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oncilla-motordriver-fw/src/pindefs.c
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pindefs.c
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#include "p33FJ128MC804.h"
#include "pindefs.h"
void pin_init()
{
// pin default configuration
ADPCFG = 0xffff; // Set all Analog ports as Digital I/O
// TRISA = 0xffff; // Everything is input
// TRISB = 0xffff; // Everything is input
// set motor 1 control pins to output
TRISCbits.TRISC3 = 0; // MODE1 is output
TRISBbits.TRISB11 = 0; // DIR1 is output
TRISBbits.TRISB14 = 0; // TRQ1 is output
TRISBbits.TRISB10 = 0; // SPD1 is output
TRISAbits.TRISA4 = 0; // COAST1 is output
TRISAbits.TRISA3 = 0; // BREAK1 is output
TRISAbits.TRISA0 = 1; // CSOUT1 is input (analog input)
// set motor 2 control pins to output
TRISAbits.TRISA9 = 0; // MODE2 is output
TRISAbits.TRISA7 = 0; // DIR2 is output
TRISCbits.TRISC6 = 0; // TRQ2 is output
TRISBbits.TRISB12 = 0; // SPD2 is output
TRISAbits.TRISA8 = 0; // COAST2 is output
TRISAbits.TRISA10 = 0; // BREAK2 is output
TRISAbits.TRISA1 = 1; // CSOUT2 is input (analog input)
// set motors reset pin to output
TRISBbits.TRISB15 = 0; // MRST is output
MRST_ENABLE; // set the motor drivers in reset-state
// set motors error feedback pin to input
TRISBbits.TRISB13 = 1; // FF2 is input
// quadrature encoder inputs
TRISCbits.TRISC4 = 1; // QEI1_A is input
TRISCbits.TRISC5 = 1; // QEI1_B is input
TRISBbits.TRISB6 = 1; // QEI2_A is input
TRISBbits.TRISB7 = 1; // QEI2_B is input
// RC servo pins
TRISBbits.TRISB0 = 0; // SERVO1 is output
TRISBbits.TRISB1 = 0; // SERVO2 is output
// SPI 1 interface: absolute magnetic encoders
TRISBbits.TRISB8 = 0; // SPI1_CLK is output
TRISBbits.TRISB4 = 0; // SPI1_CS is output
TRISBbits.TRISB9 = 1; // SPI1_DI is input
// SPI 2 interface: force/torque sensors
TRISCbits.TRISC7 = 0; // SPI2_CLK is output
TRISBbits.TRISB5 = 0; // SPI2_CS is output
TRISCbits.TRISC8 = 1; // SPI2_DI is input
TRISCbits.TRISC9 = 0; // SPI2_DO is output
TRISBbits.TRISB2 = 0; // SPI2_SYNC is output
// General Purpose led
TRISBbits.TRISB3 = 0; // LED is output
// RS485 interface pins
TRISCbits.TRISC2 = 0; // RS485 enable pin is output
TRISCbits.TRISC1 = 0; // RS485 transmit pin is output
TRISCbits.TRISC0 = 1; // RS485 receive pin is input
PORT_RS485_DRIVER_DISABLE;
// PORT_RS485_RECEIVER_DISABLE;
//UART1 connects to RS485
// RPINR18 = 0b0001111100000000; //tie U1CTS to Vss, tie UART1RX to RP0
// RPOR0 = 0b0000001100000000; //tie UART1TX to RP1
_U1RXR = 16; // Map UART1 RX to port RP16
_RP17R = 3; // Map UART1 TX to RP17
//SPI 1 configuration. It may already be configured, but better to repeat
_SDI1R = 9; // Map SPI 1 DI to RP 9
_RP8R = 8; // Map RP8 to SPI 1 Clock Output
//SPI 2 configuration, it may already be configured, but better to repeat
_SDI2R = 24; //Map SPI 2 DI to RP24
_RP23R = 11; //Map RP23 to SPI 2 Clock Output
_RP25R = 10; //Map RP25 to SPI2 DO
}
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