/*******************************************************************************
* FUNCTION: vUART2FlushRxBuffer
*
* PARAMETERS:
* ~ void
*
* RETURN:
* ~ void
*
* DESCRIPTIONS:
* Flush all the data in the Rx buffer.
*
*******************************************************************************/
void vUART2FlushRxBuffer(void)
{
unsigned char ucReceivedData;
unsigned int iStatus = INTDisableInterrupts();
prv_xRx.uiDataCount = 0;
prv_xRx.uiReadPt = 0;
prv_xRx.uiWritePt = 0;
// Discard all data available in the UART receive buffer.
while (UARTReceivedDataIsAvailable(UART2)) {
// Read the received data.
ucReceivedData = UARTGetDataByte(UART2);
}
// Clear the overrun flag.
if (UARTGetLineStatus(UART2) & UART_OVERRUN_ERROR) {
U2STAbits.OERR = 0;
}
// Clear the semaphore.
xSemaphoreTake(xBluetoothRxSemaphore, 0);
INTRestoreInterrupts(iStatus);
}
void ReadUART3(char *message, int max) {
char data;
int complete = 0, num_bytes = 0;
// loop until you get a '\r' or '\n'
while (!complete) {
if (UARTReceivedDataIsAvailable(UART3)) {
data = UARTGetDataByte(UART3);
if ((data == '\n') || (data == '\r')) {
complete = 1;
} else {
message[num_bytes] = data;
num_bytes++;
// roll over if the array is too small
if (num_bytes >= max) {
num_bytes = 0;
}
}
}
}
// clear the remaining elements in the array
int i;
for (i = num_bytes; i < max; i++) {
message[i] = '\0';
}
}
// *****************************************************************************
// UINT32 GetDataBuffer(char *buffer, UINT32 max_size)
// *****************************************************************************
UINT32 GetDataBuffer(char *buffer, UINT32 max_size)
{
UINT32 num_char;
num_char = 0;
while(num_char < max_size)
{
UINT8 character;
while(!UARTReceivedDataIsAvailable(UART2))
;
character = UARTGetDataByte(UART2);
if(character == '\r')
break;
*buffer = character;
buffer++;
num_char++;
}
return num_char;
}
// read byte if one is ready.
// if exists, return true and byte
// if return false, byte = 0 is none avail, else
// byte != 0 means error
bool UARTReadByte(uint8_t * byte)
{
if (UARTReceivedDataIsAvailable(UART1))
{
*byte = UARTGetDataByte(UART1);
return true;
}
*byte = 0;
return false;
} // UARTReadByte
// *****************************************************************************
// UINT32 GetMenuChoice(void)
// *****************************************************************************
UINT32 GetMenuChoice(void)
{
UINT8 menu_item;
while(!UARTReceivedDataIsAvailable(UARTTEST));
menu_item = UARTGetDataByte(UARTTEST);
return (UINT32)menu_item;
}
// *****************************************************************************
// Wait for a new character to arrive on the Console serial port
// *****************************************************************************
char getConsole(void)
{
char character;
while(!UARTReceivedDataIsAvailable(UART_CONSOLE));
character = UARTGetDataByte(UART_CONSOLE);
return character; // read the character from the receive buffer
}
int rx(void *dst, size_t n) {
size_t ui;
for (ui = 0; ui < n; ++ui) {
if (!UARTReceivedDataIsAvailable(module)) {
return -1;
}
WDT::clear();
((uint8_t *)dst)[ui] = UARTGetDataByte(module);
}
return 0;
}
void serial_handling(void){
static int step = 0;
static uint8_t msg[MESS_SIZE];
if(UARTReceivedDataIsAvailable(UART2))
{
PutCharInFifo ( &descrFifoRX, UARTGetDataByte(UART2));
}
if(GetReadSize(&descrFifoRX) < 1){
// Il n'y a rien à faire
return ;
}
GetCharFromFifo(&descrFifoRX, &msg[step]);
switch(step){
case 0:
// Recherche du caractère '!'
if(msg[0] == '!'){
step++;
}
break;
case 1:
case 2:
step++;
break;
case 3:
// Message complet
msg_processing(msg);
step = 0;
default:
step = 0;
break;
}
if (GetReadSize(&descrFifoTX) > 0)
{
// Autorise int émission
INTEnable(INT_U2TX, INT_ENABLED);
}
}
void handleUartInterrupt(UART_MODULE uart, Buffer* buffer) {
// Is this an RX interrupt?
if (INTGetFlag(INT_SOURCE_UART_RX(uart))) {
if (UARTReceivedDataIsAvailable(uart)) {
unsigned char c = UARTGetDataByte(uart);
// BUG2018, BUG2019 (255 / 254 value) when Motor Power is too strong
if (c != 'ÿ' && c != 'þ') {
bufferWriteChar(buffer, c);
}
// Clear the RX interrupt Flag
INTClearFlag(INT_SOURCE_UART_RX(uart));
}
}
// We don't care about TX interrupt
if ( INTGetFlag(INT_SOURCE_UART_TX(uart)) ) {
INTClearFlag(INT_SOURCE_UART_TX(uart));
}
}
/*******************************************************************************
* ISR: UART 2 Interrupt.
