void main(void) {
TRISA = 0x0;
TRISB = 0x0;
TRISC = 0x0;
PORTA = 0x0;
PORTB = 0x0;
PORTC = 0x0;
LATA = 0x0;
LATB = 0x0;
LATC = 0x0;
signed char length;
unsigned char msgtype;
uart_comm uc;
i2c_comm ic;
unsigned char msgbuffer[MSGLEN + 1];
uart_thread_struct uthread_data; // info for uart_lthread
timer0_thread_struct t0thread_data;
timer1_thread_struct t1thread_data; // info for timer1_lthread
encoder_struct encoder_data;
sensor_data sensors;
#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
OSCCON = 0x82; // see datasheeet
OSCTUNEbits.PLLEN = 0; // Makes the clock exceed the PIC's rated speed if the PLL is on
#endif
#ifdef SENSORPIC
i2c2_comm ic2;
init_i2c2(&ic2);
#endif
// initialize everything
init_uart_comm(&uc);
init_i2c(&ic);
init_encoder(&encoder_data);
init_timer0_lthread(&t0thread_data);
init_timer1_lthread(&t1thread_data);
init_uart_lthread(&uthread_data);
init_queues();
#ifdef MASTERPIC
// Enable and set I2C interrupt to high
i2c_configure_master();
IPR1bits.SSPIP = 1;
PIE1bits.SSPIE = 1;
// initialize Timer0 to go off approximately every 10 ms
//OpenTimer0(TIMER_INT_ON & T0_8BIT & T0_SOURCE_INT & T0_PS_1_1);
CloseTimer0();
INTCONbits.TMR0IE = 0; //Enable Timer0 Interrupt
// Configure UART
OpenUSART(USART_TX_INT_OFF & USART_RX_INT_ON & USART_ASYNCH_MODE & USART_EIGHT_BIT &
USART_CONT_RX & USART_BRGH_LOW, 9); // 19.2kHz (197910/t - 1 = target)
IPR1bits.RCIP = 0;
IPR1bits.TXIP = 0;
uc.expected = 1;
PORTB = 0x0;
LATB = 0x0;
TRISB = 0x0;
#endif //MASTERPIC
#ifdef SENSORPIC
// Enable and set I2C interrupt to high
i2c_configure_slave(SENSORPICADDR);
IPR1bits.SSPIP = 1;
PIE1bits.SSPIE = 1;
i2c2_configure_master();
IPR3bits.SSP2IP = 1;
PIE3bits.SSP2IE = 1;
// Open ADC on channel 1
ADCON0= 0x01;
ADCON1=0x30;
ADCON2=0xa1;
TRISA=0x0F;
PIE1bits.ADIE = 1; //Enabling ADC interrupts
IPR1bits.ADIP = 0; //Setting A/D priority
// initialize Timer0 to go off approximately every 10 ms
OpenTimer0(TIMER_INT_ON & T0_8BIT & T0_SOURCE_INT & T0_PS_1_128);
INTCONbits.TMR0IE = 1; //Enable Timer0 Interrupt
INTCON2bits.TMR0IP = 0; //TMR0 set to Low Priority Interrupt
#endif //SENSORPIC
#ifdef MOTORPIC
i2c_configure_slave(MOTORPICADDR);
// Enable and set I2C interrupt to high
IPR1bits.SSPIP = 1;
PIE1bits.SSPIE = 1;
// Configure UART
OpenUSART(USART_TX_INT_OFF & USART_RX_INT_ON & USART_ASYNCH_MODE & USART_EIGHT_BIT &
USART_CONT_RX & USART_BRGH_LOW, 0x9);
IPR1bits.RCIP = 0;
IPR1bits.TXIP = 0;
INTCONbits.TMR0IE = 0; // Disable Timer0 Interrupt
PORTB = 0x0;
LATB = 0x0;
TRISB = 0x0;
// Set up RB5 as interrupt
TRISBbits.RB5 = 1;
INTCON2bits.RBIP = 0;
#endif //MOTORPIC
#ifdef MASTERPIC
//init_communication(MOTORPICADDR);
//init_communication(SENSORPICADDR);
#endif
// Peripheral interrupts can have their priority set to high or low
// enable high-priority interrupts and low-priority interrupts
enable_interrupts();
while (1) {
// Spins until a message appears
block_on_To_msgqueues();
// Continuously check high priority messages until it is empty
