//General UART send function
void sendUART(unsigned char *frame_header, unsigned char *data, unsigned char length)
{
int i;
unsigned char checksum=0;
//send frame header
for(i = 0; i < FRAME_HEADER_LEN; i++)
{
checksum += frame_header[i];
while(BusyUART1());
WriteUART1(frame_header[i]);
}
//send payload data
for (i = 0; i < length; i++)
{
checksum += data[i];
while(BusyUART1());
WriteUART1(data[i]);
}
//Send Checksum Data
while(BusyUART1());
WriteUART1(0xFF - checksum);
}
//Handle an AT response packet and pass it to the sendUART function
void xbeeHandleATR(unsigned char frame_id, WordVal command, unsigned char *data, unsigned char length)
{
unsigned char frame_header[5];
frame_header[RX_API_POS] = AT_RESPONSE;
frame_header[ATR_FRAME_ID_POS] = frame_id;
frame_header[ATR_COMMAND_HB_POS] = command.byte.HB;
frame_header[ATR_COMMAND_LB_POS] = command.byte.LB;
frame_header[ATR_STATUS_POS] = 0x00;
CRITICAL_SECTION_START
//Start Byte
while(BusyUART1());
WriteUART1(RX_START);
//Length High Byte
while(BusyUART1());
WriteUART1(0x00);
//Length Low Byte
while(BusyUART1());
WriteUART1(length+FRAME_HEADER_LEN);
sendUART(frame_header, data, length);
CRITICAL_SECTION_END
}
void gpsSentenceConfig(void){
int i,j;
unsigned char chMsgs [] = "$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n\0";
unsigned char chBaudRt [] = "$PMTK251,19200*22\r\n\0";
// Put some huge delays to wait for GPS power-up without the need of a timer
for( i = 0; i < 750; i += 1 ){
for( j = 0; j < 32700; j += 1 )
{
Nop();
}
}
putsUART1((unsigned int *)chMsgs);
while(BusyUART1());
// Put some huge delays to wait for GPS power-up without the need of a timer
for( i = 0; i < 150; i += 1 ){
for( j = 0; j < 32700; j += 1 )
{
Nop();
}
}
putsUART1((unsigned int *)chBaudRt);
while(BusyUART1());
}
void broadcast_message(const char * message) {
while(BusyUART2()); // Wait until previous transmission is finished
putsUART2 ((unsigned int *)message);
while(BusyUART2()); // Wait until previous transmission is finished
while(BusyUART1()); // Wait until previous transmission is finished
putsUART1 ((unsigned int *)message);
while(BusyUART1()); // Wait until previous transmission is finished
}
/* Text a phone number */
void gsmText(char *number, char *msg) {
/* Store the beginning and ending sequences */
char *prefix = "AT+CMGS=\"";
char *suffix = "\"\r\n";
/* Allocate space and then store concatenated text command */
size_t len1 = strlen(prefix);
size_t len2 = strlen(number);
size_t len3 = strlen(suffix);
char *s = malloc(len1 + len2 + len3 + 1);
memcpy(s, prefix, len1);
memcpy(s + len1, number, len2);
memcpy(s + len1 + len2, suffix, len3 + 1);
/* Set GSM module to text mode */
gsmSendCommand("AT+CMGF=1\r");
/* Set the number */
gsmSendCommand(s);
/* Delay to allow GSM module to get ready */
DELAY_MS(100);
/* Set the message */
gsmSendCommand(msg);
/* Send Text */
while(BusyUART1());
WriteUART1((unsigned int)CTRL_Z);
/* Free memory */
free(s);
}
void copyMidgToUart1() {
unsigned char buf[MIDG_CHUNKSIZE];
int i;
unsigned char test[] = MSG_DIV(3,5,2,50);
midgMsgAppendChecksum( test );
printToUart1("test of macros: ");
for ( i = 0; i < 9; i++ ) {
printToUart1("%u ", (unsigned int)test[i]);
}
printToUart1("... that was it.\n");
midgRead(buf);
/*
// add NUL terminator after bytes
buf[buf[0]+1] = 0;
// send the number of bytes read from the buffer
printToUart1("%u:<%s>\r\n\0", buf[0], &buf[1]);
*/
printToUart1("%u:<", buf[0]);
for ( i = 1; i <= buf[0]; i++ ) {
putcUART1(buf[i]);
while(BusyUART1());
}
printToUart1(">\r\n\0");
}
void initUART(void) {
__XC_UART = 1;
OpenUART1( UART_EN | UART_NO_PAR_8BIT | UART_1STOPBIT | UART_BRGH_SIXTEEN,
UART_RX_ENABLE | UART_TX_ENABLE,
GetPeripheralClock()/16/BAUD_RATE - 1);
while( BusyUART1()); // Wait until the UART module is free.
putsUART1("Initializing UART1...\n\r");
}
/**
* interface_test_uart: Loop n times (a long int), repeating the
* character 'U' on the UART tx pin.
*/
void interface_test_uart(long int n)
{
// Enable transmit.
