/*
*------------------------------------------------------------------------------
* void InitializeUART(void)
*
* Summary : Initialize Uart for communication with PC
* char conunters
* Transimission and Reception interrupts are enabled
*
* Refer PIC 18F4520 datasheet Table 18-3.
*
* Input : None
*
* Output : None
*------------------------------------------------------------------------------
*/
void UART1_init(void)
{
UINT8 uartConfig= USART_TX_INT_OFF &
USART_RX_INT_ON &
USART_ASYNCH_MODE &
USART_EIGHT_BIT &
USART_CONT_RX &
USART_BRGH_HIGH;
// configure USART
#ifdef ANDONTERMINAL_V0
Open1USART( uartConfig ,
// 25); //baurdrate for 19200
51); //baurdrate for 19200
#endif
#ifdef ANDONTERMINAL_V2
Open1USART( uartConfig ,
//51); //baurdrate for 19200
15); // baurdrate for 62500
#endif
// Enable interrupt priority
// RCONbits.IPEN = 1;
TXSTAbits.TXEN = 1; //enable transmission
TXSTAbits.CSRC = 0;
PIE1bits.RC1IE = 1;
IPR1bits.TXIP = 1; //make transmit interrupt high priority
}
void UART_init(){
// PIN A0 is temp[0]In, A1 is bp1In, A2 is bp2In, A3 is pulseIn
//C6 is USART/RS232 Tx, C7 is USART/RS232 Rx
TRISCbits.RC6 = 0; //TX pin set as output
TRISCbits.RC7 = 1; //RX pin set as input
// Enable digital for all c pins
ANSELC=0x00;
//LATC =0x00;
//TRISC =0x00;
RCONbits.IPEN = 1; // turn on priorities
IPR1bits.RCIP = 1; // make Rx interrupt high priority
INTCONbits.GIEH = 1; // turn on high priority interrupts
Open1USART(USART_TX_INT_OFF &
USART_RX_INT_OFF &
USART_ASYNCH_MODE &
USART_EIGHT_BIT &
//USART_CONT_RX &
USART_BRGH_HIGH,
BAUD_9600_4MHz); //Set Baud Rate here Fosc / (64 * (spbrg + 1))
Write1USART(0x0c); // clear hyperterminal
}
/*
*------------------------------------------------------------------------------
* void InitializeUART(void)
*
* Summary : Initialize Uart for communication with PC
* char conunters
* Transimission and Reception interrupts are enabled
*
* Refer PIC 18F4520 datasheet Table 18-3.
*
* Input : None
*
* Output : None
*------------------------------------------------------------------------------
*/
void UART_init(void)
{
UINT8 uartConfig= USART_TX_INT_OFF &
USART_RX_INT_ON &
USART_ASYNCH_MODE &
USART_EIGHT_BIT &
USART_CONT_RX &
USART_BRGH_HIGH;
// configure USART
Open1USART( uartConfig ,
//77);
//129 );
//10 );
//19 );
15 );
// Enable interrupt priority
RCONbits.IPEN = 1;
TXSTAbits.TXEN = 1; //enable transmission
TXSTAbits.CSRC = 0;
// IPR1bits.TXIP = 1; //make transmit interrupt high priority
INTCONbits.PEIE = 1; //enable low priority interrupts
// Make receive interrupt high priority
IPR1bits.RCIP = 1;
}
void Setup_USART1XBAPI()
{
//Declaración de Variables
unsigned char USART1Config=0;
unsigned int BaudRate=0;
TRISCbits.RC6=0; //TX es salida
TRISCbits.RC7=1; //RX es entrada
//Configuración USART
USART1Config=USART_TX_INT_OFF //Interrupcion por Ttransmisión: Off
&USART_RX_INT_OFF //Interrupcion por Recepción: Off
&USART_ASYNCH_MODE //Modo Asíncrono
&USART_EIGHT_BIT //Transmision de 8bits
&USART_CONT_RX //Recepción Continua
&USART_BRGH_HIGH //Baudios
&USART_ADDEN_OFF; //Detección de Dirección OFF
BaudRate=51; //Valor que se carga a SPRBH para Definir BaudRate = 9600
Close1USART(); //Cierra USART2 en caso de estar previamente abierto.
Open1USART(USART1Config, BaudRate); //Abre USART1
IPR1bits.RC1IP =1; //Receive Interrupt: High Priority
PIE1bits.RC1IE=1; //Receive Interrupt: Enabled
PIR1bits.RC1IF=0; //Reset de EUSART2 Receive Interrupt Flag
}
/*
*------------------------------------------------------------------------------
* void InitializeUART(void)
*
* Summary : Initialize Uart for communication with PC
* char conunters
* Transimission and Reception interrupts are enabled
*
* Refer PIC 18F4520 datasheet Table 18-3.
*
* Input : None
*
* Output : None
*------------------------------------------------------------------------------
*/
void UART1_init(unsigned long baudRate)
{
UINT8 uartConfig= USART_TX_INT_OFF &
USART_RX_INT_ON &
USART_ASYNCH_MODE &
USART_EIGHT_BIT &
USART_CONT_RX &
USART_BRGH_HIGH;
baudRate += (unsigned long)1;
baudRate *= (unsigned long)16;
baudRate = GetSystemClock() / baudRate;
// configure USART
Open1USART( uartConfig ,
baudRate);
// Enable interrupt priority
// RCONbits.IPEN = 1;
RCSTA1bits.SPEN = 1;
TXSTA1bits.TXEN = 1; //enable transmission
TXSTA1bits.CSRC = 0;
PIE1bits.RC1IE = 1;
// IPR1bits.TXIP = 1; //make transmit interrupt high priority
// Make receive interrupt high priority
IPR1bits.RC1IP = 1;
}
/**
* Configure the processor
*/
void config_proc() {
// Configure the oscillator to use the internal 8MHz crystal
OSCCONbits.IRCF0 = 1;
OSCCONbits.IRCF1 = 1;
OSCCONbits.IRCF2 = 1;
// Configure RA0-4 and RB0-4 as digital pins and not analog pins
ANCON0 = ANCON0|0x1F;
ANCON1 = ANCON1|0x1F;
TRISAbits.TRISA0 = 1; // Input for the range_0 selector
TRISAbits.TRISA1 = 1; // Input for the range_1 selector
TRISAbits.TRISA2 = 1; // Input for the selftest switch
ADXL345_ALT_TRIS = 0; // Output for I2C address selection
ADXL345_INT1_TRIS = 1; // Input for Accelerometer interrupt 1
ADXL345_INT2_TRIS = 1; // Input for Accelerometer interrupt 2
ADXL345_CS_TRIS = 0; // Output for Accelerometer CS line
TRISCbits.TRISC1 = 0; // Output for the status LED
// Initially turn off the LED
LATCbits.LATC1 = 0;
// Set some of the UART registers
BAUDCON1bits.BRG16 = 0;
TXSTA1bits.BRGH = 1;
// Configure the USART port
Open1USART(USART_TX_INT_OFF&USART_RX_INT_OFF&USART_EIGHT_BIT&USART_ASYNCH_MODE,51);
}
/*
* INITIALIZATION AND MISC
*/
void setup_1(void) {
uint8_t i;
IFI_Initialization();
/* Prevent the "slow loop" from executing until data has been received
* from the master processor.
*/
statusflag.NEW_SPI_DATA = 0;
/* Enable autonomous mode. FIXME: Magic Number (we need an enum of valid "user_cmd"s) */
/* txdata.user_cmd = 0x02; */
/* Make the master control all PWMs (for now) */
txdata.pwm_mask.a = 0xFF;
/* Initialize all pins as inputs unless overridden.
*/
for (i = 0; i < 16; ++i) {
pin_set_io( i, kInput);
}
/* Initialize Serial */
Open1USART(USART_TX_INT_OFF &
USART_RX_INT_OFF &
USART_ASYNCH_MODE &
USART_EIGHT_BIT &
USART_CONT_RX &
USART_BRGH_HIGH,
kBaud115);
Delay1KTCYx( 50 ); /* Settling time (5K Clock ticks) */
/* Init ADC */
/* Setup the number of analog sensors. The PIC defines a series of 15
* ADC constants in mcc18/h/adc.h that are all of the form 0b1111xxxx,
* where x counts the number of DIGITAL ports. In total, there are
* sixteen ports numbered from 0ANA to 15ANA.
*/
if ( NUM_ANALOG_VALID(kNumAnalogInputs) && kNumAnalogInputs > 0 ) {
/* ADC_FOSC: Based on a baud_115 value of 21, given the formula
* FOSC/(16(X + 1)) in table 18-1 of the PIC18F8520 doc the FOSC
* is 40Mhz.