while((length = ToMainHigh_recvmsg(MSGLEN, &msgtype, (void *) msgbuffer)) >= 0) {
switch (msgtype) {
case MSGT_I2C_RQST: {
#ifdef SENSORPIC
char command = msgbuffer[0];
char length = 0;
char buffer[8];
switch(command) {
case SHORT_IR1_REQ: {
length = 2;
buffer[0] = command;
buffer[1] = 0x11;
} break;
case SHORT_IR2_REQ: {
length = 2;
buffer[0] = command;
buffer[1] = 0x22;
} break;
case MID_IR1_REQ: {
length = 2;
buffer[0] = command;
buffer[1] = 0x33;
} break;
case MID_IR2_REQ: {
length = 2;
buffer[0] = command;
buffer[1] = 0x44;
} break;
case COMPASS_REQ: {
length = 2;
buffer[0] = command;
buffer[1] = 0x55;
} break;
case ULTRASONIC_REQ: {
length = 2;
buffer[0] = command;
buffer[1] = 0x66;
} break;
default: {
length = 2;
buffer[0] = 0x0;
buffer[1] = 0x0;
} break;
}
if(length > 0) {
start_i2c_slave_reply(length,buffer);
}
#endif
#ifdef MOTORPIC
unsigned char buffer[8];
unsigned char length = 0;
char command = msgbuffer[0];
buffer[0] = command;
switch(command) {
case MOVE_FORWARD_CMD: {
length = 1;
motor_move_forward(10);
INTCONbits.RBIE = 1; // Temporary
} break;
case MOVE_BACKWARD_CMD: {
length = 1;
motor_move_backward(10);
} break;
case TURN_RIGHT_CMD: {
length = 1;
motor_turn_right(10);
} break;
case TURN_LEFT_CMD: {
length = 1;
motor_turn_left(10);
} break;
case STOP_CMD: {
length = 1;
motor_stop();
} break;
case DISTANCE_REQ: {
INTCONbits.RBIE = 0; // Temporary
buffer[1] = encoder_to_distance();
length = 2;
} break;
default: {
buffer[0] = 0x0;
length = 1;
} break;
}
if(length > 0) {
start_i2c_slave_reply(length,buffer);
}
#endif
} break;
case MSGT_I2C_DATA: {
} break;
case MSGT_I2C_MASTER_SEND_COMPLETE: {
#ifdef MASTERPIC
/* char command = msgbuffer[0];
switch(command) {
case MOVE_FORWARD_CMD:
case MOVE_BACKWARD_CMD:
case TURN_RIGHT_CMD:
case TURN_LEFT_CMD:
case STOP_CMD: {
i2c_master_recv(1,MOTORPICADDR);
} break;
case DISTANCE_REQ: {
i2c_master_recv(2,MOTORPICADDR);
} break;
case SHORT_IR1_REQ:
case SHORT_IR2_REQ:
case MID_IR1_REQ:
case MID_IR2_REQ:
case COMPASS_REQ:
case ULTRASONIC_REQ: {
i2c_master_recv(2,SENSORPICADDR);
} break;
default: {
} break;
}*/
#endif
#ifdef SENSORPIC
// Start receiving data from sensor
if(t0thread_data.currentState == readCompassState) {
i2c2_master_recv(6,COMPASSADDR);
}
else if(t0thread_data.currentState == readUltrasonicState) {
i2c2_master_recv(2,ULTRASONICADDR);
}
#endif
} break;
case MSGT_I2C_MASTER_SEND_FAILED: {
} break;
case MSGT_I2C_MASTER_RECV_COMPLETE: {
#ifdef MASTERPIC
char buffer[2];
char length = 0;
char command = msgbuffer[0];
switch(command) {
case MOVE_FORWARD_CMD:
case MOVE_BACKWARD_CMD:
case TURN_RIGHT_CMD:
case TURN_LEFT_CMD:
case STOP_CMD: {
buffer[0] = command;
length = 1;
} break;
case DISTANCE_REQ: {
buffer[0] = command;
buffer[1] = msgbuffer[1];
length = 2;
} break;
case SHORT_IR1_REQ:
case SHORT_IR2_REQ:
case MID_IR1_REQ:
case MID_IR2_REQ:
case COMPASS_REQ:
case ULTRASONIC_REQ: {
buffer[0] = command;
buffer[1] = msgbuffer[1];
length = 2;
