ChangeNoticeHandler(void)
{
/* If the button was not already pushed down, process interrupt */
if (!buttonWasPressed)
{
buttonWasPressed = true;
/* Blocking delay causing the WDT to fail to be serviced in time */
int i;
i = 1024 * 100;
while (i--);
}
/* If the button was already pushed down, ignore the interrupt */
else
buttonWasPressed = false;
unsigned int temp;
/* Read port to clear mismatch on change notice pins */
temp = PLIB_PORTS_Read(PORTS_ID_0, PORT_CHANNEL_D);
/* Clear the interrupt flag */
PLIB_INT_SourceFlagClear(INT_ID_0, INT_SOURCE_CHANGE_NOTICE);
}
void readIR()
{
PLIB_PORTS_DirectionInputSet(PORTS_ID_0, PORT_CHANNEL_E, 0xFF);
const TickType_t waitDecay = 4 / portTICK_PERIOD_MS;
vTaskDelay(waitDecay);
char IRData = PLIB_PORTS_Read(PORTS_ID_0, PORT_CHANNEL_E);
IRData = IRData & 0x3F;
PLIB_PORTS_DirectionOutputSet(PORTS_ID_0, PORT_CHANNEL_E, 0xFF);
PLIB_PORTS_Write(PORTS_ID_0, PORT_CHANNEL_E, 0xFF);
StandardMessage msg;
msg.data = IRData;
if( xQueueSendFromISR( MsgQueue_MapSensor_Interrupt, &msg, 100) );
}
/******************************************************************************
Function:
SYS_PORTS_Initialize(void)
Summary:
Initializes Ports System Service
Description:
This function initializes different port pins/channels to the desired state.
It also remaps the pins to the desired specific function.
Remarks:
None.
*/
void SYS_PORTS_Initialize(void)
{
/* AN and CN Pins Initialization */
PLIB_PORTS_AnPinsModeSelect(PORTS_ID_0, SYS_PORT_AD1PCFG, PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_CnPinsPullUpEnable(PORTS_ID_0, SYS_PORT_CNPUE);
PLIB_PORTS_CnPinsEnable(PORTS_ID_0, SYS_PORT_CNEN);
PLIB_PORTS_ChangeNoticeEnable(PORTS_ID_0);
PLIB_PORTS_Read(PORTS_ID_0, PORT_CHANNEL_D);
PLIB_INT_SourceFlagClear(INT_ID_0, INT_SOURCE_CHANGE_NOTICE);
PLIB_INT_SourceEnable(INT_ID_0, INT_SOURCE_CHANGE_NOTICE);
PLIB_INT_VectorPrioritySet(INT_ID_0, INT_VECTOR_CN, INT_PRIORITY_LEVEL2);
PLIB_INT_VectorSubPrioritySet(INT_ID_0, INT_VECTOR_CN, INT_SUBPRIORITY_LEVEL0);
/* PORT D Initialization */
PLIB_PORTS_OpenDrainEnable(PORTS_ID_0, PORT_CHANNEL_D, SYS_PORT_D_ODC);
PLIB_PORTS_Write( PORTS_ID_0, PORT_CHANNEL_D, SYS_PORT_D_LAT);
PLIB_PORTS_DirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_D, SYS_PORT_D_TRIS ^ 0xFFFF);
}
PORTS_DATA_TYPE SYS_PORTS_Read( PORTS_MODULE_ID index, PORTS_CHANNEL channel )
{
return PLIB_PORTS_Read( index, channel );
}
/******************************************************************************
Function:
SYS_PORTS_Initialize(void)
Summary:
Initializes Ports System Service
Description:
This function initializes different port pins/channels to the desired state.
It also remaps the pins to the desired specific function.
Remarks:
None.