* Also according to the doc, section 19.2, the
* ADC Freq needs to be at least 1.6us or 0.625MHz. 40/0.625=64
* (Also, see table 19-1 in the chip doc)
*/
OpenADC(
ADC_FOSC_64 & ADC_RIGHT_JUST &
( 0xF0 | (16 - kNumAnalogInputs) ) ,
ADC_CH0 & ADC_INT_OFF & ADC_VREFPLUS_VDD &
ADC_VREFMINUS_VSS
);
}
}
/******************************************************************************
* Function: void InitializeUSART(void)
*
* PreCondition: None
*
* Input: None
*
* Output: None
*
* Side Effects: None
*
* Overview: This routine initializes the UART to 19200
*
* Note:
*
*****************************************************************************/
void InitializeUSART(void)
{
RPINR16 = 8; // Assign RX2 to Pin 26 / RP8 / RB5
RPOR7 = 6; // Assign TX2 to Pin 25 / RP7 / RB4
EECON2 = 0x55;
EECON2 = 0xAA;
PPSCONbits.IOLOCK = 1;
Open1USART(USART_TX_INT_OFF & USART_RX_INT_OFF & USART_ASYNCH_MODE & USART_EIGHT_BIT & USART_CONT_RX & USART_BRGH_LOW,77);
Open2USART(USART_TX_INT_OFF & USART_RX_INT_OFF & USART_ASYNCH_MODE & USART_EIGHT_BIT & USART_CONT_RX & USART_BRGH_LOW,77);
}
static void run_all_tests(){
// CONFIGURE UART FOR TESTS OUTPUT
Open1USART(USART_TX_INT_OFF &
USART_RX_INT_OFF &
USART_BRGH_HIGH &
USART_CONT_RX &
USART_EIGHT_BIT &
USART_ASYNCH_MODE &
USART_ADDEN_OFF,
8);
test_suite_1();
test_suite_2();
END_TESTS();
}
/*========================PORT BITS INITIALISATION==============================
GLOBAL INTERRUPT
I/O PIN CONFIG
LCD SET UP
==============================================================================*/
void initPorts(void)
{
INTERRUPT_Config();
OSCCON = 0b01110010; // internal oscillator, 16MHz
OSCTUNEbits.TUN=011111;
WriteMemory(53,0); //set init flag to null (first initialisation)
DHT_Config();
HCSR_Config();
SOLAR_POWER_CONFIG = 0;
SOLAR_SIGNAL_CONFIG = 1;
SOLAR_POWER=0;
COND_SIGNAL_CONFIG = 1;
COND_POWER_CONFIG =0;
BATT_SIGNAL_CONFIG = 1;
//Setting USART PORT
SIM900_POWER_CONFIG = 0;
SIM900_TRIGGER_CONFIG = 0;
SIM900_TRIGGER = 1;
SIM900_TX_CONFIG = 1;
SIM900_RX_CONFIG = 1;
// Configure UART
Open1USART(USART_TX_INT_OFF & USART_RX_INT_OFF & USART_ASYNCH_MODE & USART_EIGHT_BIT & USART_CONT_RX & USART_BRGH_LOW, 25);
ANSELC = 0x00;
//Setting PC USART COM
PIC_TX2_CONFIG = 1;
PIC_RX2_CONFIG = 1;
// Configure UART
Open2USART(USART_TX_INT_OFF & USART_RX_INT_OFF & USART_ASYNCH_MODE &USART_EIGHT_BIT & USART_CONT_RX & USART_BRGH_HIGH, 25);
ANSELB = 0x00;
show_Welcome();
delay_100ms(5);
}
void main (void)
{
//Asetetaan oikeat alkuarvot
//oskillaattorin biteille...
IRCF2 = 1;
IRCF1 = 1;
IRCF0 = 0;
//...ja ledille
LED_DIR = 0;
LED_PWR=0;
TRISB = 0;
//Avataan USART-vayla
//8-1 bit, 9600baud, asych
Open1USART(USART_TX_INT_OFF &
USART_RX_INT_ON &
USART_ASYNCH_MODE &
USART_EIGHT_BIT &
USART_CONT_RX &
USART_BRGH_HIGH, 25);
//Sallitaan keskeytykset
RCONbits.IPEN =1;
//Vastaanotetuista keskeytyksista
//korkean prioriteetin keskeytyksia
IPR1bits.RCIP = 1;
//Sallitaan kaikki korkean
//prioriteetin keskeytykset
INTCONbits.GIEH = 1;
//Loopataan ikuisesti ja
//odotetaan keskeytyksia
while (1);
}
void main(void) {
char c;
signed char length;
unsigned char msgtype;
unsigned char last_reg_recvd;
uart_comm uc;
i2c_comm ic;
unsigned char msgbuffer[MSGLEN + 1];
unsigned char i;
uart_thread_struct uthread_data; // info for uart_lthread
timer1_thread_struct t1thread_data; // info for timer1_lthread
timer0_thread_struct t0thread_data; // info for timer0_lthread
#ifdef __USE18F2680
OSCCON = 0xFC; // see datasheet
// We have enough room below the Max Freq to enable the PLL for this chip
OSCTUNEbits.PLLEN = 1; // 4x the clock speed in the previous line
#else
#ifdef __USE18F45J10
OSCCON = 0x82; // see datasheeet
OSCTUNEbits.PLLEN = 1; // Makes the clock exceed the PIC's rated speed if the PLL is on 48 HZ
#else
#ifdef __USE18F26J50
OSCCON = 0xE0; // see datasheeet
OSCTUNEbits.PLLEN = 1;
#else
#ifdef __USE18F46J50
OSCCON = 0xE0; //see datasheet
OSCTUNEbits.PLLEN = 1;
#else
Something is messed up.
The PIC selected is not supported or the preprocessor directives are wrong.
#endif
#endif
#endif
#endif
// initialize my uart recv handling code
init_uart_recv(&uc);
// initialize the i2c code
init_i2c(&ic);
// init the timer1 lthread
init_timer1_lthread(&t1thread_data);
// initialize message queues before enabling any interrupts
init_queues();
#ifndef __USE18F26J50
// set direction for PORTB to output
PORTB = 0xFF;
//TRISB = 0x0;
//LATB = 0x0;
#endif
// how to set up PORTA for input (for the V4 board with the PIC2680)
/*
PORTA = 0x0; // clear the port
LATA = 0x0; // clear the output latch
ADCON1 = 0x0F; // turn off the A2D function on these pins
// Only for 40-pin version of this chip CMCON = 0x07; // turn the comparator off
TRISA = 0x0F; // set RA3-RA0 to inputs
*/
// initialize Timers
OpenTimer0(TIMER_INT_ON & T0_8BIT & T0_EDGE_RISE & T0_SOURCE_EXT & T0_PS_1_1);
OpenTimer1(TIMER_INT_ON& T1_SYNC_EXT_OFF & T1_8BIT_RW & T1_SOURCE_EXT & T1_OSC1EN_OFF & T1_PS_1_1);
//OpenTimer2(TIMER_INT_ON & T2_PS_1_16)
#ifdef __USE18F26J50
// MTJ added second argument for OpenTimer1()
OpenTimer1(TIMER_INT_ON & T1_SOURCE_FOSC_4 & T1_PS_1_8 & T1_16BIT_RW & T1_OSC1EN_OFF & T1_SYNC_EXT_OFF,0x0);
#else
#ifdef __USE18F46J50
// OpenTimer1(TIMER_INT_ON & T1_SOURCE_FOSC_4 & T1_PS_1_8 & T1_16BIT_RW & T1_OSC1EN_OFF & T1_SYNC_EXT_OFF,0x0);
#else
//OpenTimer1(TIMER_INT_ON & T1_PS_1_8 & T1_16BIT_RW & T1_SOURCE_INT & T1_OSC1EN_OFF & T1_SYNC_EXT_OFF);
#endif
#endif
// Decide on the priority of the enabled peripheral interrupts
// 0 is low, 1 is high
// Timer1 interrupt
IPR1bits.TMR1IP = 0;
// USART RX interrupt
IPR1bits.RCIP = 0;
// I2C interrupt
IPR1bits.SSPIP = 1;
// configure the hardware i2c device as a slave (0x9E -> 0x4F) or (0x9A -> 0x4D)
#if 1
// Note that the temperature sensor Address bits (A0, A1, A2) are also the
// least significant bits of LATB -- take care when changing them
// They *are* changed in the timer interrupt handlers if those timers are
// enabled. They are just there to make the lights blink and can be
// disabled.
i2c_configure_slave(0x9E);
#else
// If I want to test the temperature sensor from the ARM, I just make
// sure this PIC does not have the same address and configure the
// temperature sensor address bits and then just stay in an infinite loop
i2c_configure_slave(0x9A);
#ifdef __USE18F2680
LATBbits.LATB1 = 1;
LATBbits.LATB0 = 1;
LATBbits.LATB2 = 1;
#endif
for (;;);
#endif
// must specifically enable the I2C interrupts
PIE1bits.SSPIE = 1;
// configure the hardware USART device
#ifdef __USE18F26J50
Open1USART(USART_TX_INT_OFF & USART_RX_INT_ON & USART_ASYNCH_MODE & USART_EIGHT_BIT &
USART_CONT_RX & USART_BRGH_LOW, 0x19);
#else
#ifdef __USE18F46J50
Open1USART(USART_TX_INT_OFF & USART_RX_INT_ON & USART_ASYNCH_MODE & USART_EIGHT_BIT &
USART_CONT_RX & USART_BRGH_LOW, 0x19);
#else
OpenUSART(USART_TX_INT_OFF & USART_RX_INT_ON & USART_ASYNCH_MODE & USART_EIGHT_BIT &
USART_CONT_RX & USART_BRGH_LOW, 0x26);
//Low & 0x26 for 48Mhz
//High & 0x26
#endif
#endif
// Peripheral interrupts can have their priority set to high or low
// enable high-priority interrupts and low-priority interrupts
enable_interrupts();
/* Junk to force an I2C interrupt in the simulator (if you wanted to)
PIR1bits.SSPIF = 1;
_asm
goto 0x08
_endasm;
*/
// printf() is available, but is not advisable. It goes to the UART pin
// on the PIC and then you must hook something up to that to view it.