} break;
default: {
length = 0;
} break;
}
if(length > 0) {
start_uart_send(length,buffer);
}
#endif
#ifdef SENSORPIC
// Received data from sensor
if(t0thread_data.currentState == readCompassState) {
sensors.compassData[0] = msgbuffer[0];
sensors.compassData[1] = msgbuffer[1];
sensors.compassData[2] = msgbuffer[2];
sensors.compassData[3] = msgbuffer[3];
sensors.compassData[4] = msgbuffer[4];
sensors.compassData[5] = msgbuffer[5];
}
else if(t0thread_data.currentState == readUltrasonicState) {
}
#endif
} break;
case MSGT_I2C_MASTER_RECV_FAILED: {
} break;
case MSGT_I2C_DBG: {
} break;
default: {
} break;
}
}
// Error check
if (length != MSGQUEUE_EMPTY) {
// Handle Error
}
// Check the low priority queue
if ((length = ToMainLow_recvmsg(MSGLEN, &msgtype, (void *) msgbuffer)) >= 0) {
switch (msgtype) {
case MSGT_TIMER0: {
timer0_lthread(&t0thread_data, msgtype, length, msgbuffer);
} break;
case MSGT_TIMER1:
timer1_lthread(&t1thread_data, msgtype, length, msgbuffer);
break;
case ADCSC1_ADCH:
ADC_lthread(&ADCthread_data, msgtype, length, msgbuffer,&t0thread_data);
break;
case MSGT_OVERRUN:
case MSGT_UART_DATA: {
uart_lthread(&uthread_data, msgtype, length, msgbuffer);
} break;
case MSGT_UART_SEND_COMPLETE: {
} break;
default:
break;
}
}
// Error check
else if (length != MSGQUEUE_EMPTY) {
// Handle error
}
}
}
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;
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);
}
}
// This program
// (1) prints to the UART and it reads from the UART
// (2) it "prints" what it reads from the UART to portb (where LEDs are connected)
// (3) it uses two timers to interrupt at different rates and drive 2 LEDs (on portb)
void main (void)
{
char c;
int adcVal;
signed char length;
unsigned char msgtype;
unsigned char last_reg_recvd, action;
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
initADC();
// set to run really, really fast...
OSCCON = 0x6C; // 4 MHz
OSCTUNEbits.PLLEN = 1; // 4x the clock speed in the previous line
// 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();
// set direction for PORTB to output
TRISB = 0x0;
LATB = 0x0;
// set up PORTA for input
/*
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_16BIT & T0_SOURCE_INT & T0_PS_1_128);
OpenTimer1( TIMER_INT_ON & T1_PS_1_8 & T1_16BIT_RW & T1_SOURCE_INT & T1_OSC1EN_OFF & T1_SYNC_EXT_OFF);
// 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
// Timer1 interrupt
IPR1bits.TMR1IP = 0;
// USART RX interrupt
IPR1bits.RCIP = 0;
// I2C interrupt
IPR1bits.SSPIP = 1;
// configure the hardware i2c device as a slave
i2c_configure_slave(0x8A);
// must specifically enable the I2C interrupts
PIE1bits.SSPIE = 1;
// configure the hardware USART device
OpenUSART( USART_TX_INT_OFF & USART_RX_INT_ON & USART_ASYNCH_MODE & USART_EIGHT_BIT &
USART_CONT_RX & USART_BRGH_LOW, 0x19);
/* Junk to force an I2C interrupt in the simulator
PIR1bits.SSPIF = 1;
_asm
goto 0x08
_endasm;
*/
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.