*/
void SYS_PORTS_Initialize(void)
{
/* PORT A Initialization */
PLIB_PORTS_OpenDrainEnable(PORTS_ID_0, PORT_CHANNEL_A, SYS_PORT_A_ODC);
PLIB_PORTS_Write( PORTS_ID_0, PORT_CHANNEL_A, SYS_PORT_A_LAT);
PLIB_PORTS_DirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_A, SYS_PORT_A_TRIS ^ 0xFFFF);
PLIB_PORTS_ChangeNoticePerPortTurnOn(PORTS_ID_0, PORT_CHANNEL_A);
PLIB_PORTS_ChannelModeSelect(PORTS_ID_0, PORT_CHANNEL_A, SYS_PORT_A_ANSEL ^ 0xFFFF, PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_ChannelChangeNoticeEnable(PORTS_ID_0, PORT_CHANNEL_A, SYS_PORT_A_CNEN);
PLIB_PORTS_ChannelChangeNoticePullUpEnable(PORTS_ID_0, PORT_CHANNEL_A, SYS_PORT_A_CNPU);
PLIB_PORTS_ChannelChangeNoticePullDownEnable(PORTS_ID_0, PORT_CHANNEL_A, SYS_PORT_A_CNPD);
/* PORT B Initialization */
PLIB_PORTS_OpenDrainEnable(PORTS_ID_0, PORT_CHANNEL_B, SYS_PORT_B_ODC);
PLIB_PORTS_Write( PORTS_ID_0, PORT_CHANNEL_B, SYS_PORT_B_LAT);
PLIB_PORTS_DirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_B, SYS_PORT_B_TRIS ^ 0xFFFF);
PLIB_PORTS_ChangeNoticePerPortTurnOn(PORTS_ID_0, PORT_CHANNEL_B);
PLIB_PORTS_ChannelModeSelect(PORTS_ID_0, PORT_CHANNEL_B, SYS_PORT_B_ANSEL ^ 0xFFFF, PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_ChannelChangeNoticeEnable(PORTS_ID_0, PORT_CHANNEL_B, SYS_PORT_B_CNEN);
PLIB_PORTS_ChannelChangeNoticePullUpEnable(PORTS_ID_0, PORT_CHANNEL_B, SYS_PORT_B_CNPU);
PLIB_PORTS_ChannelChangeNoticePullDownEnable(PORTS_ID_0, PORT_CHANNEL_B, SYS_PORT_B_CNPD);
/* PORT C Initialization */
PLIB_PORTS_OpenDrainEnable(PORTS_ID_0, PORT_CHANNEL_C, SYS_PORT_C_ODC);
PLIB_PORTS_Write( PORTS_ID_0, PORT_CHANNEL_C, SYS_PORT_C_LAT);
PLIB_PORTS_DirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_C, SYS_PORT_C_TRIS ^ 0xFFFF);
PLIB_PORTS_ChangeNoticePerPortTurnOn(PORTS_ID_0, PORT_CHANNEL_C);
PLIB_PORTS_ChannelModeSelect(PORTS_ID_0, PORT_CHANNEL_C, SYS_PORT_C_ANSEL ^ 0xFFFF, PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_ChannelChangeNoticeEnable(PORTS_ID_0, PORT_CHANNEL_C, SYS_PORT_C_CNEN);
PLIB_PORTS_ChannelChangeNoticePullUpEnable(PORTS_ID_0, PORT_CHANNEL_C, SYS_PORT_C_CNPU);
PLIB_PORTS_ChannelChangeNoticePullDownEnable(PORTS_ID_0, PORT_CHANNEL_C, SYS_PORT_C_CNPD);
/* PORT D Initialization */
PLIB_PORTS_OpenDrainEnable(PORTS_ID_0, PORT_CHANNEL_D, SYS_PORT_D_ODC);
PLIB_PORTS_Write( PORTS_ID_0, PORT_CHANNEL_D, SYS_PORT_D_LAT);
PLIB_PORTS_DirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_D, SYS_PORT_D_TRIS ^ 0xFFFF);
PLIB_PORTS_ChangeNoticePerPortTurnOn(PORTS_ID_0, PORT_CHANNEL_D);
PLIB_PORTS_ChannelModeSelect(PORTS_ID_0, PORT_CHANNEL_D, SYS_PORT_D_ANSEL ^ 0xFFFF, PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_ChannelChangeNoticeEnable(PORTS_ID_0, PORT_CHANNEL_D, SYS_PORT_D_CNEN);
PLIB_PORTS_ChannelChangeNoticePullUpEnable(PORTS_ID_0, PORT_CHANNEL_D, SYS_PORT_D_CNPU);
