void hal_tick_init(void){
ledIsOn = false;
handleTmr = DRV_TMR_Open(APP_TMR_DRV_INDEX, DRV_IO_INTENT_EXCLUSIVE);
if( DRV_HANDLE_INVALID == handleTmr ){
log_error("Timer init failed");
return;
}
DRV_TMR_Alarm16BitRegister(handleTmr, APP_TMR_ALARM_PERIOD, true, (uintptr_t)NULL, sys_tick_handler);
DRV_TMR_Start(handleTmr);
SYS_PORTS_PinDirectionSelect(PORTS_ID_0, SYS_PORTS_DIRECTION_OUTPUT, APP_LED_PORT, APP_LED_PIN);
}
void hal_uart_dma_init(void){
bytes_to_write = 0;
bytes_to_read = 0;
/* PPS Input Remapping */
PLIB_PORTS_RemapInput(PORTS_ID_0, INPUT_FUNC_U2RX, INPUT_PIN_RPF4 );
PLIB_PORTS_RemapInput(PORTS_ID_0, INPUT_FUNC_U2CTS, INPUT_PIN_RPB2 );
/* PPS Output Remapping */
PLIB_PORTS_RemapOutput(PORTS_ID_0, OUTPUT_FUNC_U2RTS, OUTPUT_PIN_RPG9 );
PLIB_PORTS_RemapOutput(PORTS_ID_0, OUTPUT_FUNC_U2TX, OUTPUT_PIN_RPF5 );
/* Initialize USART */
PLIB_USART_BaudRateSet(BT_USART_ID, SYS_CLK_PeripheralFrequencyGet(CLK_BUS_PERIPHERAL_1), BT_USART_BAUD);
PLIB_USART_HandshakeModeSelect(BT_USART_ID, USART_HANDSHAKE_MODE_FLOW_CONTROL);
PLIB_USART_OperationModeSelect(BT_USART_ID, USART_ENABLE_TX_RX_CTS_RTS_USED);
PLIB_USART_LineControlModeSelect(BT_USART_ID, USART_8N1);
PLIB_USART_TransmitterEnable(BT_USART_ID);
// PLIB_USART_TransmitterInterruptModeSelect(bluetooth_uart_id, USART_TRANSMIT_FIFO_IDLE);
PLIB_USART_ReceiverEnable(BT_USART_ID);
// PLIB_USART_ReceiverInterruptModeSelect(bluetooth_uart_id, USART_RECEIVE_FIFO_ONE_CHAR);
PLIB_USART_Enable(BT_USART_ID);
// enable _RESET
SYS_PORTS_PinDirectionSelect(PORTS_ID_0, SYS_PORTS_DIRECTION_OUTPUT, BT_RESET_PORT, BT_RESET_BIT);
bluetooth_power_cycle();
// After reset, CTS is high and we need to wait until CTS is low again
// HACK: CTS doesn't seem to work right now
msleep(250);
// HACK: CSR seems to do an auto-baud on the uart, which makes the first HCI RESET fail
// 2 options: a) check for CTS going high within 10 ms, b) just send HCI RESET twice
// const uint8_t hci_reset_cmd[] = {0x01, 0x03, 0x0c, 0x00};
// int pos = 0;
// while(pos < sizeof(hci_reset_cmd)){
// if (PLIB_USART_TransmitterIsEmpty(BT_USART_ID)){
// PLIB_USART_TransmitterByteSend(BT_USART_ID, hci_reset_cmd[pos]);
// pos++;
// }
// }
// msleep(250);
}
void lineTimerCallback( TimerHandle_t pxTimer )
{
outputEvent(LINE_READING_START);
if(!wait)
if( xTimerStart( lineTimer, 0 ) != pdPASS )
outputEvent(LINETIMER_NOT_STARTED);
//Set Pins to digital output and HIGH
SYS_PORTS_PinDirectionSelect(PORTS_ID_0, SYS_PORTS_DIRECTION_OUTPUT, PORT_CHANNEL_B, PORTS_BIT_POS_11);
SYS_PORTS_PinDirectionSelect(PORTS_ID_0, SYS_PORTS_DIRECTION_OUTPUT, PORT_CHANNEL_B, PORTS_BIT_POS_12);
SYS_PORTS_PinDirectionSelect(PORTS_ID_0, SYS_PORTS_DIRECTION_OUTPUT, PORT_CHANNEL_B, PORTS_BIT_POS_13);
SYS_PORTS_PinDirectionSelect(PORTS_ID_0, SYS_PORTS_DIRECTION_OUTPUT, PORT_CHANNEL_G, PORTS_BIT_POS_8);
SYS_PORTS_PinDirectionSelect(PORTS_ID_0, SYS_PORTS_DIRECTION_OUTPUT, PORT_CHANNEL_A, PORTS_BIT_POS_10);
SYS_PORTS_PinDirectionSelect(PORTS_ID_0, SYS_PORTS_DIRECTION_OUTPUT, PORT_CHANNEL_F, PORTS_BIT_POS_0);