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) {
printf("Error: Bad high priority receive, code = %x\r\n",
length);
}
} else {
switch (msgtype) {
case MSGT_TIMER0: {
timer0_lthread(&t0thread_data,msgtype,length,msgbuffer);
break;
};
case MSGT_I2C_DATA:
case MSGT_I2C_DBG: {
printf("I2C Interrupt received %x: ",msgtype);
for (i=0;i<length;i++) {
printf(" %x",msgbuffer[i]);
}
//LATBbits.LATB0 = !LATBbits.LATB0;
LATB = msgbuffer[2];
//LATB = msgtype;
//LATB=0x01;
//printf("\r\n");
// keep track of the first byte received for later use
//last_reg_recvd = msgbuffer[0];
//action=msgbuffer[7];
//msgbuffer[0]=0xff;
//msgbuffer[1]=0xff;
//msgbuffer[2]=0xff;
//msgbuffer[3]=0xff;
//start_i2c_slave_reply(4,msgbuffer);
break;
};
case MSGT_I2C_RQST: {
printf("I2C Slave Req\r\n");
length=2;
msgbuffer[0]=(adcVal>>8)&0xff;
msgbuffer[1]=adcVal&0xff;
/// msgbuffer[0]=0x55;
// msgbuffer[1]=0x55;
//printf("XXX: type: %x ADC: %x MsgB1: %x MsgB2: %x\r\n",msgtype,value,msgbuffer[0],msgbuffer[1]);
//break;
// }
//}
start_i2c_slave_reply(length,msgbuffer);
break;
};
default: {
printf("Error: Unexpected msg in queue, type = %x\r\n",
msgtype);
break;
};
};
readADC(&adcVal);
}
// 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) {
printf("Error: Bad low priority receive, code = %x\r\n",
length);
}
} else {
switch (msgtype) {
case MSGT_TIMER1: {
timer1_lthread(&t1thread_data,msgtype,length,msgbuffer);
break;
};
case MSGT_OVERRUN:
case MSGT_UART_DATA: {
uart_lthread(&uthread_data,msgtype,length,msgbuffer);
break;
};
default: {
printf("Error: Unexpected msg in queue, type = %x\r\n",
msgtype);
break;
};
};
}
}
}
void main(void) {
char c;
signed char length;
unsigned char msgtype;
int test_var = 0;
unsigned char SENSOR_TYPE_REQUESTED;
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
char count = 0;
#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
OSCCON = 0x82; // see datasheeet
OSCTUNEbits.PLLEN = 0; // Makes the clock exceed the PIC's rated speed if the PLL is on
#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();
// set direction for PORTB to output
TRISB = 0x0;
LATB = 0x0;
// 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_16BIT & T0_SOURCE_INT & T0_PS_1_128);
OpenTimer1(TIMER_INT_ON & T1_PS_1_8 & T1_16BIT_RW & T1_SOURCE_INT & T1_OSC1EN_OFF & T1_SYNC_EXT_OFF);
// WriteTimer1(65086);
i2c_configure_slave(0x2A);
// 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
// Timer1 interrupt
IPR1bits.TMR1IP = 0;
// USART RX interrupt
// IPR1bits.RCIP = 1;
// USART TX interrupt
// IPR1bits.TXIP = 0;
// I2C interrupt
IPR1bits.SSPIP = 1;
// OpenUSART( USART_TX_INT_OFF & USART_RX_INT_ON & USART_ASYNCH_MODE & USART_EIGHT_BIT & USART_CONT_RX & USART_BRGH_HIGH & USART_ADDEN_OFF, 38);
//38 gives us baud rate of approx 19230
//enable rx interrupts
// PIE1bits.RCIE = 1;
// PIE1bits.TXIE = 0; //disable send interrupt until we have something in mesage queue
//i2c interrupt enable
PIE1bits.SSPIE = 1;
OpenADC( ADC_FOSC_16 & ADC_RIGHT_JUST & ADC_4_TAD, ADC_CH0 & ADC_INT_ON
& ADC_VREFPLUS_VDD & ADC_VREFMINUS_VSS, ADC_0ANA);
// 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);
LATBbits.LATB1 = 1;
LATBbits.LATB0 = 1;
LATBbits.LATB2 = 1;
for (;;);
#endif
// must specifically enable the I2C interrupts
// PIE1bits.SSPIE = 1;
// configure the hardware USART device
// OpenUSART(USART_TX_INT_OFF & USART_RX_INT_ON & USART_ASYNCH_MODE & USART_EIGHT_BIT &
// USART_CONT_RX & USART_BRGH_LOW, 0x19);
/* 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.
