void initialize_packetizer(Packetizer_Config config) {
switch (config.which_channel) {
case PACKET_UART_CH_1:
UART1_channel.control_byte = config.control_byte;
UART1_channel.receive_callback = config.callback;
initialize_UART(config.uart_config);
break;
case PACKET_UART_CH_2:
UART2_channel.control_byte = config.control_byte;
UART2_channel.receive_callback = config.callback;
initialize_UART(config.uart_config);
break;
}
}
/* The initialize function configures the PLL to set the internal clock
* frequency. It also configures the digital IO and calls the initialization
* functions for each of the modules. A light sequence signals the end of
* initialization.
*/
void initialize(void){
/* Configure Phase Lock Loop for the system clock reference at 40MHz */
// Fosc (Clock frequency) is set at 80MHz
// Fin is 7.37 MHz from internal FRC oscillator
// FPLLI = Fin/N1 = 3.685 MHz
CLKDIVbits.PLLPRE = 0; // N1 = 2
// FVCO = FPLLI*M1 = 162.14MHz
PLLFBDbits.PLLDIV = 42; // M = 44
// FPLLO = FVCO/N2 = 81.07 MHz
// FOSC ~= 80MHz, FCY ~= 40MHz
CLKDIVbits.PLLPOST = 0; // N2 = 2
/* Initiate Clock Switch */
//The __builtin macro handles unlocking the OSCCON register
__builtin_write_OSCCONH(1); //New oscillator is FRC with PLL
__builtin_write_OSCCONL(OSCCON | 0x01); //Enable clock switch
while (OSCCONbits.COSC!= 1); //Wait for FRC with PLL to be clock source
while (OSCCONbits.LOCK!= 1); //Wait for PLL to lock
/* Configure IO*/
TRISDbits.TRISD10 = 1; //USER input
//LED outputs
ANSELBbits.ANSB13 = 0; //Disable Analog on B13
TRISBbits.TRISB13 = 0; //LED1
ANSELBbits.ANSB12 = 0; //Disable Analog on B12
TRISBbits.TRISB12 = 0; //LED2
TRISDbits.TRISD11 = 0; //LED3
TRISDbits.TRISD0 = 0; //LED4
//Magnet Control
TRISBbits.TRISB14 = 0; //Top Magnet
//Store bits indicating reason for reset
resetStat = RCON;
//Clear reset buffer so next reset reading is correct
RCON = 0;
/* Initialize peripherals*/
initialize_PWM();
initialize_CN();
initialize_ADC();
initialize_QEI();
initialize_UART();
initialize_UART2();
//initialize_I2C_Master();
lights();
__delay32(10000000);
//initialize_MPU();
initialize_encoder_values(1600,1700,1800);
}
