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;
}
// well the spi has to be setup. enough said
inline void configSPI1() {
SPI1CON1 = SEC_PRESCAL_4_1 | // 4:1 prescale = 60MHz / 4 = 15MHz
PRI_PRESCAL_1_1 |
CLK_POL_ACTIVE_HIGH | //clock active high (CKP = 0)
SPI_CKE_ON | //out changes inactive to active (CKE=0)
SPI_MODE16_ON | //16-bit mode
MASTER_ENABLE_ON; //master mode
CONFIG_SDO1_TO_RP(RD4_RP); //use RD4 for SDO
CONFIG_RD4_AS_DIG_OUTPUT(); //Ensure that this is a digital output
if(MY_ID == 0) {
CONFIG_SCK1OUT_TO_RP(RD1_RP); //use RD5 for SCLK
CONFIG_RD1_AS_DIG_INPUT(); //Ensure that this is a digital input
}
else {
CONFIG_SCK1OUT_TO_RP(RD5_RP); //use RD5 for SCLK
CONFIG_RD5_AS_DIG_INPUT(); //Ensure that this is a digital input
}
CONFIG_DAC(); //chip select for MCP41xxx
DAC_DISABLE(); //disable the chip select
SPI1STATbits.SPIEN = 1; //enable SPI mode
}