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)
SENSOR_TYPE_REQUESTED = 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.
/* switch (SENSOR_TYPE_REQUESTED) {
case LASER_DATA_REQUEST: //laser type
{
break;
}
case INFRARED_DATA_REQUEST:
{
length = 4; //place infrared data here
msgbuffer[0] = 0x42;
msgbuffer[1] = 0x43;
msgbuffer[2] = 0x44;
msgbuffer[3] = 0x45;
break;
}
default:
{
length = 1;
msgbuffer[0] = 0xFF;
break;
}
};
/* msgbuffer[0] = 0x77;
msgbuffer[1] = 0x66;
msgbuffer[2] = 0x54*/
length = 6;
msgbuffer[0] = 30;
msgbuffer[1] = 33+count;
msgbuffer[2] = 40;
msgbuffer[3] = 43+count;
msgbuffer[4] = 44+count;
msgbuffer[5] = 45+count;
count++;
start_i2c_slave_reply(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_TIMER1:
{
timer1_lthread(&t1thread_data, 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)
{
unsigned int counter=0,curval=0;
char c;
signed char length, adlength;
unsigned char msgtype;
unsigned char last_reg_recvd, action;
unsigned char adbuffer[2];
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 data;
TRISB = 0b00000011;
TRISA = 0x0;
TRISC=0b00010000;
MIWICS=1;
glcdInit();
OSCCON = 0x6C; // 4 MHz
OSCTUNEbits.PLLEN = 1; // 4x the clock speed in the previous line
// initialize my uart recv handling code
// init_uart_recv(&uc);
// initialize the i2c code
//s init_i2c(&ic);
// init the timer1 lthread
init_timer1_lthread(&t1thread_data);
// initialize message queues before enabling any interrupts
init_queues();
// set direction for PORTB to output
// TRISB = 0x0;
// LATB = 0x0;
// set up PORTA for input
/*
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_16BIT & T0_SOURCE_INT & T0_PS_1_4);
// OpenTimer1( TIMER_INT_ON & T1_PS_1_8 & T1_16BIT_RW & T1_OSC1EN_OFF & T1_SYNC_EXT_OFF,0);
// 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
// Timer1 interrupt
IPR1bits.TMR1IP = 0;
// USART RX interrupt
IPR1bits.RCIP = 0;
// I2C interrupt
IPR1bits.SSPIP = 1;
// configure the hardware i2c device as a slave
// i2c_configure_slave(0x8A);
// must specifically enable the I2C interrupts
PIE1bits.SSPIE = 1;
// configure the hardware USART device
/*OpenUSART( USART_TX_INT_OFF & USART_RX_INT_ON & USART_ASYNCH_MODE & USART_EIGHT_BIT &
USART_CONT_RX & USART_BRGH_LOW, 0x19);*/
while(1)
{
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) {
printf("Error: Bad high priority receive, code = %x\r\n",
length);
}
} else {
switch (msgtype) {
case MSGT_TIMER0: {
timer0_lthread(&t0thread_data,msgtype,length,msgbuffer);
break;
};
case MSGT_I2C_DATA:
case MSGT_I2C_DBG: {
printf("I2C Interrupt received %x: ",msgtype);
for (i=0;i<length;i++) {
printf(" %x",msgbuffer[i]);
}
//LATBbits.LATB0 = !LATBbits.LATB0;
LATB = msgbuffer[2];
//LATB = msgtype;
//LATB=0x01;
//printf("\r\n");
// keep track of the first byte received for later use