*
* DESCRIPTIONS:
* Interrupt vector for UART 2.
*
*******************************************************************************/
void __ISR(_UART_2_VECTOR, IPL7AUTO) UART2Interrupt(void)
{
unsigned char ucReceivedData;
xSystemState.bBluetoothBusy = 1;
// Rx interrupt.
if (INTGetEnable(INT_U2RX) && INTGetFlag(INT_U2RX)) {
INTClearFlag(INT_U2RX);
// Read out all data available.
while (UARTReceivedDataIsAvailable(UART2)) {
// Read the received data.
ucReceivedData = UARTGetDataByte(UART2);
// Make sure there is empty space in the buffer.
if ((prv_xRx.uiBufferSize - prv_xRx.uiDataCount) > 0) {
// Copy the data to the buffer.
prv_xRx.pucBuffer[prv_xRx.uiWritePt] = ucReceivedData;
// Increase the write pointer and data count.
prv_vIncPointer(&prv_xRx.uiWritePt, prv_xRx.uiBufferSize);
prv_xRx.uiDataCount++;
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
xSemaphoreGiveFromISR(xBluetoothRxSemaphore, &xHigherPriorityTaskWoken);
}
else {
xSystemError.bBluetoothError = 1;
}
}
}
// Tx interrupt.
if (INTGetEnable(INT_U2TX) && INTGetFlag(INT_U2TX)) {
// Loop until the Tx buffer is fully filled.
while (UARTTransmitterIsReady(UART2)) {
// If there is data to transmit...
if (prv_xTx.uiDataCount > 0) {
// Shift in the data to the transmit buffer.
UARTSendDataByte(UART2, prv_xTx.pucBuffer[prv_xTx.uiReadPt]);
// Increase the read pointer and decrease the data count.
prv_vIncPointer(&prv_xTx.uiReadPt, prv_xTx.uiBufferSize);
prv_xTx.uiDataCount--;
}
// Else, disable the transmit interrupt.
else {
INTEnable(INT_U2TX, INT_DISABLED);
break;
}
}
}
// Error Interrupt.
if (INTGetEnable(INT_U2E) && INTGetFlag(INT_U2E)) {
INTClearFlag(INT_U2E);
// Discard all data available.
while (UARTReceivedDataIsAvailable(UART2)) {
// Read the received data.
ucReceivedData = UARTGetDataByte(UART2);
}
// Clear the overrun flag.
if (UARTGetLineStatus(UART2) & UART_OVERRUN_ERROR) {
U2STAbits.OERR = 0;
}
xSystemError.bBluetoothError = 1;
}
}
void hal_uart_interrupt_handler(hal_uart_port port) {
UART_MODULE uart = logic_uart2phy_uart(port);
assert(port >= HAL_UART_PORT_1 && port <= HAL_UART_NUMBER_OF_PORTS );
/* get the txbuffer to send */
struct txbuffer_struct *buffer = get_tx_buffer(port);
/* If the source of interrupt is the TXInterrupt, start
* transmitting the data in output queue. */
if (INTGetFlag(INT_SOURCE_UART_TX(uart))) {
/* Clear interrupt to prevent reentry */
INTClearFlag(INT_SOURCE_UART_TX(uart));
/* if queue is not empty, send tx data to uart while available. */
while (buffer->nbytes > 0) {
if (UARTTransmitterIsReady(uart)) {
UARTSendDataByte(uart, buffer->buffer[buffer->counter++]);
/* decrement buffer count after byte was transmitted */
buffer->nbytes --;
} else {
break;
}
}
/* if queue is empty, disable tx interrupt. */
if (buffer->nbytes <= 0) {
INTEnable(INT_SOURCE_UART_TX(uart), INT_DISABLED);
if(on_data_sent[port]!=NULL)
on_data_sent[port](port);
}
}
/* detect uart rx errors */
if(INTGetFlag(INT_SOURCE_UART_ERROR(uart))){
uint8_t in_byte = 0x00;
hal_uart_error error = HAL_UART_ERR_NONE;
volatile UART_LINE_STATUS lineStatus = UARTGetLineStatus(uart);
/* detect framming error. (break)*/
/* Framing error are only valid if data is available in buffer. */
if(UART_FRAMING_ERROR & lineStatus){
/* trigger an on_data_received_callback */
error = HAL_UART_ERR_FRAMMING;
}
/* detect uart overrun errors. */
if(UART_OVERRUN_ERROR & lineStatus)
{
error = HAL_UART_ERR_OVERRUN;
/* TODO: Not sure what to do if buffer overruns (it means data
* arrives faster than we are able to process. So just
* clear error and continue with our lives as nothing happened.