// It is also slow and is blocking, so it will perturb your code's operation
// Here is how it looks: printf("Hello\r\n");
// loop forever
// This loop is responsible for "handing off" messages to the subroutines
// that should get them. Although the subroutines are not threads, but
// they can be equated with the tasks in your task diagram if you
// structure them properly.
TRISCbits.RC0 = 1;
while (1) {
// Call a routine that blocks until either on the incoming
// messages queues has a message (this may put the processor into
// an idle mode)
block_on_To_msgqueues();
// At this point, one or both of the queues has a message. It
// makes sense to check the high-priority messages first -- in fact,
// you may only want to check the low-priority messages when there
// is not a high priority message. That is a design decision and
// I haven't done it here.
length = ToMainHigh_recvmsg(MSGLEN, &msgtype, (void *) msgbuffer);
if (length < 0) {
// no message, check the error code to see if it is concern
if (length != MSGQUEUE_EMPTY) {
// This case be handled by your code.
}
} else {
switch (msgtype) {
case MSGT_TIMER0:
{
timer0_lthread(&t0thread_data, msgtype, length, msgbuffer);
break;
};
case MSGT_I2C_DATA:
{
break;
};
case MSGT_I2C_DBG:
{
// Here is where you could handle debugging, if you wanted
// keep track of the first byte received for later use (if desired)
last_reg_recvd = msgbuffer[0];
break;
};
case MSGT_I2C_RQST:
{
// Generally, this is *NOT* how I recommend you handle an I2C slave request
// I recommend that you handle it completely inside the i2c interrupt handler
// by reading the data from a queue (i.e., you would not send a message, as is done
// now, from the i2c interrupt handler to main to ask for data).
//
// The last byte received is the "register" that is trying to be read
// The response is dependent on the register.
start_i2c_slave_reply(length, msgbuffer);
break;
};
case MSGT_MOTOR_COMMAND:
{
motor_lthread(msgtype,length,msgbuffer);
break;
};
case MSGT_MOTOR_STOP:
{
motor_lthread(msgtype,length,msgbuffer);
break;
};
case MSGT_UART_SEND:
{
uart_lthread(&uthread_data,msgtype,length,msgbuffer);
break;
};
default:
{
// Your code should handle this error
break;
};
};
}
// Check the low priority queue
length = ToMainLow_recvmsg(MSGLEN, &msgtype, (void *) msgbuffer);
if (length < 0) {
// no message, check the error code to see if it is concern
if (length != MSGQUEUE_EMPTY) {
// Your code should handle this situation
}
} else {
switch (msgtype) {
case MSGT_PARSE:
{
//parser_lthread(msgtype,length,msgbuffer);
break;
};
case MSGT_OVERRUN:
case MSGT_UART_DATA:
{
uart_lthread(&uthread_data, msgtype, length, msgbuffer);
break;
};
default:
{
// Your code should handle this error
break;
};
};
}
}
}
void main(void) {
char c;
signed char length;
unsigned char msgtype;
unsigned char last_reg_recvd;
uart_comm uc;
i2c_comm ic;
unsigned char msgbuffer[MSGLEN + 1];
unsigned char i;
uart_thread_struct uthread_data; // info for uart_lthread
timer1_thread_struct t1thread_data; // info for timer1_lthread
timer0_thread_struct t0thread_data; // info for timer0_lthread
#ifdef __USE18F2680
OSCCON = 0xFC; // see datasheet
// We have enough room below the Max Freq to enable the PLL for this chip
OSCTUNEbits.PLLEN = 1; // 4x the clock speed in the previous line
#else
#ifdef __USE18F45J10
OSCCON = 0x82; // see datasheeet
OSCTUNEbits.PLLEN = 0; // Makes the clock exceed the PIC's rated speed if the PLL is on
#else
#ifdef __USE18F26J50
OSCCON = 0xE0; // see datasheeet
OSCTUNEbits.PLLEN = 1;
#else
#ifdef __USE18F46J50
OSCCON = 0xE0; //see datasheet
OSCTUNEbits.PLLEN = 1;
#else
Something is messed up.
The PIC selected is not supported or the preprocessor directives are wrong.
#endif
#endif
#endif
#endif
// initialize my uart recv handling code
init_uart_recv(&uc);
// initialize the i2c code
init_i2c(&ic);
// init the timer1 lthread
init_timer1_lthread(&t1thread_data);
// initialize message queues before enabling any interrupts
init_queues();
#ifndef __USE18F26J50
// set direction for PORTB to output
TRISB = 0xFF; //input
LATB = 0x0;
PORTA = 0x0;
LATA = 0x0;
TRISA = 0x0F;
#endif
// how to set up PORTA for input (for the V4 board with the PIC2680)
/*
PORTA = 0x0; // clear the port
LATA = 0x0; // clear the output latch
ADCON1 = 0x0F; // turn off the A2D function on these pins
// Only for 40-pin version of this chip CMCON = 0x07; // turn the comparator off
TRISA = 0x0F; // set RA3-RA0 to inputs
*/
// initialize Timers
#ifdef MOTORPIC
OpenTimer0(TIMER_INT_ON & T0_8BIT & T0_SOURCE_EXT & T0_EDGE_RISE & T0_PS_1_1);
#else
OpenTimer0(TIMER_INT_ON & T0_8BIT & T0_SOURCE_INT & T0_PS_1_64);
#endif
#ifdef __USE18F26J50
// MTJ added second argument for OpenTimer1()
OpenTimer1(TIMER_INT_ON & T1_SOURCE_FOSC_4 & T1_PS_1_8 & T1_16BIT_RW & T1_OSC1EN_OFF & T1_SYNC_EXT_OFF,0x0);
#else
#ifdef __USE18F46J50
OpenTimer1(TIMER_INT_ON & T1_SOURCE_FOSC_4 & T1_PS_1_8 & T1_16BIT_RW & T1_OSC1EN_OFF & T1_SYNC_EXT_OFF,0x0);
#else
OpenTimer1(TIMER_INT_ON & T1_8BIT_RW & T1_PS_1_1 & T1_SOURCE_EXT & T1_OSC1EN_OFF & T1_SYNC_EXT_OFF);
TRISC = 0xFF; // C as input
#endif
#endif
// Decide on the priority of the enabled peripheral interrupts
// 0 is low, 1 is high
// ADC interrupt
IPR1bits.ADIP = 0;
PIE1bits.ADIE = 1;
// Timer1 interrupt
IPR1bits.TMR1IP = 0;
// Timer0 interrupt
INTCON2bits.TMR0IP = 1;
// USART RX interrupt
IPR1bits.RCIP = 0;
// USART TX interrupt
IPR1bits.TXIP = 0;
// I2C interrupt
IPR1bits.SSPIP = 1;
// configure the hardware i2c device as a slave (0x9E -> 0x4F) or (0x9A -> 0x4D)
#if 1
// Note that the temperature sensor Address bits (A0, A1, A2) are also the
// least significant bits of LATB -- take care when changing them
// They *are* changed in the timer interrupt handlers if those timers are
// enabled. They are just there to make the lights blink and can be
// disabled.
#ifdef I2CMASTER
i2c_configure_master();
#else
#ifdef SENSORPIC
i2c_configure_slave(0x9E); // slave addr 4F
#else
#ifdef MOTORPIC
i2c_configure_slave(0xBE); // slave addr 5F
#endif
#endif
#endif
#else
// If I want to test the temperature sensor from the ARM, I just make
// sure this PIC does not have the same address and configure the
// temperature sensor address bits and then just stay in an infinite loop
i2c_configure_slave(0x9A);
#ifdef __USE18F2680
LATBbits.LATB1 = 1;
LATBbits.LATB0 = 1;
LATBbits.LATB2 = 1;
#endif
for (;;);
#endif
// must specifically enable the I2C interrupts
PIE1bits.SSPIE = 1;
// configure the hardware USART device
#ifdef __USE18F26J50
Open1USART(USART_TX_INT_OFF & USART_RX_INT_ON & USART_ASYNCH_MODE & USART_EIGHT_BIT &
USART_CONT_RX & USART_BRGH_LOW, 0x19);
#else
#ifdef __USE18F46J50
Open1USART(USART_TX_INT_OFF & USART_RX_INT_ON & USART_ASYNCH_MODE & USART_EIGHT_BIT &
USART_CONT_RX & USART_BRGH_LOW, 0x19);
#else
OpenUSART(USART_TX_INT_ON & USART_RX_INT_ON & USART_ASYNCH_MODE & USART_EIGHT_BIT &
USART_CONT_RX & USART_BRGH_HIGH, 38);
RCSTAbits.SPEN = 1;
TRISC = 0xFF;
#endif
#endif
// Peripheral interrupts can have their priority set to high or low
// enable high-priority interrupts and low-priority interrupts
enable_interrupts();
/* Junk to force an I2C interrupt in the simulator (if you wanted to)
PIR1bits.SSPIF = 1;
_asm
goto 0x08
_endasm;
*/
// printf() is available, but is not advisable. It goes to the UART pin
// on the PIC and then you must hook something up to that to view it.