//last_reg_recvd = msgbuffer[0];
//action=msgbuffer[7];
//msgbuffer[0]=0xff;
//msgbuffer[1]=0xff;
//msgbuffer[2]=0xff;
//msgbuffer[3]=0xff;
//start_i2c_slave_reply(4,msgbuffer);
break;
};
case MSGT_I2C_RQST: {
printf("I2C Slave Req\r\n");
length=2;
/* if(counter==0)
{
msgbuffer[0]=0x55;
msgbuffer[1]=0x55;
counter++;
}else
{
msgbuffer[0]=0x22;
msgbuffer[1]=0x22;
counter=0;
}*/
/* adlength = ADQueue_recvmsg(2,0x55,(void *)&adbuffer);
if((adlength==MSGQUEUE_EMPTY) || (adlength==MSGBUFFER_TOOSMALL))
{
msgbuffer[0]=0xff;
msgbuffer[1]=0xff;
//msgbuffer[2]=0xff;
}
else
{
msgbuffer[0]=adbuffer[0];
msgbuffer[1]=adbuffer[1];
// msgbuffer[0]=0x22;
// msgbuffer[1]=0x22;
}*/
// LATB=msgbuffer[0];
//printf("XXX: type: %x ADC: %x MsgB1: %x MsgB2: %x\r\n",msgtype,value,msgbuffer[0],msgbuffer[1]);
//break;
// }
//}
start_i2c_slave_reply(length,msgbuffer);
break;
};
case MSGT_LCD_AREA1:{
DEBUG_LED1=1;
DEBUG_LED2=0;
DEBUG_LED3=0;
};
break;
case MSGT_LCD_AREA2:{
DEBUG_LED1=0;
DEBUG_LED2=1;
DEBUG_LED3=0;
};
break;
case MSGT_LCD_AREA3:{
DEBUG_LED1=1;
DEBUG_LED2=1;
DEBUG_LED3=0;
};
break;
case MSGT_LCD_AREA4:{
DEBUG_LED1=0;
DEBUG_LED2=0;
DEBUG_LED3=1;
};
break;
case MSGT_LCD_TOUCH:{
DEBUG_LED1=0;
DEBUG_LED2=0;
DEBUG_LED3=0;
};
break;
case MSGT_LCD_NOTOUCH:{
DEBUG_LED1=0;
DEBUG_LED2=0;
DEBUG_LED3=0;
};
break;
default: {
printf("Error: Unexpected msg in queue, type = %x\r\n",
msgtype);
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) {
printf("Error: Bad low priority receive, code = %x\r\n",
length);
}
} else {
switch (msgtype) {
case MSGT_TIMER1: {
timer1_lthread(&t1thread_data,msgtype,length,msgbuffer);
break;
};
case MSGT_OVERRUN:
case MSGT_UART_DATA: {
uart_lthread(&uthread_data,msgtype,length,msgbuffer);
break;
};
default: {
printf("Error: Unexpected msg in queue, type = %x\r\n",
msgtype);
break;
};
};
}
/*curval=counter%4;
counter++;
if(curval==0)
{
writePixelByte(0xf5,CS1);
}
else
{
writePixelByte(0x0,CS2);
}*/
/*if(curval==0)
{
data=0b01010101;
printSPIHeader(OLATA, data);
}
else if(curval==1)
{
data=0b10101010;
printSPIHeader(OLATA, data);
}
else if(curval==2)
{
data=0b01010101;
printSPIHeader(OLATB, data);
}
else
{
data=0b10101010;
printSPIHeader(OLATB, data);
counter=0;
}
X_PLUS=1;//touchscreen voltage
X_MINUS=1;
Y_PLUS=0;
//Y_MINUS=1;
//LATB=LATB|0xf;
readADC2(&adcVal); //detect a touch
if(adcVal>0x300) //touch threshold
{
X_PLUS=1;//touchscreen voltage
X_MINUS=0;
readADC2(&adcVal); //read a touch Y location
if(adcVal <0x0f0)
{
LATCbits.LATC0=1;
LATCbits.LATC1=0;
LATCbits.LATC2=0;
}
else if(adcVal<0x1f0)
{
LATCbits.LATC0=0;
LATCbits.LATC1=1;
LATCbits.LATC2=0;
}
else if(adcVal<0x2f0)
{
LATCbits.LATC0=1;
LATCbits.LATC1=1;
LATCbits.LATC2=0;
}
else
{
LATCbits.LATC0=0;
LATCbits.LATC1=0;
LATCbits.LATC2=1;
}
}else
{
LATCbits.LATC0=0;
LATCbits.LATC1=0;
LATCbits.LATC2=0;
}*/
}
}