void block_on_To_msgqueues() {
if (!in_main()) {
return;
}
#ifdef __USE18F2680
LATBbits.LATB3 = 1;
#endif
MQ_Main_Willing_to_block = 1;
while (1) {
if (check_msg(&ToMainHigh_MQ)) {
MQ_Main_Willing_to_block = 0;
#ifdef __USE18F2680
LATBbits.LATB3 = 0;
#endif
return;
}
if (check_msg(&ToMainLow_MQ)) {
MQ_Main_Willing_to_block = 0;
#ifdef __USE18F2680
LATBbits.LATB3 = 0;
#endif
return;
}
Delay1KTCYx(10);
#ifdef __USE18F2680
LATBbits.LATB3 = !LATBbits.LATB3;
#endif
}
}
// only called from "main"
void block_on_To_msgqueues()
{
if (!in_main()) {
return;
}
//LATBbits.LATB3 = 1;
MQ_Main_Willing_to_block = 1;
while (1) {
if (check_msg(&ToMainHigh_MQ)) {
MQ_Main_Willing_to_block = 0;
//LATBbits.LATB3 = 0;
return;
}
if (check_msg(&ToMainLow_MQ)) {
MQ_Main_Willing_to_block = 0;
//LATBbits.LATB3 = 0;
return;
}
if (check_msg(&adReadQueue))
{
MQ_Main_Willing_to_block = 0;
//LATBbits.LATB3 = 0;
return;
}
Delay1KTCYx(10);
//LATBbits.LATB3 = !LATBbits.LATB3;
}
}
//addr is the actual address. It will be shifted here
unsigned char i2c_master_send(unsigned char addr, unsigned char length, unsigned char *msg) {
if(ic_ptr->status != I2C_IDLE){
//copy addr and msg into a single array
char tempbuf[MAX_I2C_SENSOR_DATA_LEN +1];
tempbuf[0] = addr;
int i = 1;
for(i; i < length+1; i++){
tempbuf[i] = msg[i-1];
}
if(in_main()){
FromMainHigh_sendmsg(length+1, MSGT_MASTER_SEND_BUSY, tempbuf);
}
else{
FromI2CInt_sendmsg(length+1, MSGT_MASTER_SEND_BUSY, tempbuf);
}
return 0;
}
ic_ptr->status = I2C_STARTED;
ic_ptr->read_after_write = 1;
ic_ptr->txnrx = 1;
ic_ptr->addr = addr;
char buf_addr = (addr << 1) & 0xFE; // explicitely make sure that the lsb is 0 and et the addr in top 7 bits
ic_ptr->outbuffer[0] = buf_addr;
int i =1;
for(i; i < length + 1; i++){
ic_ptr->outbuffer[i] = msg[i-1];
}
ic_ptr->outbuflen = length + 1; //char length + addr byte
ic_ptr->outbufind = 0; //start at 0th pos. addr will be written in after S int happens
SSPCON2bits.SEN = 1; //send start signal
return 1;
}
signed char FromMainHigh_sendmsg(unsigned char length, unsigned char msgtype, void *data) {
#ifdef DEBUG
if (!in_main()) {
return (MSG_NOT_IN_MAIN);
}
#endif
return (send_msg(&FromMainHigh_MQ, length, msgtype, data));
}
signed char ToMainHigh_recvmsg(unsigned char maxlength, unsigned char *msgtype, void *data) {
#ifdef DEBUG
if (!in_main()) {
return (MSG_NOT_IN_MAIN);
}
#endif
return (recv_msg(&ToMainHigh_MQ, maxlength, msgtype, data));
}
signed char ADQueue_sendmsg(unsigned char length,unsigned char msgtype,void *data)
{
#ifdef DEBUG
if (! in_main()) {
return(MSG_NOT_IN_MAIN);
}
#endif
return(send_msg(&adReadQueue,length,msgtype,data));
}
signed char SensorData_recvmsg(unsigned char maxlength, unsigned char *msgtype, void *data)
{
#ifdef DEBUG
if (!in_main()) {
return (MSG_NOT_IN_MAIN);
}
#endif
//return (recv_msg(&SensorData_MQ, maxlength, msgtype, data));