// It is also slow and is blocking, so it will perturb your code's operation
// Here is how it looks: printf("Hello\r\n");
OpenADC(ADC_FOSC_16 & ADC_LEFT_JUST & ADC_2_TAD,
ADC_CH1 & ADC_INT_OFF & ADC_VREFPLUS_VDD & ADC_VREFMINUS_VSS,
0b1011);
SetChanADC(ADC_CH1);
// ADC_CALIB();
// loop forever
// This loop is responsible for "handing off" messages to the subroutines
// that should get them. Although the subroutines are not threads, but
// they can be equated with the tasks in your task diagram if you
// structure them properly.
unsigned char msg[2] = {0x01, 0x02};
//i2c_master_send(1, 5, msg, 0x9E); // send length, recv length, message and address + r/w bit (0)
//i2c_master_recv();
//uart_trans(2, msg);
//WriteUSART(0xAA);
while (1) {
// Call a routine that blocks until either on the incoming
// messages queues has a message (this may put the processor into
// an idle mode)
block_on_To_msgqueues();
// At this point, one or both of the queues has a message. It
// makes sense to check the high-priority messages first -- in fact,
// you may only want to check the low-priority messages when there
// is not a high priority message. That is a design decision and
// I haven't done it here.
length = ToMainHigh_recvmsg(MSGLEN, &msgtype, (void *) msgbuffer);
if (length < 0) {
// no message, check the error code to see if it is concern
if (length != MSGQUEUE_EMPTY) {
// This case be handled by your code.
}
} else {
switch (msgtype) {
case MSGT_TIMER0:
{
timer0_lthread(&t0thread_data, msgtype, length, msgbuffer);
break;
};
case MSGT_I2C_DATA:
case MSGT_I2C_DBG:
{
// Here is where you could handle debugging, if you wanted
// keep track of the first byte received for later use (if desired)
last_reg_recvd = msgbuffer[0];
break;
};
case MSGT_I2C_MASTER_RECV_COMPLETE:
{
//msgbuffer[0] = length;
uart_trans(length, msgbuffer);
//i2c_master_send(1, 5, msg, 0x9E);
break;
};
case MSGT_I2C_MASTER_RECV_FAILED:
{
//unsigned char msg2[2] = {0xEE, 0xFF};
//i2c_master_send(1, 5, msg, 0x9E);
//LATBbits.LATB2 = 0;
break;
};
default:
{
// Your code should handle this error
break;
};
};
}
// Check the low priority queue
length = ToMainLow_recvmsg(MSGLEN, &msgtype, (void *) msgbuffer);
if (length < 0) {
// no message, check the error code to see if it is concern
if (length != MSGQUEUE_EMPTY) {
// Your code should handle this situation
}
} else {
switch (msgtype) {
case MSGT_TIMER1:
{
timer1_lthread(&t1thread_data, msgtype, length, msgbuffer);
break;
};
case MSGT_OVERRUN:
case MSGT_UART_DATA:
{
//uart_trans(2, msgbuffer);
if(msgbuffer[0] == 0xBA){
// motor command
i2c_master_send(5, 5, msgbuffer, 0xBE);
} else if(msgbuffer[0] == 0xAA){
// sensor command
i2c_master_send(1, 5, msgbuffer, 0x9E);
}
LATBbits.LATB2 = 0;
//uart_lthread(&uthread_data, msgtype, length, msgbuffer);
break;
};
default:
{
// Your code should handle this error
break;
};
};
}
}
}
void main(void) {
char c;
int count = 0;
signed char length;
unsigned char msgtype;
unsigned char last_reg_recvd;
uart_comm uc;
i2c_comm ic;
unsigned char msgbuffer[MSGLEN + 1];
unsigned char i;
uart_thread_struct uthread_data; // info for uart_lthread
timer1_thread_struct t1thread_data; // info for timer1_lthread
timer0_thread_struct t0thread_data; // info for timer0_lthread
unsigned char config1 = 0x00, config2 = 0x00, portconfig = 0x00;
#ifdef __USE18F2680
OSCCON = 0xFC; // see datasheet
// We have enough room below the Max Freq to enable the PLL for this chip
OSCTUNEbits.PLLEN = 1; // 4x the clock speed in the previous line
#else
#ifdef __USE18F45J10
OSCCON = 0x82; // see datasheeet
OSCTUNEbits.PLLEN = 0; // Makes the clock exceed the PIC's rated speed if the PLL is on
#else
#ifdef __USE18F26J50
OSCCON = 0xE0; // see datasheeet
OSCTUNEbits.PLLEN = 1;
#else
#ifdef __USE18F46J50
OSCCON = 0xE0; //see datasheet
OSCTUNEbits.PLLEN = 1;
#else
Something is messed up.
The PIC selected is not supported or the preprocessor directives are wrong.
#endif
#endif
#endif
#endif
// initialize my uart recv handling code
init_uart_recv(&uc);
// initialize the code
init_i2c(&ic);
// init the timer1 lthread
init_timer1_lthread(&t1thread_data);
// initialize message queues before enabling any interrupts
init_queues();
#ifndef __USE18F26J50
// // set direction for PORTB to output
// TRISB = 0x0;
// LATB = 0x0;
#endif
PORTB = 0xFF;
// Setup PORTBs for debug pins.
TRISBbits.RB1 = 0;
TRISBbits.RB2 = 0;
TRISBbits.RB3 = 0;
TRISBbits.RB4 = 0;
TRISBbits.RB5 = 0;
LATBbits.LATB1 = 0;
LATBbits.LATB2 = 0;
LATBbits.LATB3 = 0;
LATBbits.LATB4 = 0;
LATBbits.LATB5 = 0;
//line sensor
PORTD = 0x0;
LATD = 0x0;
TRISD3 = 0x1;
TRISD4 = 0x1;
TRISD5 = 0x1;
TRISD6 = 0x1;
TRISD7 = 0x1;
// initialize Timers
OpenTimer0(TIMER_INT_ON & T0_8BIT & T0_SOURCE_EXT & T0_PS_1_1);
#ifdef __USE18F26J50
// MTJ added second argument for OpenTimer1()
OpenTimer1(TIMER_INT_ON & T1_SOURCE_FOSC_4 & T1_PS_1_8 & T1_16BIT_RW & T1_OSC1EN_OFF & T1_SYNC_EXT_OFF, 0x0);
#else
#ifdef __USE18F46J50
OpenTimer1(TIMER_INT_ON & T1_SOURCE_FOSC_4 & T1_PS_1_8 & T1_16BIT_RW & T1_OSC1EN_OFF & T1_SYNC_EXT_OFF, 0x0);
#else
OpenTimer1(TIMER_INT_ON & T1_PS_1_1 & T1_16BIT_RW & T1_SOURCE_EXT & T1_OSC1EN_OFF & T1_SYNC_EXT_OFF);
WriteTimer1(0xFFCF);
#endif
#endif
// Decide on the priority of the enabled peripheral interrupts
// 0 is low, 1 is high
// Timer1 interrupt
IPR1bits.TMR1IP = 0;
// USART TX interrupt
IPR1bits.TXIP = 0;
// I2C interrupt
IPR1bits.SSPIP = 1;
// configure the hardware i2c device as a slave (0x9E -> 0x4F) or (0x9A -> 0x4D)
#if 1
// Note that the temperature sensor Address bits (A0, A1, A2) are also the
// least significant bits of LATB -- take care when changing them
// They *are* changed in the timer interrupt handlers if those timers are
// enabled. They are just there to make the lights blink and can be
// disabled.
i2c_configure_slave(0x9E);
#else
// If I want to test the temperature sensor from the ARM, I just make
// sure this PIC does not have the same address and configure the
// temperature sensor address bits and then just stay in an infinite loop
i2c_configure_slave(0x9A);
#ifdef __USE18F2680
LATBbits.LATB1 = 1;
LATBbits.LATB0 = 1;
LATBbits.LATB2 = 1;
#endif
for (;;);
#endif
// must specifically enable the I2C interrupts
PIE1bits.SSPIE = 1;
PIE1bits.RCIE = 1;
// configure the hardware USART device
#ifdef __USE18F26J50
Open1USART(USART_TX_INT_OFF & USART_RX_INT_ON & USART_ASYNCH_MODE & USART_EIGHT_BIT &
USART_CONT_RX & USART_BRGH_LOW, 0x19);
#else
#ifdef __USE18F46J50
Open1USART(USART_TX_INT_OFF & USART_RX_INT_ON & USART_ASYNCH_MODE & USART_EIGHT_BIT &
USART_CONT_RX & USART_BRGH_LOW, 0x19);
#else
// Configuration Details:
// Solve for SPBRG = ((48Mhz/19200)/16)-1 = 155
// Calculated Baud Rate = 48MHz / (4*(624 + 1)) = 19200
// Error (19200 - 19200) / 19200 = 0
OpenUSART(USART_TX_INT_OFF & USART_RX_INT_ON & USART_ASYNCH_MODE & USART_EIGHT_BIT &
USART_CONT_RX & USART_BRGH_HIGH, 39);
BAUDCONbits.BRG16 = 0;
RCSTAbits.SPEN = 1;
RCSTAbits.CREN = 1;
#endif
#endif
// Peripheral interrupts can have their priority set to high or low
// enable high-priority interrupts and low-priority interrupts
enable_interrupts();
// loop forever
// This loop is responsible for "handing off" messages to the subroutines
// that should get them. Although the subroutines are not threads, but
// they can be equated with the tasks in your task diagram if you
// structure them properly.
while (1) {
// Call a routine that blocks until either on the incoming
// messages queues has a message (this may put the processor into
// an idle mode)
block_on_To_msgqueues();
// At this point, one or both of the queues has a message. It
// makes sense to check the high-priority messages first -- in fact,
// you may only want to check the low-priority messages when there
// is not a high priority message. That is a design decision and
// I haven't done it here.
length = ToMainHigh_recvmsg(MSGLEN, &msgtype, (void *) msgbuffer);
if (length < 0) {
// no message, check the error code to see if it is concern
if (length != MSGQUEUE_EMPTY) {
// This case be handled by your code.