*/
UARTClearOverrunError(uart);
}
if(UART_PARITY_ERROR & lineStatus){
error = HAL_UART_ERR_PARITY;
}
if(UARTReceivedDataIsAvailable(uart)){
in_byte = UARTGetDataByte(uart);
}
if(on_data_received[port]!=NULL)
on_data_received[port](port,in_byte,error);
/* clear the error flag. */
INTClearFlag(INT_SOURCE_UART_ERROR(uart));
}
/* If receive interrupt was triggered, feed user apps with data. */
if (INTGetFlag(INT_SOURCE_UART_RX(uart))) {
/* Clear interrupt to prevent reentry */
INTClearFlag(INT_SOURCE_UART_RX(uart));
/* Copy the received data into input buffer */
while (UARTReceivedDataIsAvailable(uart)) {
uint8_t c = UARTGetDataByte(uart);
if(on_data_received[port]!=NULL)
on_data_received[port](port, c,HAL_UART_ERR_NONE);
}
}
}
void __ISR(_UART_2_VECTOR, IPL5SOFT) UART2_isr(void)
{
uint8_t ErrFiFoFull = 0;
uint8_t freeSize, TXsize;
int8_t c;
uint8_t i_cts = 0;
BOOL TxPossible;
UART_LINE_STATUS lineStatus;
// Is this an RX interrupt ?
if ( INTGetFlag(INT_U2RX) && INTGetEnable(INT_U2RX) ) {
// oui Test si erreur comm
lineStatus = UARTGetLineStatus(UART2);
if ( (lineStatus & (UART_PARITY_ERROR | UART_FRAMING_ERROR |
UART_OVERRUN_ERROR)) == 0) {
// transfert dans le fifo de tous les caractères recu
while (UARTReceivedDataIsAvailable(UART2))
{
c = UARTGetDataByte(UART2);
PutCharInFifo ( &descrFifoRX, c);
}
INTClearFlag(INT_U2RX); // buffer is empty, clear interrupt flag
} else {
UART2ClearAllErrors(); // Macro C32
}
freeSize = GetWriteSpace ( &descrFifoRX);
if (freeSize <= 6 ) // a cause d'un int pour 6 char
{
// Demande de ne plus émettre
//RS232_RTS = 1;
if (freeSize == 0) {
ErrFiFoFull = 1; // pour debugging si probème ctrl flux
}
}
} // end if RX
// Is this an TX interrupt ?
if(INTGetFlag(INT_U2TX) && INTGetEnable(INT_U2TX) ) {
TXsize = GetReadSize (&descrFifoTX);
// i_cts = input(RS232_CTS);
// On vérifie 3 conditions :
// Si CTS = 0 (autorisation d'émettre)
// Si il y a un caratères à émettre
// Si le txreg est bien disponible
//i_cts = RS232_CTS;
TxPossible = UARTTransmitterIsReady(UART2);
//if ( (i_cts == 0) && ( TXsize > 0 ) && TxPossible ) {
if ( ( TXsize > 0 ) && TxPossible ) {
do {
GetCharFromFifo(&descrFifoTX, &c);
UARTSendDataByte(UART2, c);
//i_cts = RS232_CTS;
TXsize = GetReadSize (&descrFifoTX);
TxPossible = UARTTransmitterIsReady(UART2);
//} while ( (i_cts == 0) && ( TXsize > 0 ) && TxPossible );
} while ( ( TXsize > 0 ) && TxPossible );
// Clear the TX interrupt Flag (Seulement aprés TX)
INTClearFlag(INT_U2TX);
} else {
// disable TX interrupt
INTEnable(INT_U2TX, INT_DISABLED);
}
}
} // UART_isr
void __ISR(_UART_6_VECTOR, U6_INTERRUPT_PRIORITY) Uart6InterruptHandler(void)
{
UINT8 i
,iMax // Read/write max 8 bytes/interrupt
,data // used in UartFifoWrite/Read functions
;
if ( INTGetFlag ( INT_SOURCE_UART_ERROR(UART6)) )
{
LED_ERROR_ON;
INTClearFlag(INT_SOURCE_UART_ERROR(UART6));
}
// TX interrupt handling
//===========================================================
if ( INTGetEnable ( INT_SOURCE_UART_TX(UART6) ) ) // If TX interrupts enabled
{
if ( INTGetFlag ( INT_SOURCE_UART_TX(UART6) ) ) // If TX interrupt occured
{
if ( UARTTransmitterIsReady(UART6) && !Uart.Var.uartTxFifo[UART6].bufEmpty ) // If TX buffer is ready to receive data and the user's TX buffer is not empty
{
