void Initalize_Interrupts(void){ // INTERRUPT FOR FLOOR AQUISITION TIOS_OUTPUT_PIN(TIOS_IOS5_MASK); TIE_ENABLE_PIN(TIE_C5I_MASK); // INTERRUPT FOR KEYPAD TIOS_OUTPUT_PIN(TIOS_IOS4_MASK); TIE_ENABLE_PIN(TIE_C4I_MASK); // INTERRUPT FOR PING TIOS_OUTPUT_PIN(TIOS_IOS3_MASK); TIE_ENABLE_PIN(TIE_C3I_MASK); /// Interrupt for the CAN MESSAGES TIOS_OUTPUT_PIN(TIOS_IOS2_MASK); TIE_ENABLE_PIN(TIE_C2I_MASK); ping_unplugged_flag=0; ping_rmr =0; /// PROCESS ONLY FOR THE CALL BOXES // THIS IS /// THE CALL BOX INTERRUPTS if(CAN_CURRENT_ADDRESS != CAN_MASTER_AD) Init_Components(); return; }
/// INITS INTERRUPT, PORTS , Sets flags // /// IDEALY SPEED IS MEDIUM unsigned char STMOTOR_INIT(void){ // init ddr ports // pins and set the watchdog timer // RESET FLAGS AND INTERRUPT VARIABLES Stepper_Direction_Flag =0; Stepper_WholeStep_Flag =0; Stepper_Count_Steps =0; Stepper_Steps =0; Stepper_Speed; // delay by 4us idealy set inbetween 300-1000 STMOTOR_INIT_ENABLE_DDR(); STMOTOR_INIT_DDR(); STMOTOR_ENABLE(); Stepper_Speed = STEPPER_SPEED_SLOW; TIOS_OUTPUT_PIN(PTP_PTP7_MASK); TIE_ENABLE_PIN(PTP_PTP7_MASK); return 0; }
void Encoder_Init(void){ TIOS_INPUT_PIN((TIOS_IOS0_MASK | TIOS_IOS1_MASK)); TIOS_OUTPUT_PIN(TIOS_IOS4_MASK); TIE_ENABLE_PIN(((TIE_C0I_MASK) |(TIE_C1I_MASK) | (TIE_C4I_MASK))); SET_TIMER_CLOCK_EDGE(0,TIMER_CHNL_CAPTURE_BOTH); SET_TIMER_CLOCK_EDGE(1,TIMER_CHNL_CAPTURE_BOTH); EN_L_Pulse_Flag =0; EN_R_Pulse_Flag =0; L_TIMER =0; R_TIMER =0; L_Counter =0; R_Counter =0; WATCH_L_COUNTER =0; WATCH_R_COUNTER =0; WATCH_DOG_FLAG =0; }