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.LEncode = 0;
motorData.REncode = 0;
motorData.REncodeTotal = 0;
motorData.LEncodeTotal = 0;
motorData.LDist = 0;
motorData.RDist = 0;
motorData.LSet = 0;
motorData.RSet = 0;
motorData.LMes = 0;
motorData.RMes = 0;
motorData.LAvg = 0.0;
motorData.RAvg = 0;
motorData.LOCSet = 0;
motorData.ROCSet = 0;
motorData.ratio = 0;
motorData.RTestTick = 0;
motorData.LTestTick = 0;
motorData.n = 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);
DRV_OC1_Initialize();
DRV_OC0_Initialize();
//DRV_OC1_Enable();
//DRV_OC0_Enable(); //same thing as start
DRV_OC1_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_TMR2_Initialize(); //duration Timer
DRV_TMR0_CounterClear();
DRV_TMR1_CounterClear();
DRV_TMR2_CounterClear();
DRV_TMR0_Stop(); //pwm timer
DRV_TMR1_Stop(); //encoder timer 5ms
DRV_TMR2_Stop(); //duration timer 1ms
// theTimerInit(52);
}
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_SPI0_Initialize();
DRV_SPI1_Initialize();
DRV_SPI2_Initialize();
DRV_SPI3_Initialize();
DRV_SPI4_Initialize();
DRV_SPI5_Initialize();
/*Initialize OC0 */
DRV_OC0_Initialize();
/*Initialize OC1 */
DRV_OC1_Initialize();
/*Initialize OC2 */
DRV_OC2_Initialize();
/*Initialize OC3 */
DRV_OC3_Initialize();
/*Initialize OC4 */
DRV_OC4_Initialize();
/*Initialize OC5 */
DRV_OC5_Initialize();
/*Initialize OC6 */
DRV_OC6_Initialize();
/*Initialize OC7 */
DRV_OC7_Initialize();
/*Initialize OC8 */
DRV_OC8_Initialize();
/* Initialize System Services */
SYS_INT_Initialize();
/* Initialize Middleware */
/* Enable Global Interrupts */
SYS_INT_Enable();
/* Initialize the Application */
APP_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 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 ADC */
DRV_ADC_Initialize();
/*Initialize TMR0 */
DRV_TMR0_Initialize();
DRV_USART0_Initialize();
/*Initialize OC0 */
DRV_OC0_Initialize();
/*Initialize OC1 */
DRV_OC1_Initialize();
/*Initialize OC2 */
DRV_OC2_Initialize();
/*Initialize OC3 */
DRV_OC3_Initialize();
/* Initialize System Services */
SYS_INT_Initialize();
/* Initialize Middleware */
/* Initialize the Application */
PWM_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();
sysObj.drvUsart0 = DRV_USART_Initialize(DRV_USART_INDEX_0, (SYS_MODULE_INIT *)&drvUsart0InitData);
SYS_INT_VectorPrioritySet(INT_VECTOR_UART1, INT_PRIORITY_LEVEL3);
SYS_INT_VectorSubprioritySet(INT_VECTOR_UART1, INT_SUBPRIORITY_LEVEL1);
/*Initialize OC0 */
DRV_OC0_Initialize();
/*Initialize OC1 */
DRV_OC1_Initialize();
/* Initialize System Services */
SYS_INT_Initialize();
/* Initialize Middleware */
/* Initialize the Application */
APP_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();
#ifdef DEBUG_ON
setDebugVal(SYS_INIT_START); // has to be after ports init
#endif
/* Initialize Drivers */
/*Initialize TMR0 */
DRV_TMR0_Initialize();
DRV_USART0_Initialize();
DRV_USART1_Initialize();
#ifdef DEBUG_ON
setDebugVal(SYS_INIT_UART);
#endif
/*Initialize OC0 */
DRV_OC0_Initialize();
/*Initialize OC1 */
DRV_OC1_Initialize();
/* Initialize System Services */
SYS_INT_Initialize();
#ifdef DEBUG_ON
setDebugVal(SYS_INIT_SYS);
#endif
/*Setup the INT_SOURCE_EXTERNAL_2 and Enable it*/
SYS_INT_VectorPrioritySet(INT_VECTOR_INT2, INT_PRIORITY_LEVEL3);
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);
/*Setup the INT_SOURCE_EXTERNAL_1 and Enable it*/
SYS_INT_VectorPrioritySet(INT_VECTOR_INT1, INT_PRIORITY_LEVEL3);
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_3 and Enable it*/
SYS_INT_VectorPrioritySet(INT_VECTOR_INT3, INT_PRIORITY_LEVEL3);
SYS_INT_VectorSubprioritySet(INT_VECTOR_INT3, INT_SUBPRIORITY_LEVEL0);
SYS_INT_ExternalInterruptTriggerSet(INT_EXTERNAL_INT_SOURCE3,INT_EDGE_TRIGGER_RISING);
SYS_INT_SourceEnable(INT_SOURCE_EXTERNAL_3);
/* Initialize Middleware */
/* Initialize the Application */
MOTORAPP_Initialize();
#ifdef DEBUG_ON
setDebugVal(SYS_INIT_APP);
#endif
UART_TX_APP_Initialize();
#ifdef DEBUG_ON
setDebugVal(SYS_INIT_UART_TX_APP);
#endif
UART_RX_APP_Initialize();
#ifdef DEBUG_ON
setDebugVal(SYS_INIT_UART_RX_APP);
#endif
}
void pwm_Init() {
DRV_OC0_Initialize();
DRV_OC0_Start();
}