PLIB_PORTS_ChannelChangeNoticePullDownEnable(PORTS_ID_0, PORT_CHANNEL_D, SYS_PORT_D_CNPD);
/* PORT E Initialization */
PLIB_PORTS_OpenDrainEnable(PORTS_ID_0, PORT_CHANNEL_E, SYS_PORT_E_ODC);
PLIB_PORTS_Write( PORTS_ID_0, PORT_CHANNEL_E, SYS_PORT_E_LAT);
PLIB_PORTS_DirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_E, SYS_PORT_E_TRIS ^ 0xFFFF);
PLIB_PORTS_ChangeNoticePerPortTurnOn(PORTS_ID_0, PORT_CHANNEL_E);
PLIB_PORTS_ChannelModeSelect(PORTS_ID_0, PORT_CHANNEL_E, SYS_PORT_E_ANSEL ^ 0xFFFF, PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_ChannelChangeNoticeEnable(PORTS_ID_0, PORT_CHANNEL_E, SYS_PORT_E_CNEN);
PLIB_PORTS_ChannelChangeNoticePullUpEnable(PORTS_ID_0, PORT_CHANNEL_E, SYS_PORT_E_CNPU);
PLIB_PORTS_ChannelChangeNoticePullDownEnable(PORTS_ID_0, PORT_CHANNEL_E, SYS_PORT_E_CNPD);
/* PORT F Initialization */
PLIB_PORTS_OpenDrainEnable(PORTS_ID_0, PORT_CHANNEL_F, SYS_PORT_F_ODC);
PLIB_PORTS_Write( PORTS_ID_0, PORT_CHANNEL_F, SYS_PORT_F_LAT);
PLIB_PORTS_DirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_F, SYS_PORT_F_TRIS ^ 0xFFFF);
PLIB_PORTS_ChangeNoticePerPortTurnOn(PORTS_ID_0, PORT_CHANNEL_F);
PLIB_PORTS_ChannelModeSelect(PORTS_ID_0, PORT_CHANNEL_F, SYS_PORT_F_ANSEL ^ 0xFFFF, PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_ChannelChangeNoticeEnable(PORTS_ID_0, PORT_CHANNEL_F, SYS_PORT_F_CNEN);
PLIB_PORTS_ChannelChangeNoticePullUpEnable(PORTS_ID_0, PORT_CHANNEL_F, SYS_PORT_F_CNPU);
PLIB_PORTS_ChannelChangeNoticePullDownEnable(PORTS_ID_0, PORT_CHANNEL_F, SYS_PORT_F_CNPD);
PLIB_PORTS_Read(PORTS_ID_0, PORT_CHANNEL_F);
PLIB_INT_SourceFlagClear(INT_ID_0, INT_SOURCE_CHANGE_NOTICE_F);
PLIB_INT_SourceEnable(INT_ID_0, INT_SOURCE_CHANGE_NOTICE_F);
PLIB_INT_VectorPrioritySet(INT_ID_0, INT_VECTOR_CHANGE_NOTICE_F, INT_PRIORITY_LEVEL1);
PLIB_INT_VectorSubPrioritySet(INT_ID_0, INT_VECTOR_CHANGE_NOTICE_F, INT_SUBPRIORITY_LEVEL0);
/* PORT G Initialization */
PLIB_PORTS_OpenDrainEnable(PORTS_ID_0, PORT_CHANNEL_G, SYS_PORT_G_ODC);
PLIB_PORTS_Write( PORTS_ID_0, PORT_CHANNEL_G, SYS_PORT_G_LAT);
PLIB_PORTS_DirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_G, SYS_PORT_G_TRIS ^ 0xFFFF);
PLIB_PORTS_ChangeNoticePerPortTurnOn(PORTS_ID_0, PORT_CHANNEL_G);
PLIB_PORTS_ChannelModeSelect(PORTS_ID_0, PORT_CHANNEL_G, SYS_PORT_G_ANSEL ^ 0xFFFF, PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_ChannelChangeNoticeEnable(PORTS_ID_0, PORT_CHANNEL_G, SYS_PORT_G_CNEN);
PLIB_PORTS_ChannelChangeNoticePullUpEnable(PORTS_ID_0, PORT_CHANNEL_G, SYS_PORT_G_CNPU);
PLIB_PORTS_ChannelChangeNoticePullDownEnable(PORTS_ID_0, PORT_CHANNEL_G, SYS_PORT_G_CNPD);
/* PORT H Initialization */
PLIB_PORTS_OpenDrainEnable(PORTS_ID_0, PORT_CHANNEL_H, SYS_PORT_H_ODC);
PLIB_PORTS_Write( PORTS_ID_0, PORT_CHANNEL_H, SYS_PORT_H_LAT);
PLIB_PORTS_DirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_H, SYS_PORT_H_TRIS ^ 0xFFFF);