return(recv_msg(&SensorData_MQ, maxlength, msgtype, data));
}
signed char SensorData_recvmsg(unsigned char maxlength, unsigned char id, void *data)
{
#ifdef DEBUG
if (!in_main()) {
return (MSG_NOT_IN_MAIN);
}
#endif
unsigned char slot;
//unsigned char i;
//unsigned char retlength;
//unsigned char *msg = (unsigned char *) data;
msg *qmsg;
size_t tlength;
sensor_queue *qptr = &SensorData_SQ;
qmsg = &(qptr->queue[id]);
// check to see if anything is available
//slot = qptr->cur_read_ind;
//qmsg = &(qptr->queue[slot]);
if (qmsg->full == 1) {
// not enough room in the buffer provided
if (qmsg->length > maxlength) {
return (MSGBUFFER_TOOSMALL);
}
// now actually copy the message
tlength = qmsg->length;
memcpy(data, qmsg->data, tlength);
/*
for (i=0;i<qmsg->length;i++) {
((unsigned char *) data)[i] = qptr->queue[slot].data[i];
}
*/
//qptr->cur_read_ind = (qptr->cur_read_ind + 1) % MSGQUEUELEN;
//retlength = qptr->queue[slot].length;
//(*msgtype) = qmsg->msgtype;
// this must be done after the message is completely extracted
qmsg->full = 0;
return (tlength);
} else {
return (MSGQUEUE_EMPTY);
}
//return (recv_msg(&SensorData_MQ, maxlength, msgtype, data));
//return(recv_msg(&SensorData_MQ, maxlength, msgtype, data));
}
unsigned char i2c_master_recv(unsigned char addr) {
if(ic_ptr->status != I2C_IDLE){
if(in_main()){
FromMainHigh_sendmsg(1, MSGT_MASTER_RECV_BUSY, &addr);
}
else{
FromI2CInt_sendmsg(1, MSGT_MASTER_RECV_BUSY, &addr);
}
return 0;
}
ic_ptr->txnrx = 0;
ic_ptr->addr = addr;
char buf_addr = (addr << 1) | 0x1; // set addr in top 7 bits and set lsb
ic_ptr->outbuffer[0] = buf_addr;
ic_ptr->outbuflen = 1; //just enough room for addr
ic_ptr->outbufind = 0; //set for addr
ic_ptr->buflen = HEADER_MEMBERS; //reset the buffer, we'll at LEAST read 5 bytes
ic_ptr->bufind = 0;
ic_ptr->status = I2C_STARTED;
SSPCON2bits.SEN = 1;
return 1;
}
void uart_recv_wifly_debug_handler(){
#ifdef __USE18F46J50
if (DataRdy1USART()) {
unsigned char last = Read1USART();
#else
if (DataRdyUSART()) {
unsigned char last = ReadUSART();
#endif
static unsigned char cur = 0;
if (last == endmsg[cur]) {
cur++;
if(cur >= sizeof endmsg - 1) { //-1 for null terminated
wifly_setup = 1;
}
}
else{
cur = 0;
}
}
}
void uart_recv_int_handler() {
#ifdef __USE18F26J50
if (DataRdy1USART()) {
uc_ptr->buffer[uc_ptr->buflen] = Read1USART();
#else
#ifdef __USE18F46J50
if (DataRdy1USART()) {
unsigned char recv = Read1USART();
#else
if (DataRdyUSART()) {
unsigned char recv = ReadUSART();
#endif
#endif
int pos = uc_ptr->buflen++;
uc_ptr->buffer[pos] = recv;
//We recieved the last byte of data
//Check the 5th byte recieved for payload length
if(pos == PAYLOADLEN_POS){
payload_length = recv;
}
// Get checksum byte
if(pos == CHECKSUM_POS){
checksum_recv_value = recv;
}
// Count any other byte other than checksum
else{
checksum_calc_value += recv;
}
// check if a message should be sent
if (pos == payload_length+HEADER_MEMBERS-1){
