//**********************************************************************
//File Name:   Init.c
//Include:     void Hardware_Init(void); -- Initialize for hardware.
//             void Software_Init(void); -- Initialize for software.
//Description: Initialize for the system.
//**********************************************************************
#include "Headfiles.h"

//**********************************************************************
//Func. Name:        Hardware_Init Func.
//Input variables:   None
//Output variables:  None
//Use sub-func.list: None
//Used by list:      MainFunc.c - void main(void);
//Description:       Initialize for hardware of the system, including:
//                   Configure System-Clock, Timer-A, Timer-B, I/O Port,
//                             ADC, DAC.
//**********************************************************************
void Hardware_Init(void)
{
    //Configure LCD
    ADPCFG |= 0x07FF; //Select digital mode for AD&I/O refrain pins
                      //RB0~RB10 for digital I/O

    TRISB &= 0xFCC0;  //Configure Output mode for DB of LCD(RB0~RB5,RB8~RB9)
    TRISB |= 0x0400;  //Configure Input mode for BUSY signal of LCD(RB10)
    
    _LATD4 &= 0;     //No meaning, avoid LCD error
    TRISD &= 0xFFEF; //Configure Output mode for Requst signal of LCD(RD4)

    //Configure Keyboard
    TRISD |= 0x07E0;  //Configure Input mode for 6button of Keyboard(RD5~RD10)
    
    //Configure ADC moduel
    ADPCFG &= 0x0FFF; //Select analog mode for AD&I/O refrain pins
                      //RB11~RB15 for analog input
    TRISB |= 0xF000;  //Configure input mode for ADC moduel(RB11~RB15)
    ADCON1 = 0x00E4;
    //ADCON1bits.SSRC = 7; //Converse after sample automatically
    //ADCON1bits.ASAM = 1; //Start sample automatically
    ADCON2 =0x040C;//0x0400;
    //ADCON2bits.CSCNA = 1; //Scan input MUXA
    //ADCON2bits.SMPI = 0;
    ADCON3 = 0x0402;
    //ADCON3bits.ADRC = 0;
    //ADCON3bits.SAMC = 2; 
    //ADCON3bits.ADCS = 21; //Configure 83ksps
    ADCHS = 0x000C;
    //ADCHSbits.CH0SA = 12;
    ADCSSL = 0xF000;
    _ADCON();
    
    //Configure SPI moduel
    SPI1CON = 0x003F;//0x0022;
    SPI1STAT &= 0x0000;
    TRISF &= 0xFFB7;  //Configure SDO & SCLK as digital for SPI
   
    //Configure peripheral ADC moduel
    TRISF &= 0xFFFB; //Configure RF2 as digital output for DAC_SYNC
    _DACSYNC_DISABLE();

    //Configure EEPROM

    //Configure Timer1 for servo cycle of system
    T1CON = 0x0000;
    IFS0bits.T1IF = 0;  //Clear interrupt flag of Timer1
    IPC0bits.T1IP = 7;  //Configure interrupt priority for highest
    IEC0bits.T1IE = 1;  //Enable interrupt of Timer1
    TMR1 = 0xFFFF - SYSTME_SERVO_CYCLE; //Set the first value to counter

    //Configure Timer2 & Output Compare moduel for PWM
    T2CON = 0x0000;
    T2CONbits.T32 = 0; //Select 16bits Counter mode
    T2CONbits.TCS = 0; //Select internal clock source
    T2CONbits.TCKPS = 0; //Prescale 1:1 for Timer2 clock
    IEC0bits.T2IE = 0; //Disable interrupt of Timer2
    T2CONbits.TON = 1; //Enalbe Timer2 for counter

    TRISD &= 0xFFFD;  //Configure digital output mode for PWM(RD1)
    OC2CONbits.OCTSEL = 0; //Select Timer2 for clock source
    OC2CONbits.OCM = 3; //Reverse the Output when something happened
    IEC0bits.OC2IE = 0; //Disable interrupt of OC moduel
}

//**********************************************************************
//Func. Name:        Software_Init Func.
//Input variables:   None
//Output variables:  None
//Use sub-func.list: Flash.c - void Flash_Read(void);
//Used by list:      MainFunc.c - void main(void);
//Description:       Initialize for software of the system, including:
//                   Initialize global variables; Run flash_read func.
//**********************************************************************
void Software_Init(void)
{   
    Interface = MAIN_VIEW; //Initialize the Interface in LCD Display prog.

    Arrow_Position = 0;   //Initialize the position of arrowhead in LCD Display prog.
    
    Key_Value = NON_KEY;
    Key_Buffer = 0x00;
    Key_Counter = 0;
    Key_Step = KEYBOARD_SCAN_START;        //Initialize for Key Scan prog.
    
   // PID_Error_Sum[0] = 0;
   // PID_Error_Sum[1] = 0;  //Initialize the array of erro-accumulation for PID Control prog.
    
    Refresh_LCD_Flag = 0;
    Refresh_Key_Flag = 0;
    Refresh_LCD_Cycle = 0;
    Refresh_Key_Cycle = 0; //Initialize System Cycle & the Flag in System Cycle
    
    Filter_Ptr = 0;
    
    EEPROM_Read();       //Read data from FLASH
}