t *)dst, len);
vmemset(buf, 0x00, sizeof(buf));
adc_trace(ch, (volatile int16_t *)buf, sizeof(buf)/sizeof(uint16_t), 0, adc_complete, param);
}
// Reset all stepper parameters, setup clocks, and make sure
// there is no power to steppers.
void initialize_stepper_state(void){
// Clock up all of the PITs
SIM_SCGC6 |= SIM_SCGC6_PIT;
PIT_MCR = 0x00;
// Configure PIT 0 - main interrupt timer - as running at minimum steps/minute, but not
// interrupting.
set_step_events_per_minute(MINIMUM_STEPS_PER_MINUTE);
// Configure PIT 1 and 2 - reset timer and sync timer
PIT_TCTRL1 = TIE;
PIT_TCTRL2 = TIE;
// Zero all parameters, and go into idle
vmemset(&st, 0, sizeof(st));
current_block = NULL;
st.state = STATE_IDLE;
if(init_hook_set)
init_hook();
}
void init(void)
{
sys_init();
adc_channel_init(chan);
vmemset(buf, 0x00, sizeof(buf));
}