}
} else {
switch (msgtype) {
case MSGT_I2C_DATA:
{
uart_lthread(&uthread_data, msgtype, length, msgbuffer);
break;
};
default:
{
// Your code should handle this error
break;
};
};
}
// Check the low priority queue
length = ToMainLow_recvmsg(MSGLEN, &msgtype, (void *) msgbuffer);
}
}
void main (void)
{
/*
Define Variables ---------------------------------------------------------------------
*/
// I2C/MSG Q variables
char c; // Is this used?
signed char length;
unsigned char msgtype;
unsigned char last_reg_recvd;
i2c_comm ic;
//unsigned char msgbuffer[MSGLEN+1];
unsigned char msgbuffer[12];
unsigned char i;
int I2C_buffer[];
int index = 0;
int ITR = 0;
int I2C_RX_MSG_COUNT = 0;
int I2C_RX_MSG_PRECOUNT = 0;
int I2C_TX_MSG_COUNT = 1;
// Timer variables
timer1_thread_struct t1thread_data; // info for timer1_lthread
timer0_thread_struct t0thread_data; // info for timer0_lthread
int timer_on = 1;
int timer2Count0 = 0, timer2Count1 = 0;
// UART variables
uart_comm uc;
//uart_thread_struct uthread_data; // info for uart_lthread
// ADC variables
int ADCVALUE = 0;
int adc_counter = 0;
int adc_chan_num = 0;
int adcValue = 0;
int count = 0;
// MIDI variable
char notePlayed;
/*
Initialization ------------------------------------------------------------------------
*/
// Clock initialization
OSCCON = 0x7C; // 16 MHz // Use for internal oscillator
OSCTUNEbits.PLLEN = 1; // 4x the clock speed in the previous line
// UART initialization
init_uart_recv(&uc); // initialize my uart recv handling code
// configure the hardware USART device
Open2USART( USART_TX_INT_OFF & USART_RX_INT_OFF & USART_ASYNCH_MODE & USART_EIGHT_BIT &
USART_CONT_RX & USART_BRGH_LOW, 31);
Open1USART( USART_TX_INT_OFF & USART_RX_INT_ON & USART_ASYNCH_MODE & USART_EIGHT_BIT &
USART_CONT_RX & USART_BRGH_LOW, 51);
//RCSTA1bits.CREN = 1;
//RCSTA1bits.SPEN = 1;
//TXSTA1bits.SYNC = 0;
//PIE1bits.RC1IE = 1;
IPR1bits.RC1IP = 0;
// I2C/MSG Q initialization
init_i2c(&ic); // initialize the i2c code
init_queues(); // initialize message queues before enabling any interrupts
i2c_configure_slave(0x9E); // configure the hardware i2c device as a slave
// Timer initialization
init_timer1_lthread(&t1thread_data); // init the timer1 lthread
OpenTimer0( TIMER_INT_ON & T0_16BIT & T0_SOURCE_INT & T0_PS_1_8);
OpenTimer2( TIMER_INT_ON & T2_PS_1_16 /*& T2_8BIT_RW & T2_SOURCE_INT & T2_OSC1EN_OFF & T2_SYNC_EXT_OFF*/); // Turn Off
// ADC initialization
// set up PORTA for input
PORTA = 0x0; // clear the port
LATA = 0x0; // clear the output latch
TRISA = 0xFF; // set RA3-RA0 to inputs
ANSELA = 0xFF;
initADC();
// Interrupt initialization
// Peripheral interrupts can have their priority set to high or low
// enable high-priority interrupts and low-priority interrupts
enable_interrupts();
// Decide on the priority of the enabled peripheral interrupts, 0 is low 1 is high
IPR1bits.TMR1IP = 0; // Timer1 interrupt
//IPR1bits.RCIP = 0; // USART RX interrupt
IPR1bits.SSP1IP = 1; // I2C interrupt
PIE1bits.SSP1IE = 1; // must specifically enable the I2C interrupts
IPR1bits.ADIP = 1; // ADC interrupt WE ADDED THIS
// set direction for PORTB to output
TRISB = 0x0;
TRISD = 0xFF;
LATB = 0x0;
ANSELC = 0x00;
/*
Hand off messages to subroutines -----------------------------------------------------------
*/
// This loop is responsible for "handing off" messages to the subroutines
// that should get them. Although the subroutines are not threads, but
// they can be equated with the tasks in your task diagram if you
// structure them properly.
while (1) {
// Call a routine that blocks until either on the incoming
// messages queues has a message (this may put the processor into
// an idle mode
block_on_To_msgqueues();
/*
High Priority MSGQ ----------------------------------------------------------------------
*/
// At this point, one or both of the queues has a message. It
// makes sense to check the high-priority messages first -- in fact,
// you may only want to check the low-priority messages when there
// is not a high priority message. That is a design decision and
// I haven't done it here.
length = ToMainHigh_recvmsg(MSGLEN,&msgtype,(void *) msgbuffer);
if (length < 0) {
// no message, check the error code to see if it is concern
if (length != MSGQUEUE_EMPTY) {
//printf("Error: Bad high priority receive, code = %x\r\n", length);
}
} else {
switch (msgtype) {
case MSGT_ADC: {
// Format I2C msg
msgbuffer[6] = (timer2Count0 & 0x00FF);
msgbuffer[5] = (timer2Count0 & 0xFF00) >> 8;
msgbuffer[4] = (timer2Count1 & 0x00FF);
msgbuffer[3] = (timer2Count1 & 0xFF00) >> 8;
msgbuffer[8] = 0x00;
msgbuffer[10] = adc_chan_num;
msgbuffer[11] = 0xaa; // ADC MSG opcode
// Send I2C msg
FromMainHigh_sendmsg(12, msgtype, msgbuffer); // Send ADC msg to FromMainHigh MQ, which I2C
// int hdlr later Reads
// Increment I2C message count from 1 to 100
if(I2C_TX_MSG_COUNT < 100) {
I2C_TX_MSG_COUNT = I2C_TX_MSG_COUNT + 1;
}
else {
I2C_TX_MSG_COUNT = 1;
}
// Increment the channel number
if(adc_chan_num <= 4) adc_chan_num++;
else adc_chan_num = 0;
// Set ADC channel based off of channel number
if(adc_chan_num == 0) SetChanADC(ADC_CH0);
else if(adc_chan_num == 1) SetChanADC(ADC_CH1);
else if(adc_chan_num == 2) SetChanADC(ADC_CH2);
else if(adc_chan_num == 3) SetChanADC(ADC_CH3);
else if(adc_chan_num == 4) SetChanADC(ADC_CH4);
else SetChanADC(ADC_CH5);
};
case MSGT_TIMER0: {
timer0_lthread(&t0thread_data,msgtype,length,msgbuffer);
break;
};
case MSGT_TIMER2: {
timer2Count0++;
if(timer2Count0 >= 0xFFFF) {
timer2Count1++;
timer2Count0 = 0;
}
break;
}
case MSGT_I2C_DATA: { //this data still needs to be put in a buffer
;
if(msgbuffer[0] == 0xaf) {
//FromMainLow_sendmsg(5, msgtype, msgbuffer);
// The code below checks message 'counts' to see if any I2C messages were dropped
//I2C_RX_MSG_COUNT = msgbuffer[4];
FromMainLow_sendmsg(9, msgtype, msgbuffer);
TXSTA2bits.TXEN = 1;
/*
// Send note data to the MIDI device
//while(Busy2USART());
putc2USART(msgbuffer[1]);
//while(Busy2USART());
Delay1KTCYx(8);
putc2USART(msgbuffer[2]);
//while(Busy2USART());
Delay1KTCYx(8);
putc2USART(msgbuffer[3]);
*/
if(I2C_RX_MSG_COUNT - I2C_RX_MSG_PRECOUNT == 1) {
if(I2C_RX_MSG_PRECOUNT < 99) {
I2C_RX_MSG_PRECOUNT++;
}
else {
I2C_RX_MSG_PRECOUNT = 0;
}
}
else {
I2C_RX_MSG_PRECOUNT = I2C_RX_MSG_COUNT;
}
}
};
`
case MSGT_I2C_DBG: {
//printf("I2C Interrupt received %x: ",msgtype);
for (i=0;i<length;i++) {
//printf(" %x",msgbuffer[i]);
}
//printf("\r\n");
// keep track of the first byte received for later use
last_reg_recvd = msgbuffer[0];
break;
};
case MSGT_I2C_RQST: {
//printf("I2C Slave Req\r\n");
// The last byte received is the "register" that is trying to be read
// The response is dependent on the register.
