void SleepIfOkay() {
// we won't sleep if the main isn't willing to block
if (MQ_Main_Willing_to_block == 0) {
return;
}
// check to see if we are handling a low priority interrupt
// if so, we are not going to sleep
if (in_low_int()) {
return;
}
// we know that we are in a high priority interrupt handler
// but we'll check to make sure and return if we are not
if (!in_high_int()) {
return;
}
// since we are the only thing executing that could be
// putting something into a message queue destined for main()
// we can safely check the message queues now
// if they are empty, we'll go to sleep
if (check_msg(&ToMainHigh_MQ)) {
return;
}
if (check_msg(&ToMainLow_MQ)) {
return;
}
enter_sleep_mode();
}
int in_main() {
if ((!in_low_int()) && (!in_high_int())) {
return (1);
} else {
return (0);
}
}
signed char SensorData_sendmsg(unsigned char length, unsigned char id, void *data) {
#ifdef DEBUG
if (!in_high_int()) {
return (MSG_NOT_IN_HIGH);
}
#endif
if(id > (SENSORQUEUELEN - 1))
{
return INDEX_OUT_OF_RANGE;
}
//unsigned char slot;
msg *qmsg;
size_t tlength = length;
sensor_queue *qptr = &SensorData_SQ;
qmsg = &(qptr->queue[id]);
qmsg->length = length;
memcpy(qmsg->data, data, tlength);
// This *must* be done after the message is completely inserted
qmsg->full = 1;
return (MSGSEND_OKAY);
}
signed char FromMainHigh_recvmsg(unsigned char maxlength, unsigned char *msgtype, void *data) {
#ifdef DEBUG
if (!in_high_int()) {
return (MSG_NOT_IN_HIGH);
}
#endif
return (recv_msg(&FromMainHigh_MQ, maxlength, msgtype, data));
}
signed char ToMainHigh_sendmsg(unsigned char length, unsigned char msgtype, void *data) {
#ifdef DEBUG
if (!in_high_int()) {
return (MSG_NOT_IN_HIGH);
}
#endif
return (send_msg(&ToMainHigh_MQ, length, msgtype, data));
}
int in_low_int() {
if (INTCONbits.GIEL == 1) {
return (0);
} else if (in_high_int()) {
return (0);
} else {
return (1);
}
}
signed char ADQueue_recvmsg(unsigned char maxlength,unsigned char *msgtype,void *data)
{
#ifdef DEBUG
if (!in_high_int()) {
return(MSG_NOT_IN_HIGH);
}
#endif
return(recv_msg(&adReadQueue,maxlength,msgtype,data));
}
int in_low_int() {
//low priority enabled
if (INTCONbits.GIEL == 1) {
return (0);
} else if (in_high_int()) {
return (0);
} else {
return (1);
}
}
signed char SensorData_sendmsg(unsigned char length, unsigned char msgtype, void *data) {
#ifdef DEBUG
if (!in_high_int()) {
return (MSG_NOT_IN_HIGH);
}
#endif
//unsigned char slot;
msg *qmsg;
size_t tlength = length;
msg_queue *qptr = &SensorData_MQ;
for(int i = 0; i < MSGQUEUELEN; i++)
{
if(i == (MSGQUEUELEN - 1))
{
qmsg = &(qptr->queue[i]);
qmsg->length = length;
memcpy(qmsg->data, data, tlength);
}
else
{
qmsg = &(qptr->queue[i]);
msg *temp = &(qptr->queue[i + 1]);
qmsg->length = temp->length;
memcpy(qmsg->data, temp->data, qmsg->length);
}
}
//slot = qptr->cur_write_ind;
//qmsg = &(qptr->queue[slot]);
// if the slot isn't empty, then we should return
//if (qmsg->full != 0) {
// return (MSGQUEUE_FULL);
//}
// now fill in the message
//qmsg->length = length;
//memcpy(qmsg->data, data, tlength);
// This *must* be done after the message is completely inserted
qmsg->full = 1;
return (MSGSEND_OKAY);
//return (send_msg(&SensorData_MQ, length, msgtype, data));
}