PLIB_PORTS_ChangeNoticePerPortTurnOn(PORTS_ID_0, PORT_CHANNEL_H);
PLIB_PORTS_ChannelModeSelect(PORTS_ID_0, PORT_CHANNEL_H, SYS_PORT_H_ANSEL ^ 0xFFFF, PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_ChannelChangeNoticeEnable(PORTS_ID_0, PORT_CHANNEL_H, SYS_PORT_H_CNEN);
PLIB_PORTS_ChannelChangeNoticePullUpEnable(PORTS_ID_0, PORT_CHANNEL_H, SYS_PORT_H_CNPU);
PLIB_PORTS_ChannelChangeNoticePullDownEnable(PORTS_ID_0, PORT_CHANNEL_H, SYS_PORT_H_CNPD);
/* PORT J Initialization */
PLIB_PORTS_OpenDrainEnable(PORTS_ID_0, PORT_CHANNEL_J, SYS_PORT_J_ODC);
PLIB_PORTS_Write( PORTS_ID_0, PORT_CHANNEL_J, SYS_PORT_J_LAT);
PLIB_PORTS_DirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_J, SYS_PORT_J_TRIS ^ 0xFFFF);
PLIB_PORTS_ChangeNoticePerPortTurnOn(PORTS_ID_0, PORT_CHANNEL_J);
PLIB_PORTS_ChannelModeSelect(PORTS_ID_0, PORT_CHANNEL_J, SYS_PORT_J_ANSEL ^ 0xFFFF, PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_ChannelChangeNoticeEnable(PORTS_ID_0, PORT_CHANNEL_J, SYS_PORT_J_CNEN);
PLIB_PORTS_ChannelChangeNoticePullUpEnable(PORTS_ID_0, PORT_CHANNEL_J, SYS_PORT_J_CNPU);
PLIB_PORTS_ChannelChangeNoticePullDownEnable(PORTS_ID_0, PORT_CHANNEL_J, SYS_PORT_J_CNPD);
/* PORT K Initialization */
PLIB_PORTS_OpenDrainEnable(PORTS_ID_0, PORT_CHANNEL_K, SYS_PORT_K_ODC);
PLIB_PORTS_Write( PORTS_ID_0, PORT_CHANNEL_K, SYS_PORT_K_LAT);
PLIB_PORTS_DirectionOutputSet( PORTS_ID_0, PORT_CHANNEL_K, SYS_PORT_K_TRIS ^ 0xFFFF);
PLIB_PORTS_ChangeNoticePerPortTurnOn(PORTS_ID_0, PORT_CHANNEL_K);
PLIB_PORTS_ChannelModeSelect(PORTS_ID_0, PORT_CHANNEL_K, SYS_PORT_K_ANSEL ^ 0xFFFF, PORTS_PIN_MODE_DIGITAL);
PLIB_PORTS_ChannelChangeNoticeEnable(PORTS_ID_0, PORT_CHANNEL_K, SYS_PORT_K_CNEN);
PLIB_PORTS_ChannelChangeNoticePullUpEnable(PORTS_ID_0, PORT_CHANNEL_K, SYS_PORT_K_CNPU);
PLIB_PORTS_ChannelChangeNoticePullDownEnable(PORTS_ID_0, PORT_CHANNEL_K, SYS_PORT_K_CNPD);
/* PPS Input Remapping */
PLIB_PORTS_RemapInput(PORTS_ID_0, INPUT_FUNC_SDI6, INPUT_PIN_RPB14 );
PLIB_PORTS_RemapInput(PORTS_ID_0, INPUT_FUNC_U4RX, INPUT_PIN_RPD5 );
PLIB_PORTS_RemapInput(PORTS_ID_0, INPUT_FUNC_SDI2, INPUT_PIN_RPG7 );
PLIB_PORTS_RemapInput(PORTS_ID_0, INPUT_FUNC_U1RX, INPUT_PIN_RPG1 );
PLIB_PORTS_RemapInput(PORTS_ID_0, INPUT_FUNC_U3RX, INPUT_PIN_RPF5 );
PLIB_PORTS_RemapInput(PORTS_ID_0, INPUT_FUNC_SDI1, INPUT_PIN_RPD2 );
/* PPS Output Remapping */
PLIB_PORTS_RemapOutput(PORTS_ID_0, OUTPUT_FUNC_SDO6, OUTPUT_PIN_RPB15 );
PLIB_PORTS_RemapOutput(PORTS_ID_0, OUTPUT_FUNC_U4TX, OUTPUT_PIN_RPD4 );
PLIB_PORTS_RemapOutput(PORTS_ID_0, OUTPUT_FUNC_SDO2, OUTPUT_PIN_RPG8 );
PLIB_PORTS_RemapOutput(PORTS_ID_0, OUTPUT_FUNC_U1TX, OUTPUT_PIN_RPG0 );
PLIB_PORTS_RemapOutput(PORTS_ID_0, OUTPUT_FUNC_U3TX, OUTPUT_PIN_RPA14 );
PLIB_PORTS_RemapOutput(PORTS_ID_0, OUTPUT_FUNC_SDO1, OUTPUT_PIN_RPD3 );
}