switch (last_reg_recvd) {
case 0xaa: {
break;
}
/*
case 0xa8: {
length = 1;
msgbuffer[0] = 0x3A;
break;
}
case 0xa9: {
length = 1;
msgbuffer[0] = 0xA3;
break;
}*/
};
//start_i2c_slave_reply(length,msgbuffer);
break;
};
default: {
//printf("Error: Unexpected msg in queue, type = %x\r\n", msgtype);
break;
};
};
}
/*
Low Priority MSGQ -----------------------------------------------------------------------
*/
length = ToMainLow_recvmsg(MSGLEN,&msgtype,(void *) msgbuffer);
if (length < 0) {
// no message, check the error code to see if it is concern
if (length != MSGQUEUE_EMPTY) {
}
} else {
switch (msgtype) {
case MSGT_TIMER1: {
timer1_lthread(&t1thread_data,msgtype,length,msgbuffer);
break;
};
case MSGT_OVERRUN:
case MSGT_UART_DATA:
{
LATB = 0xFF;
msgbuffer[11] = 0xBB;
FromMainHigh_sendmsg(12, msgtype, msgbuffer);
break;
};
default: {
break;
};
};
}
}
void main(void) {
//char c;
signed char length;
unsigned char msgtype;
unsigned char last_reg_recvd;
uart_comm uc;
i2c_comm ic;
unsigned char msgbuffer[MSGLEN + 1];
// unsigned char to_send_buffer[MAX_I2C_SENSOR_DATA_LEN + HEADER_MEMBERS];
// uint8 to_send_len;
// int data_points_count = 0;
//unsigned char i;
//uart_thread_struct uthread_data; // info for uart_lthread
//timer1_thread_struct t1thread_data; // info for timer1_lthread
//timer0_thread_struct t0thread_data; // info for timer0_lthread
#ifdef __USE18F2680
OSCCON = 0xFC; // see datasheet
// We have enough room below the Max Freq to enable the PLL for this chip
OSCTUNEbits.PLLEN = 1; // 4x the clock speed in the previous line
#else
#ifdef __USE18F45J10
OSCCON = 0x82; // see datasheeet
OSCTUNEbits.PLLEN = 0; // Makes the clock exceed the PIC's rated speed if the PLL is on
#else
#ifdef __USE18F26J50
OSCCON = 0xE0; // see datasheeet
OSCTUNEbits.PLLEN = 1;
#else
#ifdef __USE18F46J50
OSCCON = 0xE0; //see datasheet
OSCTUNEbits.PLLEN = 1;
#else
Something is messed up.
The PIC selected is not supported or the preprocessor directives are wrong.
#endif
#endif
#endif
#endif
// initialize my uart recv handling code
init_uart_recv(&uc);
// initialize the i2c code
init_i2c(&ic);
// init the timer1 lthread
// init_timer1_lthread(&t1thread_data);
// initialize message queues before enabling any interrupts
init_queues();
#ifndef __USE18F26J50
// set direction for PORTB to output
#ifndef MOTOR_PIC
TRISB = 0x0;
LATB = 0x0;
#else
TRISBbits.RB0 = 0;
TRISBbits.RB1 = 0;
TRISBbits.RB2 = 0;
TRISBbits.RB3 = 0;
#endif
#endif
// how to set up PORTA for input (for the V4 board with the PIC2680)
/*
PORTA = 0x0; // clear the port
LATA = 0x0; // clear the output latch
ADCON1 = 0x0F; // turn off the A2D function on these pins
// Only for 40-pin version of this chip CMCON = 0x07; // turn the comparator off
TRISA = 0x0F; // set RA3-RA0 to inputs
*/
// initialize Timers
#ifndef MASTER_PIC
#ifdef SENSOR_PIC
OpenTimer0(TIMER_INT_ON & T0_16BIT & T0_SOURCE_INT & T0_PS_1_16);
INTCONbits.T0IE = 1;
#elif !defined(MOTOR_PIC)
OpenTimer0(TIMER_INT_ON & T0_16BIT & T0_SOURCE_INT & T0_PS_1_4);
#else
OpenTimer0(TIMER_INT_ON & T0_8BIT & T0_PS_1_1 & T0_SOURCE_EXT);
#endif
#else
OpenTimer0(TIMER_INT_ON & T0_16BIT & T0_SOURCE_INT & T0_PS_1_16);
#endif
#ifdef __USE18F26J50
// MTJ added second argument for OpenTimer1()
OpenTimer1(TIMER_INT_ON & T1_SOURCE_FOSC_4 & T1_PS_1_8 & T1_16BIT_RW & T1_OSC1EN_OFF & T1_SYNC_EXT_OFF, 0x0);
#else
#ifdef __USE18F46J50
//OpenTimer1(TIMER_INT_ON & T1_SOURCE_FOSC_4 & T1_PS_1_8 & T1_16BIT_RW & T1_OSC1EN_OFF & T1_SYNC_EXT_OFF, 0x0);
#else
#ifndef MOTOR_PIC
// OpenTimer1(TIMER_INT_ON & T1_PS_1_8 & T1_16BIT_RW & T1_SOURCE_INT & T1_OSC1EN_OFF & T1_SYNC_EXT_OFF);
#else
OpenTimer1(TIMER_INT_ON & T1_PS_1_1 & T1_16BIT_RW & T1_SOURCE_EXT & T1_OSC1EN_OFF & T1_SYNC_EXT_OFF);
WRITETIMER1(0xFFE8); // leave in here, encoder's for motor 2 doesn't work without it
#endif
#endif
#endif
// Decide on the priority of the enabled peripheral interrupts
// 0 is low, 1 is high
//Timer0 interrupt
INTCON2bits.TMR0IP = 1;
// Timer1 interrupt
#ifdef SENSOR_PIC
// IPR1bits.TMR1IP = 0;
#else
IPR1bits.TMR1IP = 1;
#endif
// USART RX interrupt
IPR1bits.RCIP = 0;
IPR1bits.TXIP = 0;
// I2C interrupt
IPR1bits.SSPIP = 1;
//set i2c int high
PIE1bits.SSPIE = 1;
#ifdef SENSOR_PIC
//resetAccumulators();
init_adc();
initUS();
// must specifically enable the I2C interrupts
IPR1bits.ADIP = 0;
// configure the hardware i2c device as a slave (0x9E -> 0x4F) or (0x9A -> 0x4D)
i2c_configure_slave(SENSOR_ADDR << 1); //address 0x10
#elif defined MOTOR_PIC
i2c_configure_slave(MOTOR_ADDR << 1); //address 0x20
#elif defined PICMAN
i2c_configure_slave(PICMAN_ADDR << 1); //address 0x10,different bus from sensor
#elif defined I2C_MASTER
//sending clock frequency
i2c_configure_master(); //12MHz clock set hardcoded
#endif
#ifdef MASTER_PIC
///////Color Sensor Interrupt//////////
TRISBbits.TRISB0 = 1;
ANCON1bits.PCFG12 = 1; //not sure which is port b
INTCONbits.INT0IE = 1;
INTCON2bits.INTEDG0 = 0;
INTCONbits.INT0IF = 0;
initializeColorSensor();
///////////////////////////////////////
#endif
// configure the hardware USART device
#ifdef __USE18F26J50
Open1USART(USART_TX_INT_OFF & USART_RX_INT_ON & USART_ASYNCH_MODE & USART_EIGHT_BIT &
USART_CONT_RX & USART_BRGH_LOW, 0x19);
#else
#ifdef __USE18F46J50
#ifndef MOTOR_PIC
Open1USART(USART_TX_INT_OFF & USART_RX_INT_ON & USART_ASYNCH_MODE & USART_EIGHT_BIT &
USART_CONT_RX & USART_BRGH_LOW, 38);
#else
Open1USART(USART_TX_INT_OFF & USART_RX_INT_ON & USART_ASYNCH_MODE & USART_EIGHT_BIT &
USART_CONT_RX & USART_BRGH_LOW, 0x19);
#endif
#else
OpenUSART(USART_TX_INT_OFF & USART_RX_INT_ON & USART_ASYNCH_MODE & USART_EIGHT_BIT &
USART_CONT_RX & USART_BRGH_HIGH, 38);
// BAUDCONbits.BRG16 = 1;
// TXSTAbits.TXEN = 1;
// RCSTAbits.SPEN = 1;
// RCSTAbits.CREN = 1;
#endif
#endif
// Peripheral interrupts can have their priority set to high or low
// enable high-priority interrupts and low-priority interrupts
enable_interrupts();
LATBbits.LB7 = 0;
#ifndef MASTER_PIC
LATBbits.LB0 = 0;
#endif
LATBbits.LB1 = 0;
LATBbits.LB2 = 0;
LATBbits.LB3 = 0;
WRITETIMER0(0x00FF);
// loop forever
// This loop is responsible for "handing off" messages to the subroutines
// that should get them. Although the subroutines are not threads, but
// they can be equated with the tasks in your task diagram if you
// structure them properly.
while (1) {
// Call a routine that blocks until either on the incoming
// messages queues has a message (this may put the processor into
// an idle mode)
block_on_To_msgqueues();
//We have a bunch of queues now - ToMainHigh, ToMainLow, FromMainHigh, FromMainLow,
//FromUARTInt, and FromI2CInt
//From queues are most important because they will be called repeatedly with busy info
//Int queues are second because we'll often get data from either UART or I2C
//ToMain are least
length = FromMainHigh_recvmsg(MSGLEN, &msgtype, (void *) msgbuffer);
if (length < 0) {
// no message, check the error code to see if it is concern
if (length != MSGQUEUE_EMPTY) {
// This case be handled by your code.