U1STAbits.UTXEN = 1;
while(n--)
{
while(BusyUART1());
WriteUART1('U');
}
}
void gpsFreqConfig(void){
/*
unsigned char chFreq [] = "$PMTK300,200,0,0,0,0*2F\r\n\0";
putsUART1((unsigned int *)chFreq);
while(BusyUART1());
*/
putsUART1("$PMTK300,999,0,0,0,0*2F\r\n\0");
while(BusyUART1());
}
void SendLong(long num)
{
unsigned char c1, c10, c100, c1000, c10000, c100000;
if(num < 0)
{
while(BusyUART1());
WriteUART1('-');
num = -num;
}
else
{
while(BusyUART1());
WriteUART1('+');
}
c1 = num % 10;
num = num / 10;
c10 = num % 10;
num = num / 10;
c100 = num % 10;
num = num / 10;
c1000 = num % 10;
num = num / 10;
c10000 = num % 10;
num = num / 10;
c100000 = num % 10;
num = num / 10;
while(BusyUART1());
WriteUART1('0' + c100000);
while(BusyUART1());
WriteUART1('0' + c10000);
while(BusyUART1());
WriteUART1('0' + c1000);
while(BusyUART1());
WriteUART1('0' + c100);
while(BusyUART1());
WriteUART1('0' + c10);
while(BusyUART1());
WriteUART1('0' + c1);
}
// UART3 RX ISR
void __attribute__ ((interrupt,no_auto_psv)) _U3RXInterrupt(void)
{
// Clear the interrupt status of UART1 RX
U3RX_Clear_Intr_Status_Bit;
if(DataRdyUART3())
{
incoming_char = ReadUART3(); // Get the character coming from USB UART
while(BusyUART1());
WriteUART1(incoming_char); // Send the character to the GSM UART
while(BusyUART3());
WriteUART3(incoming_char); // Send the character to the USB UART
}
}
/* Send command to GSM via UART */
void gsmSendCommand(char *str) {
while(BusyUART1());
putsUART1((unsigned int*)str);
while(BusyUART3());
putsUART3((unsigned int*)str);
}
void process_cmd(void)
{
char goodcmd[] = "- Command Accepted.\n\n\r\0";
char evilcmd[] = "- BAD Command.\n\n\r\0";
char *r = evilcmd;
if (cmdissued == 1)
{
switch(*rbufptr++)
{
/*** STEPPER COMMANDS ***/
case 's':
putcUART1('s');
if(*rbufptr++ == 't'){
putcUART1('t');
switch(*rbufptr++){
case 's':{
putcUART1('s');
putcUART1(' ');
// sts command received (start)
if(*rbufptr++ == ' '){
// sts parameters [1 or 2]
if(*rbufptr == '1'){
r = goodcmd;stepper_enable1=1;
}else if(*rbufptr++ == '2'){
r = goodcmd;stepper_enable2=1;
}
}
}break;
case 'p':{
putcUART1('p');
// stp command received (stop)
if(*rbufptr++ == ' '){
// stp parameters [1 or 2]
if(*rbufptr == '1'){
r = goodcmd;stepper_enable1=0;
}else if(*rbufptr++ == '2'){
r = goodcmd;stepper_enable2=0;
}
}
}break;
case 'd':{
putcUART1('d');
// std command received (disable)
if(*rbufptr == ' '){
*rbufptr++;
// std parameters [1 or 2]
if(*rbufptr == '1'){
r = goodcmd;disable_stepper1();
}else if(*rbufptr++ == '2'){
r = goodcmd;disable_stepper2();
}
}else{
switch(*rbufptr++){
// stdc command received (direction clockwise)
case 'c':{
if(*rbufptr++ == ' '){
// stdc parameters [1 or 2]
if(*rbufptr == '1'){
r = goodcmd;direction1=1;
}else if(*rbufptr++ == '2'){
r = goodcmd;direction2=1;
}
}
}break;
// stdh command received (direction counter clockwise)
case 'h':{
if(*rbufptr++ == ' '){
// stdh parameters [1 or 2]
if(*rbufptr == '1'){
r = goodcmd;direction1=0;
}else if(*rbufptr++ == '2'){
r = goodcmd;direction2=0;
}
}
}break;
}
}
}break;
case 'm':{
putcUART1('m');
switch(*rbufptr++){
// stmf command received (Full Step Mode)
case 'f':{
if(*rbufptr++ == ' '){
// stdc parameters [1 or 2]
if(*rbufptr == '1'){
r = goodcmd;mode_step1=1;
}else if(*rbufptr++ == '2'){
r = goodcmd;mode_step2=1;
}
}
}break;
// stmh command received (Half Step Mode)
case 'h':{
if(*rbufptr++ == ' '){
// stdh parameters [1 or 2]
if(*rbufptr == '1'){
r = goodcmd;mode_step1=0;
}else if(*rbufptr++ == '2'){
r = goodcmd;mode_step2=0;
}
}
}break;
}
}break;
case 'f':{
putcUART1('f');
r = goodcmd;
}break;
// invalid command
default: r = evilcmd;break;
}
}
break;
/*** DC MOTOR COMMANDS ***/
case 'm':
putcUART1('m');
if(*rbufptr++ == 'd'){
putcUART1('d');
if(*rbufptr++ == 'c'){
putcUART1('c');
switch(*rbufptr++){
case 'r':{
putcUART1('r');
// mdcr command received (start)
if(*rbufptr++ == ' '){
// mdcr parameters []
r = goodcmd; SetDCOC1PWM(*rbufptr);
}
}break;
case 'p':{
putcUART1('p');
// mdcp command received (start)
if(*rbufptr++ == ' '){
// mdcp parameters []
}
}break;
case 'i':{
putcUART1('i');
// mdci command received (start)
if(*rbufptr++ == ' '){
// mdci parameters []
}
}break;
case 'd':{
putcUART1('d');
// mdcd command received (start)
if(*rbufptr++ == ' '){
// mdcd parameters []
}
}break;
}
}
}
break;
}
rbufptr = (char*)bufstt;
wbufptr = rbufptr;
putsUART1((unsigned int *)r);
while(BusyUART1());
cmdissued = 0;
}
}
/* Finish a command packet by sending the checksum. */
void PushFooterAX() {
PushUART1(~checksumAX);
while (BusyUART1()); // UART1 Transmit Shift Register Empty
SetRX();
}
