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 ); }