}
} else {
switch (msgtype) {
#ifdef I2C_MASTER
case MSGT_MASTER_RECV_BUSY:
{
//retry
//debugNum(4);
i2c_master_recv(msgbuffer[0]);
break;
};
case MSGT_MASTER_SEND_BUSY:
{
//retry
//debugNum(8);
i2c_master_send(msgbuffer[0], length - 1, msgbuffer + 1); // point to second position (actual msg start)
break;
};
case MSGT_MASTER_SEND_NO_RAW_BUSY:
{
i2c_master_send_no_raw(msgbuffer[0], length-1, msgbuffer + 1);
};
case MSGT_TURN_CHECK:
{
//check IR sensors
unsigned char frame[FRAME_MEMBERS] = {0};
packFrame(frame, sizeof frame);
//frame[1] is ir1 and frame[2] is ir2
frame[1] = 1;//just for now, provide these dummy values
frame[2] = 1;
if((frame[1] > frame[2]) && (frame[1] - frame[2]) > 10){
//readjust right
char out[HEADER_MEMBERS] = {0};
uint8 len = generateReadjustCW(out, sizeof out, I2C_COMM);
i2c_master_send(MOTOR_ADDR, len, out);
// no need to call waitForSensorFrame() again
}
else if((frame[2] > frame[1]) && (frame[2] - frame[1]) > 10){
//readjust left
char out[HEADER_MEMBERS] = {0};
uint8 len = generateReadjustCCW(out, sizeof out, I2C_COMM);
i2c_master_send(MOTOR_ADDR, len, out);
// no need to call waitForSensorFrame() again
}
else{
char command[HEADER_MEMBERS] = {0};
uint8 len = generateTurnCompleteReq(command, sizeof command, UART_COMM); //tell picman turn complete
uart_send_array(command, len);
turnCompleted();
}
};
#endif
case MSGT_UART_TX_BUSY:
{
// TODO: take out for now
uart_send_array(msgbuffer, length);
break;
};
default:
break;
}
}
length = FromUARTInt_recvmsg(MSGLEN, &msgtype, (void *) msgbuffer);
if (length < 0) {
// no message, check the error code to see if it is concern
if (length != MSGQUEUE_EMPTY) {
// This case be handled by your code.
}
} else {
switch (msgtype) {
case MSGT_OVERRUN:
break;
case MSGT_UART_DATA:
{
#ifdef PICMAN
setRoverDataLP(msgbuffer);
handleRoverDataLP();
#elif defined(MASTER_PIC) || defined(ROVER_EMU)
setBrainDataLP(msgbuffer); //pass data received and tell will pass over i2c
handleMessageLP(UART_COMM, I2C_COMM); //sends the response and then sets up the command handling
#endif
break;
};
case MSGT_UART_RECV_FAILED:
{
debugNum(2);
debugNum(4);
debugNum(2);
debugNum(4);
break;
};
case MSGT_UART_TX_BUSY:
{
// TODO: take out for now
uart_send_array(msgbuffer, length);
break;
};
default:
break;
}
}
length = FromI2CInt_recvmsg(MSGLEN, &msgtype, (void *) msgbuffer);
if (length < 0) {
// no message, check the error code to see if it is concern
if (length != MSGQUEUE_EMPTY) {
// This case be handled by your code.
}
} else {
switch (msgtype) {
case MSGT_I2C_DATA:
{
#if defined(MASTER_PIC) || defined(ARM_EMU)
//handle whatever data will come through via i2c
//msgbuffer can hold real data - error codes will be returned through the error cases
setRoverDataLP(msgbuffer);
handleRoverDataLP();
#else
setBrainDataLP(msgbuffer);
#endif
break;
};
case MSGT_I2C_RQST:
{
#if defined(MOTOR_PIC) || defined(SENSOR_PIC)
handleMessageLP(I2C_COMM, I2C_COMM);
#elif defined(PICMAN)
handleMessageLP(I2C_COMM, UART_COMM);
#endif
break;
};
case MSGT_I2C_DBG:
{
// Here is where you could handle debugging, if you wanted
// keep track of the first byte received for later use (if desired)
last_reg_recvd = msgbuffer[0];
break;
};
#ifdef MASTER_PIC
case MSGT_I2C_MASTER_RECV_FAILED:
{
uart_send_array(msgbuffer, length);
break;
};
case MSGT_I2C_MASTER_SEND_FAILED:
{
uart_send_array(msgbuffer, length);
break;
};
case MSGT_MASTER_RECV_BUSY:
{
//retry
// debugNum(4);
i2c_master_recv(msgbuffer[0]);
break;
};
case MSGT_MASTER_SEND_BUSY:
{
//retry
// debugNum(8);
i2c_master_send(msgbuffer[0], length - 1, msgbuffer + 1); // point to second position (actual msg start)
break;
};
case MSGT_COLOR_SENSOR_INIT:
{
initializeColorSensorStage();
};
#endif
default:
break;
}
}
length = ToMainHigh_recvmsg(MSGLEN, &msgtype, (void *) msgbuffer);
if (length < 0) {
// no message, check the error code to see if it is concern
if (length != MSGQUEUE_EMPTY) {
// This case be handled by your code.
}
} else {
switch (msgtype) {
case MSGT_TIMER0:
{
//timer0_lthread(&t0thread_data, msgtype, length, msgbuffer);
break;
};
// #ifdef I2C_MASTER
// case MSGT_MASTER_RECV_BUSY:
// {
// //retry
// debugNum(4);
// i2c_master_recv(msgbuffer[0]);
// break;
// };
// case MSGT_MASTER_SEND_BUSY:
// {
// //retry
// debugNum(8);
// i2c_master_send(msgbuffer[0], length-1, msgbuffer + 1); // point to second position (actual msg start)
// break;
// };
// #endif
// case MSGT_I2C_DATA:
// {
// debugNum(4);
//#if defined(MASTER_PIC) || defined(ARM_EMU)
// //handle whatever data will come through via i2c
// //msgbuffer can hold real data - error codes will be returned through the error cases
// setRoverDataLP(msgbuffer);
// handleRoverDataLP();
//#else
// setBrainDataLP(msgbuffer);
//#endif
// debugNum(4);
// break;
// };
// case MSGT_I2C_RQST:
// {
//#if defined(MOTOR_PIC) || defined(SENSOR_PIC)
// handleMessageLP(I2C_COMM, I2C_COMM);
//#elif defined(PICMAN)
// handleMessageLP(I2C_COMM, UART_COMM);
//#endif
// break;
// };
// case MSGT_I2C_DBG:
// {
// // Here is where you could handle debugging, if you wanted
// // keep track of the first byte received for later use (if desired)
// last_reg_recvd = msgbuffer[0];
// break;
// };
//#ifdef MASTER_PIC
// case MSGT_I2C_MASTER_RECV_FAILED:
// {
// uart_send_array(msgbuffer, length);
// break;
// };
// case MSGT_I2C_MASTER_SEND_FAILED:
// {
// uart_send_array(msgbuffer, length);
// break;
// };
//#endif
case MSGT_AD:
{
#ifdef SENSOR_PIC
//addDataPoints(sensorADid, msgbuffer, length);
#endif
break;
};
default:
{
// Your code should handle this error
break;
};
};
}
// Check the low priority queue
length = ToMainLow_recvmsg(MSGLEN, &msgtype, (void *) msgbuffer);
if (length < 0) {
// no message, check the error code to see if it is concern
if (length != MSGQUEUE_EMPTY) {
// Your code should handle this situation
}
} else {
switch (msgtype) {
case MSGT_AD:
{
#ifdef SENSOR_PIC
//addDataPoints(sensorADid, msgbuffer, length);
#endif
break;
};
case MSGT_TIMER1:
{
//timer1_lthread(&t1thread_data, msgtype, length, msgbuffer);
break;
};
// case MSGT_OVERRUN:
// break;
// case MSGT_UART_DATA:
// {
//#ifdef PICMAN
// setRoverDataLP(msgbuffer);
// handleRoverDataLP();
//#elif defined(MASTER_PIC) || defined(ROVER_EMU)
// setBrainDataLP(msgbuffer);//pass data received and tell will pass over i2c
// handleMessageLP(UART_COMM, I2C_COMM); //sends the response and then sets up the command handling
//#endif
// break;
// };
// case MSGT_UART_RECV_FAILED:
// {
// debugNum(1);
// debugNum(2);
// debugNum(1);
// debugNum(2);
// break;
// };
default:
{
// Your code should handle this error
break;
};
};
}
}
//
}
void main(void)
{
#define BAUDRG 77
BYTE SecNum = 0;
BOOL Tx_Success = FALSE;
BYTE Tx_Trials = 0, scanresult = 0;
/*******************************************************************/
// Initialize the system
/*******************************************************************/