pos++;
if(checksum_calc_value == checksum_recv_value){
FromUARTInt_sendmsg(pos, MSGT_UART_DATA, (void *) uc_ptr->buffer);
}
else{ //Invalid Checksum
FromUARTInt_sendmsg(pos, MSGT_UART_RECV_FAILED, (void *) uc_ptr->buffer);
}
//Clean up for next packet
uc_ptr->buflen = 0;
payload_length = 0;
checksum_recv_value = 0;
checksum_calc_value = 0;
#ifdef __USE18F46J50
//Read1USART(); // clears buffer and returns value to nothing
#else
//ReadUSART();
#endif
}
// portion of the bytes were received or there was a corrupt byte or there was
// an overflow transmitted to the buffer
else if (pos >= MAXUARTBUF)
{
FromUARTInt_sendmsg(pos, MSGT_OVERRUN, (void *) uc_ptr->buffer);
uc_ptr->buflen = 0;
payload_length = 0;
checksum_recv_value = 0;
checksum_calc_value = 0;
}
}
#ifdef __USE18F26J50
if (USART1_Status.OVERRUN_ERROR == 1) {
#else
#ifdef __USE18F46J50
if (USART1_Status.OVERRUN_ERROR == 1) {
#else
if (USART_Status.OVERRUN_ERROR == 1) {
#endif
#endif
// we've overrun the USART and must reset
// send an error message for this
RCSTAbits.CREN = 0;
RCSTAbits.CREN = 1;
FromUARTInt_sendmsg(0, MSGT_OVERRUN, (void *) 0);
}
#ifdef __USE18F46J50
if (USART1_Status.FRAME_ERROR) {
#else
if (USART_Status.FRAME_ERROR) {
#endif
init_uart_recv(uc_ptr);
}
}
void init_uart_recv(uart_comm *uc) {
uc_ptr = uc;
uc_ptr->status = UART_IDLE;
uc_ptr->buflen = 0;
payload_length = 0;
checksum_recv_value = 0;
checksum_calc_value = 0;
}
void uart_send_array(char* data, char length) {
#if !defined(SENSOR_PIC) && !defined(MOTOR_PIC)
if(!wifly_setup) return; //just return
#endif
if(uc_ptr->status != UART_IDLE){
if(in_main()){
debugNum(2);
if(FromMainHigh_sendmsg(length, MSGT_UART_TX_BUSY, data) == MSGQUEUE_FULL)
debugNum(4);
}
else{
FromUARTInt_sendmsg(length, MSGT_UART_TX_BUSY, data);
}
return;
}
uc_ptr->status = UART_TX;
//TODO: Create logic to prevent you from overriding the current buffer if
//it has not yet been sent.
uint8_t i;
for(i = 0; i<length; i++) {
uc_ptr->outBuff[i] = *(data + i);
}
uc_ptr->outLength = length;
uc_ptr->outIndex = 1;
#ifdef __USE18F46J50
Write1USART(uc_ptr->outBuff[0]);
#else
WriteUSART(uc_ptr->outBuff[0]);
#endif
PIR1bits.TXIF = 0;
PIE1bits.TXIE = 1;
}
//Used to send multiple char. Will get called when uart_send_array is called
//Brian says DONT DELETE! I will find you.
void uart_send_int_handler() {
if(uc_ptr->outLength > uc_ptr->outIndex){
uart_send(uc_ptr->outBuff[uc_ptr->outIndex++]);
}
else if(uc_ptr->outLength == uc_ptr->outIndex){
uc_ptr->outIndex++; //still need to increment
}
else //uc_ptr->outLength < uc_ptr->outIndex
{
// done sending message
PIE1bits.TXIE = 0;
PIR1bits.TXIF = 0;
uc_ptr->status = UART_IDLE;
}
}
void uart_send(char data){
//TODO possibly create logic to (without using a while) prevent writing if the buffer is not
//clear
#ifdef __USE18F46J50
Write1USART(data);
#else
WriteUSART(data);
#endif
}