SYS_PORTS_PinDirectionSelect(PORTS_ID_0, SYS_PORTS_DIRECTION_OUTPUT, PORT_CHANNEL_F, PORTS_BIT_POS_1);
SYS_PORTS_PinDirectionSelect(PORTS_ID_0, SYS_PORTS_DIRECTION_OUTPUT, PORT_CHANNEL_D, PORTS_BIT_POS_6);
SYS_PORTS_PinSet(PORTS_ID_0, PORT_CHANNEL_B, PORTS_BIT_POS_11);
SYS_PORTS_PinSet(PORTS_ID_0, PORT_CHANNEL_B, PORTS_BIT_POS_13);
SYS_PORTS_PinSet(PORTS_ID_0, PORT_CHANNEL_B, PORTS_BIT_POS_12);
SYS_PORTS_PinSet(PORTS_ID_0, PORT_CHANNEL_G, PORTS_BIT_POS_8);
SYS_PORTS_PinSet(PORTS_ID_0, PORT_CHANNEL_A, PORTS_BIT_POS_10);
SYS_PORTS_PinSet(PORTS_ID_0, PORT_CHANNEL_F, PORTS_BIT_POS_0);
SYS_PORTS_PinSet(PORTS_ID_0, PORT_CHANNEL_F, PORTS_BIT_POS_1);
SYS_PORTS_PinSet(PORTS_ID_0, PORT_CHANNEL_D, PORTS_BIT_POS_6);
//Start timer to charge cap and read data
validData = false;
if( xTimerStart( readTimer, 0 ) != pdPASS ){
outputEvent(READTIMER_NOT_STARTED);
}
}
void readTimerCallback( TimerHandle_t pxTimer )
{
if(validData){
outputEvent(LINE_VALID_DATA);
//Read pins and send message to sensor queue
bool pin1 = SYS_PORTS_PinRead(PORTS_ID_0, PORT_CHANNEL_B, PORTS_BIT_POS_11);
bool pin2 = SYS_PORTS_PinRead(PORTS_ID_0, PORT_CHANNEL_B, PORTS_BIT_POS_13);
bool pin3 = SYS_PORTS_PinRead(PORTS_ID_0, PORT_CHANNEL_B, PORTS_BIT_POS_12);
bool pin4 = SYS_PORTS_PinRead(PORTS_ID_0, PORT_CHANNEL_G, PORTS_BIT_POS_8);
bool pin5 = SYS_PORTS_PinRead(PORTS_ID_0, PORT_CHANNEL_A, PORTS_BIT_POS_10);
bool pin6 = SYS_PORTS_PinRead(PORTS_ID_0, PORT_CHANNEL_F, PORTS_BIT_POS_0);
bool pin7 = SYS_PORTS_PinRead(PORTS_ID_0, PORT_CHANNEL_F, PORTS_BIT_POS_1);
bool pin8 = SYS_PORTS_PinRead(PORTS_ID_0, PORT_CHANNEL_D, PORTS_BIT_POS_6);
uint8_t line = 0;
if(pin1)
line += 0x1;
if(pin2)
line += 0x2;
if(pin3)
line += 0x4;
if(pin4)
line += 0x8;
if(pin5)
line += 0x10;
if(pin6)
line += 0x20;
if(pin7)
line += 0x40;
if(pin8)
line += 0x80;
MESSAGE lineMsg;
lineMsg.id = 0x36;
lineMsg.msg = 0x12;
lineMsg.data1 = line;
lineMsg.data2 = 0x0;
if( xQueueSendToBack(sensorQueue, (void *)&lineMsg, (TickType_t)0) != pdPASS )
{
outputEvent(SENSOR_QUEUE_FULL);
}
else
{
outputEvent(SENT_TO_SENSOR_QUEUE);
}
validData = false;
}else{
outputEvent(LINE_CAP_CHARGED);
//Set Pins to digital input
SYS_PORTS_PinDirectionSelect(PORTS_ID_0, SYS_PORTS_DIRECTION_INPUT, PORT_CHANNEL_B, PORTS_BIT_POS_11);
SYS_PORTS_PinDirectionSelect(PORTS_ID_0, SYS_PORTS_DIRECTION_INPUT, PORT_CHANNEL_B, PORTS_BIT_POS_13);
SYS_PORTS_PinDirectionSelect(PORTS_ID_0, SYS_PORTS_DIRECTION_INPUT, PORT_CHANNEL_B, PORTS_BIT_POS_12);
SYS_PORTS_PinDirectionSelect(PORTS_ID_0, SYS_PORTS_DIRECTION_INPUT, PORT_CHANNEL_G, PORTS_BIT_POS_8);
SYS_PORTS_PinDirectionSelect(PORTS_ID_0, SYS_PORTS_DIRECTION_INPUT, PORT_CHANNEL_A, PORTS_BIT_POS_10);
SYS_PORTS_PinDirectionSelect(PORTS_ID_0, SYS_PORTS_DIRECTION_INPUT, PORT_CHANNEL_F, PORTS_BIT_POS_0);
SYS_PORTS_PinDirectionSelect(PORTS_ID_0, SYS_PORTS_DIRECTION_INPUT, PORT_CHANNEL_F, PORTS_BIT_POS_1);
SYS_PORTS_PinDirectionSelect(PORTS_ID_0, SYS_PORTS_DIRECTION_INPUT, PORT_CHANNEL_D, PORTS_BIT_POS_6);
//Reset timer
validData = true;
if( xTimerReset( readTimer, 0 ) != pdPASS ){
outputEvent(READTIMER_NOT_RESET);
}
}
}