ANCON0 = 0XFF; /*desactiva entradas analogicas*/
ANCON1 = 0XFF; /*desactiva entradas analogicas*/
PPSUnLock();
PPSOutput(PPS_RP10, PPS_TX2CK2); // TX2 RP17/RC6 icsp
PPSInput(PPS_RX2DT2, PPS_RP9); // RX2 RP18/RC7
PPSOutput(PPS_RP23, PPS_SDO2); // SDO2 RP23/RD6
PPSInput(PPS_SDI2, PPS_RP24); // SDI2 RP24/RD7
PPSOutput(PPS_RP22, PPS_SCK2); // SCK2 RP22/RD5
PPSLock();
System_PeripheralPinSelect( ExternalInterrupt3, 19); /*external interrupt 3 B3*/
BoardInit();
ConsoleInit();
Gpios_PinDirection(GPIOS_PORTC, 7, GPIOS_INPUT); /*pin C0 como salida para SDI*/
Gpios_PinDirection(GPIOS_PORTC, 6, GPIOS_OUTPUT); /*pin C1 como salida para SDO*/
//Gpios_PinDirection(GPIOS_PORTD, 4, GPIOS_OUTPUT); /*pin D4 como salida */
Open1USART(USART_TX_INT_OFF & USART_RX_INT_OFF & USART_EIGHT_BIT & USART_ASYNCH_MODE & USART_ADDEN_OFF, BAUDRG);
baud1USART(BAUD_IDLE_TX_PIN_STATE_HIGH & BAUD_IDLE_RX_PIN_STATE_HIGH & BAUD_AUTO_OFF & BAUD_WAKEUP_OFF & BAUD_16_BIT_RATE & USART_RX_INT_OFF);
Open2USART(USART_TX_INT_OFF & USART_RX_INT_OFF & USART_EIGHT_BIT & USART_ASYNCH_MODE & USART_ADDEN_OFF, BAUDRG);
baud2USART(BAUD_IDLE_TX_PIN_STATE_HIGH & BAUD_IDLE_RX_PIN_STATE_HIGH & BAUD_AUTO_OFF & BAUD_WAKEUP_OFF & BAUD_16_BIT_RATE & USART_RX_INT_OFF);
OpenTimer1( TIMER_INT_OFF &T1_16BIT_RW &T1_SOURCE_FOSC_4 & T1_PS_1_8 &T1_OSC1EN_OFF &T1_SYNC_EXT_OFF, TIMER_GATE_OFF & TIMER_GATE_INT_OFF);
Gpios_PinDirection(GPIOS_PORTD, 7, GPIOS_INPUT); /*pin C0 como salida para SDI*/
Gpios_PinDirection(GPIOS_PORTD, 6, GPIOS_OUTPUT); /*pin C1 como salida para SDO*/
Gpios_PinDirection(GPIOS_PORTD, 5, GPIOS_OUTPUT); /*pin C2 como salida para SCK*/
Spi_Init(SPI_PORT1, SPI_64DIV); /*Inicializamos SPI2*/
Spi_Init(SPI_PORT2, SPI_64DIV); /*Inicializamos SPI2*/
//Adc_Init(ADC_10BITS);
LED_1 = 1;
LED_2 = 0;
//RLY_1 = 0;
RLY_2 = 0;
ON_RADIO = 1;
ON_MAC = 1;
ON_TEMP = 1;
StartWirelessConnection();
//myDevicesRequiredStatus[0] = 0x55;
EEPROMRead(&myDevicesRequiredStatus, 0, 1);
if(myDevicesRequiredStatus[0] == 0x55)
{
RLY_1 = 1;
EEPROMCHG = 1;
ConsolePutROMString((ROM char *)"RELAY ON ");
}
if(myDevicesRequiredStatus[0] == 0xAA)
{
RLY_1 = 0;
EEPROMCHG = 0;
ConsolePutROMString((ROM char *)"RELAY OFF ");
}
for(j=0;j<10;j++)
{
DelayMs(50);
LED_1 ^= 1;
LED_2 ^= 1;
}
LED_1 = 0;
LED_2 = 0;
//RLY_1 = 0;
RLY_2 = 0;
TickScaler = 4;
EndDevStateMachine =0;
/*
while(!Tx_Success)
{
if(myChannel < 8)
scanresult = MiApp_SearchConnection(10, (0x00000001 << myChannel));
else if(myChannel < 16)
scanresult = MiApp_SearchConnection(10, (0x00000100 << (myChannel-8)));
else if(myChannel < 24)
scanresult = MiApp_SearchConnection(10, (0x00010000 << (myChannel-16)));
else
scanresult = MiApp_SearchConnection(10, (0x01000000 << (myChannel-24)));
if(scanresult == 0)
{
Tx_Trials++;
if(Tx_Trials > 2) break;
}
else Tx_Success = TRUE;
}
if(Tx_Success)
{
ConsolePutROMString((ROM char *)"RADIO OK ");
}
else
{
ConsolePutROMString((ROM char *)"RADIO FAIL ");
}
*/
//.VBGOE = 0;
//ANCON1bits.VBGEN = 1; // Enable Band gap reference voltage
//DelayMs(10);
//VBGResult = Adc_u16Read(15);
//ANCON1bits.VBGEN = 0; // Disable Bandgap
//Adc_Init(ADC_10BITS);
ANCON0 = 0xFF;
ANCON1 = 0x9F;
ANCON1bits.VBGEN = 1; // Enable Band gap reference voltage
ADCON0bits.VCFG = 0; // vreff VDD-VSS
ADCON0bits.CHS = 0x0F; // VBG channel select
ADCON1 = 0xBE;
ADCON0bits.ADON = 1;
//for(j=0;j<16;j++)
//{
//myDevicesOutputStatus[j] = j;
//}
//EEPROMWRITE(myDevicesOutputStatus,0,16);
//for(j=0;j<16;j++)
//{
//myDevicesOutputStatus[j] = 0;
//}
//DelayMs(500);
EEPROMRead(&myDevicesOutputStatus, 0, 16);
ConsolePutROMString((ROM char *)"EEPROM READ: ");
//PrintChar(TemperatureCalibrationValue);
for(j=0;j<1;j++)
{
PrintChar(myDevicesOutputStatus[j]);
}
SwTimer3 = 0;
SwTimer4 = 0;
TRISB&=0xEF; //JL: Configuro el pin B4 como salida si modificar el estado de los demas pines
while(1)
{
/*
WirelessTxRx();
WirelesStatus();
Bypass();
*/
//No se utilizaron
//Menu();
//Timer1Tick();
//WirelessTxRxPANCOORD();
//TaskScheduler();
//JLEstas funciones deben habilitarse para trabajar como repetidora
Timer1Tick();
Repeater();
}
}
void main(void) {
// Enable UART for serial output display
Open1USART(USART_TX_INT_OFF & USART_RX_INT_OFF & USART_EIGHT_BIT & USART_ASYNCH_MODE & USART_ADDEN_OFF, BAUDRG);
#ifdef INVERT_UART
baud1USART(BAUD_IDLE_TX_PIN_STATE_LOW & BAUD_IDLE_RX_PIN_STATE_LOW & BAUD_AUTO_OFF & BAUD_WAKEUP_OFF & BAUD_16_BIT_RATE & USART_RX_INT_ON);
#else
baud1USART(BAUD_IDLE_TX_PIN_STATE_HIGH & BAUD_IDLE_RX_PIN_STATE_HIGH & BAUD_AUTO_OFF & BAUD_WAKEUP_OFF & BAUD_16_BIT_RATE & USART_RX_INT_ON);
#endif
// I/O states will be held until DSCONL.RELEASE = 0, but we must still initialize
// to what we want before clearing the RELEASE bit.
InitializeIO();
#ifdef USE_32KHZ_CRYSTAL
// Enable the Secondary Oscillator for RTCC use.
OpenTimer1(TIMER_INT_OFF & T1_SOURCE_PINOSC & T1_PS_1_1 & T1_OSC1EN_ON & T1_SYNC_EXT_OFF, 0);
#endif
// Did we wake up from Deep Sleep? Or is this the first initial power on?
if (WDTCONbits.DS) {
// woke up from Deep Sleep
DSCONLbits.RELEASE = 0; // release control and data bits for all I/Os
wait(); // allow time for INTOSC to stablize before using UART
printf("Woke from Deep Sleep via ");
if (DSWAKEHbits.DSINT0 != 0) {
printf("RB0/INT0\r\n");
} else if (DSWAKELbits.DSMCLR != 0) {
printf("MCLR\r\n");
} else if (DSWAKELbits.DSFLT != 0) {
printf("DSFLT\n");
} else if (DSWAKELbits.DSWDT != 0) {
printf("DSWDT\n");
} else if (DSWAKELbits.DSRTC != 0) {
printf("RTCC Alarm\n");
}
} else {
// first initial power up of the device.
// unlock the RTCC registers so that we can write to them
EECON2 = 0x55;
EECON2 = 0xAA;
RTCCFGbits.RTCWREN = 1;
// reset RTCC date/time (only on first power on)
RTCCFGbits.RTCPTR1 = 1;
RTCCFGbits.RTCPTR0 = 1;
RTCVALL = 0x09; // reserved | year
RTCVALH = 0xFF;
RTCVALL = 0x01; // month | day
RTCVALH = 0x01;
RTCVALL = 0x12; // weekday | hours
RTCVALH = 0x01;
RTCVALL = 0x00; // minutes | seconds
RTCVALH = 0x00;
RTCCFGbits.RTCEN = 1; // enable RTCC module
RTCCAL = RTCCALIBRATION;
wait(); // allow time for INTOSC to stablize before using UART
}
// Application Tasks
DoApplicationTasks();
// Power down into Deep Sleep mode.
printf("Powering down into deep sleep, push RB0/INT0 down to wake...\r\n");
Flush1USART();
Close1USART();
RB0ReleasedWait(); // wait for user to release INT0 so we don't get spurious wake up
EnterDeepSleepMode:
EnableINT0();
EnterDeepSleep();
// Execution should normally never reach here, as Deep Sleep powers up
// at the Reset Vector.
//
// However, there exists a small possibility an INT0 wake up is triggered
// before the processor has fully enter Deep Sleep mode. As a result, gaurd
// code is required here to handle re-initiating Deep Sleep entry.
goto EnterDeepSleepMode;
}
void USARTconfig() {
//UART Init
Open1USART(USART_TX_INT_OFF & USART_RX_INT_ON & USART_ASYNCH_MODE &
USART_EIGHT_BIT & USART_CONT_RX & USART_BRGH_LOW, 7);
}
