void user_init(void) {
esos_init_menu(); // initilize the menu, LCD and UI
configECAN1(); // init can
CHANGE_MODE_ECAN1(ECAN_MODE_NORMAL); // setup the CAN
esos_pic24_configI2C1(400); // setup the I2C
// used for my own curiosity for the SPI transmission
CONFIG_RD2_AS_DIG_OUTPUT();
_LATD2 = 1;
u16_position = 0; // initial values
u8_dutyCount = 0; // initial values
u16_positionDACB = 0; // initial values
u8_dutyCountDACB = 0; // initial values
b_CANINUSE = 0;
esos_create_menu(8); // setup the menu
// see the .h file for details
esos_insert_menu_title(TEAM, SET, SV3C, "team", '0');
esos_insert_menu_title(WAVEFORM, SET, SV3C, "wvform", '0');
esos_insert_menu_title(FREQ, SET, SVDATA, "freq", '0');
esos_insert_menu_title(AMPLTD, SET, SVDATA, "ampltd", '0');
esos_insert_menu_title(DUTY, SET, SVDATA, "duty", '0');
esos_insert_menu_title(LM60, READ, NONE, "LM60", '0');
esos_insert_menu_title(LEDSET, SET, SVDATA, "LEDs", '0');
esos_insert_menu_title(ABOUT, STATIC, NONE, "About", '0');
esos_setSV3C(TEAM, "APPLE ", "CHERRY ", "TEACHER");
esos_setSV3C(WAVEFORM, "tri ", "sine ", "square ");
esos_setSVDATA(FREQ, 64, 2047, FALSE, FALSE);
esos_setSVDATA(AMPLTD, 0, 30, FALSE, FALSE);
esos_setSVDATA(DUTY, 0, 100, FALSE, FALSE);
esos_setSVDATA(LM60, 0, 100, FALSE, FALSE);
esos_setSVDATA(LEDSET, 0, 1110, TRUE, TRUE);
esos_setStaticInfo(ABOUT, "Developers DIGITAL FUNCTION SYNTHESIZER",
"James CPE Andrew EE John CPE Wyatt CPE");
configSPI1(); // configure the spi
configTimer2(); // configure timer 2
configTimer3(); // configure timer 3
esos_setSVDATAValue(DUTY, 50); // set the default duty cycle
esos_setSVDATAValue(AMPLTD, 30); // set the default ampl
esos_setSV3C_VALUE(TEAM, 1);
esos_setSV3C_VALUE(WAVEFORM, 1);
u8_currentMenuIndex = MY_ID; // initial index is set to MY_ID
// enable the interrupts
ESOS_REGISTER_PIC24_USER_INTERRUPT( ESOS_IRQ_PIC24_T2, ESOS_USER_IRQ_LEVEL1,
_T2Interrupt);
ESOS_ENABLE_PIC24_USER_INTERRUPT(ESOS_IRQ_PIC24_T2);
ESOS_REGISTER_PIC24_USER_INTERRUPT( ESOS_IRQ_PIC24_T3, ESOS_USER_IRQ_LEVEL1,
_T3Interrupt);
ESOS_ENABLE_PIC24_USER_INTERRUPT(ESOS_IRQ_PIC24_T3);
esos_RegisterTask(LEDS); // for change in LED states
esos_RegisterTask(DACA); // for change in wave
esos_RegisterTask(DACB); // for change in wave
esos_RegisterTask(CAN_RX); // CAN RX
esos_RegisterTask(CAN_TEMP_TX); // CAN TX
esos_RegisterTask(SET_TEAM); // TEAM SETUP
esos_RegisterTask(BUILD_LIST); // LIST
esos_RegisterTask(UPDATE_TEMP); // UPDATES THE TEMP
} // end user_init()
void servo_init() {
// All servo outputs low initially
RUBIKS_PLATFORM_PIN = 0;
RUBIKS_TWIST_PIN = 0;
SIMON_YELLOW_PIN = 0;
SIMON_BLUE_PIN = 0;
SIMON_RED_PIN = 0;
SIMON_GREEN_PIN = 0;
ARM_POSITION_PIN = 0;
ARM_SLIDE_LEFT_PIN = 0;
ARM_SLIDE_RIGHT_PIN = 0;
ETCH_VERTICAL_PIN = 0;
ETCH_HORIZ_PIN = 0;
// Configure timers and output comparators
config_servo_timer3();
config_output_capture1();
config_servo_timer2();
config_output_capture2();
u16_slotWidthTicks = usToU16Ticks(SLOT_WIDTH, getTimerPrescale(T3CONbits));
DELAY_MS(500);
// Config all the servo outputs
CONFIG_RD2_AS_DIG_OUTPUT();
CONFIG_RD3_AS_DIG_OUTPUT();
CONFIG_RD4_AS_DIG_OUTPUT();
CONFIG_RD5_AS_DIG_OUTPUT();
CONFIG_RD6_AS_DIG_OUTPUT();
CONFIG_RD7_AS_DIG_OUTPUT();
CONFIG_RD8_AS_DIG_OUTPUT();
CONFIG_RD9_AS_DIG_OUTPUT();
CONFIG_RD10_AS_DIG_OUTPUT();
CONFIG_RD11_AS_DIG_OUTPUT();
CONFIG_RB13_AS_DIG_OUTPUT();
// Turn on the timers
T3CONbits.TON = 1;
T2CONbits.TON = 1;
}