if (Uart.Var.uartTxFifo[UART6].lineBuffer.length < 8) // Write max 8 bytes/interrupt
{
iMax = Uart.Var.uartTxFifo[UART6].lineBuffer.length;
}
else
{
iMax = 8;
}
for (i = 0; i < iMax; i++)
{
UartFifoRead((void *) &Uart.Var.uartTxFifo[UART6], &data); // Copy from user
U6TXREG = data; // Put data in PIC32's TX buffer
}
}
if (Uart.Var.uartTxFifo[UART6].bufEmpty) // If User's TX buffer is empty
{
Uart.DisableTxInterrupts(UART6); // Disable TX interrupts
}
INTClearFlag(INT_SOURCE_UART_TX(UART6)); // Clear the TX interrupt Flag
}
}
//===========================================================
// RX interrupt handling
//===========================================================
if ( INTGetEnable ( INT_SOURCE_UART_RX(UART6) ) ) // If RX interrupts enabled
{
if ( INTGetFlag ( INT_SOURCE_UART_RX(UART6) ) ) // If RX interrupt occured
{
i = 0;
iMax = 8; // Read max 8 bytes/interrupt
while ( UARTReceivedDataIsAvailable(UART6) // While RX data available
&& !Uart.Var.uartRxFifo[UART6].bufFull // and user's RX buffer not full
&& (i < iMax) // and under 8 bytes read
)
{ // while ^
data = UARTGetDataByte(UART6); // Get data for PIC32's RX FIFO buffer and copy it to user (next line)
if ( UartFifoWrite((void *) &Uart.Var.uartRxFifo[UART6], &data) < 0 ) // If copy to user did not work
{
break; // Exit while loop
}
i++;
} // end while
if (!Uart.Var.uartRxFifo[UART6].bufEmpty) // If there is data in the user's RX buffer
{
Uart.Var.oIsRxDataAvailable[UART6] = 1; // Set according flag
}
INTClearFlag (INT_SOURCE_UART_RX(UART6) ); // Clear the RX interrupt Flag
}
}
//===========================================================
}
int GetCharacter(UART_MODULE id) {
while (!UARTReceivedDataIsAvailable(id));
return UARTGetDataByte(id);
}
/*******************************************************************************
Function:
void ConsoleUartIntHandler(void)
Remarks:
UART 1 interrupt handler is set at priority level 2 with software context saving
*/
void ConsoleUartIntHandler(void)
{
unsigned char byteReceived;
// Is this an RX interrupt?
if (INTGetFlag(INT_SOURCE_UART_RX(UART_CONSOLE)))
{
while (UARTReceivedDataIsAvailable(UART_CONSOLE) != 0)
{
byteReceived = UARTGetDataByte(UART_CONSOLE);
//Console Interrupt - In Self Test Mode
if(self_TESTMode == TRUE)
{
ConsoleMsgCallback_selfTest();
}
//Console Interrupt - RN1723 Command Mode
else if(RN_UartCmdMode == 1)
{
//Exit console mode if 'ESC'
if(byteReceived == ESC)
{
RN_UartCmdMode = FALSE;
RN_DATA_MODE();
memset(consoleMsg, '\0', sizeof(consoleMsg));
}
else
{
while(!UARTTransmitterIsReady(UART_WIFLY));
UARTSendDataByte(UART_WIFLY, byteReceived);
}
}
else
{
PIC32_ConsoleMode = TRUE;
putConsole(byteReceived);
if(byteReceived == CR)
{
PrintConsoleMenu();
}
else if(byteReceived == LF)
{
//Ignore Line Feed
}
else if(byteReceived == BACKSPACE)
{
consoleMsg[(strlen(consoleMsg)-1)] = '\0';
}
else if(byteReceived == ESC)
{
PIC32_ConsoleMode = FALSE;
memset(consoleMsg, '\0', sizeof(consoleMsg));
}
else
{
consoleMsg[strlen(consoleMsg)] = byteReceived;
}
}
}
// Clear the RX interrupt Flag
INTClearFlag(INT_SOURCE_UART_RX(UART_CONSOLE));
}
// We don't care about the TX interrupt
if (INTGetFlag(INT_SOURCE_UART_TX(UART_CONSOLE)) )
{
INTClearFlag(INT_SOURCE_UART_TX(UART_CONSOLE));
}
}