void SYS_Initialize ( void* data )
{
/* Core Processor Initialization */
SYS_CLK_Initialize( NULL );
sysObj.sysDevcon = SYS_DEVCON_Initialize(SYS_DEVCON_INDEX_0, (SYS_MODULE_INIT*)&sysDevconInit);
SYS_DEVCON_PerformanceConfig(SYS_CLK_SystemFrequencyGet());
SYS_DEVCON_JTAGDisable();
SYS_PORTS_Initialize();
/* Initialize Drivers */
/*Initialize TMR0 */
DRV_TMR0_Initialize();
/*Initialize TMR1 */
DRV_TMR1_Initialize();
/*Initialize TMR2 */
DRV_TMR2_Initialize();
/*Initialize TMR3 */
DRV_TMR3_Initialize();
DRV_USART0_Initialize();
DRV_USART1_Initialize();
/*Initialize OC0 */
DRV_OC0_Initialize();
/*Initialize OC1 */
DRV_OC1_Initialize();
/* Initialize System Services */
SYS_INT_Initialize();
/*Setup the INT_SOURCE_EXTERNAL_1 and Enable it*/
SYS_INT_VectorPrioritySet(INT_VECTOR_INT1, INT_PRIORITY_LEVEL1);
SYS_INT_VectorSubprioritySet(INT_VECTOR_INT1, INT_SUBPRIORITY_LEVEL0);
SYS_INT_ExternalInterruptTriggerSet(INT_EXTERNAL_INT_SOURCE1,INT_EDGE_TRIGGER_RISING);
SYS_INT_SourceEnable(INT_SOURCE_EXTERNAL_1);
/*Setup the INT_SOURCE_EXTERNAL_2 and Enable it*/
SYS_INT_VectorPrioritySet(INT_VECTOR_INT2, INT_PRIORITY_LEVEL1);
SYS_INT_VectorSubprioritySet(INT_VECTOR_INT2, INT_SUBPRIORITY_LEVEL0);
SYS_INT_ExternalInterruptTriggerSet(INT_EXTERNAL_INT_SOURCE2,INT_EDGE_TRIGGER_RISING);
SYS_INT_SourceEnable(INT_SOURCE_EXTERNAL_2);
/* Initialize Middleware */
initDebugU();
/* Initialize the Application */
COMMUNICATION_Initialize();
MOTOR_Initialize();
}
/*******************************************************************************
Function:
TCPIP_MAC_EVENT_RESULT PIC32MACEventSetNotifyEvents(TCPIP_MAC_HANDLE hMac, TCPIP_MAC_EVENT_GROUP tcpEvGroup, TCPIP_EVENT tcpipEvents)
Summary:
Adds new events to the list of the enabled ones.
Description:
This function sets new enabled events.
Multiple events can be orr-ed together.
All events that are set will be added to the notification process. The other events will not ne touched.
The stack (or stack user) has to catch the events that are notified and process them:
- The stack should process the TCPIP_EV_RX_PKTPEND, TCPIP_EV_TX_DONE transfer events
- Process the specific condition and acknowledge them calling PIC32MACEventAck() so that they can be re-enabled.
Precondition:
TCPIPInit should have been called.
tcpEvGroup, tcpSetEv valid values
Parameters:
hMac - parameter identifying the intended MAC
tcpEvGroup - group of events the notification refers to
tcpipEvents - events the user of the stack wants to add for notification
Returns:
TCPIP_MAC_EVRES_OK if operation succeeded,
an error code otherwise
Example:
<code>
PIC32MACEventSetNotifyEvents( hMac, TCPIP_MAC_EVGROUP_RX, TCPIP_EV_RX_OVFLOW | TCPIP_EV_RX_BUFNA );
</code>
Remarks:
The event notification system enables the user of the TCPIP stack to call into the stack
for processing only when there are relevant events rather than being forced to periodically call
from within a loop.
If the notification events are nill (accross all groups) the interrupt processing will be disabled.
Otherwise the event notification will be enabled and the interrupts relating to the requested events will be enabled.
Note that once an event has been caught by the stack ISR (and reported if a notification handler is in place)
it will be disabled until the PIC32MACEventAck() is called.
Not multi-threaded safe accross different TCPIP_MAC_EVENT_GROUP groups.
*****************************************************************************/
TCPIP_MAC_EVENT_RESULT PIC32MACEventSetNotifyEvents(TCPIP_MAC_HANDLE hMac, TCPIP_MAC_EVENT_GROUP tcpEvGroup, TCPIP_EVENT tcpSetEv)
{
eEthEvents ethSetEvents;
PIC32_EMB_MAC_DCPT* pMacD = (PIC32_EMB_MAC_DCPT*)hMac;
PIC32_EV_GROUP_DCPT* pDcpt = pMacD->mData._pic32_ev_group_dcpt+tcpEvGroup;
tcpSetEv &= pDcpt->_TcpGroupEventsMask;
ethSetEvents = _XtlEventsTcp2Eth(tcpSetEv);
if(pDcpt->_TcpEnabledEvents != 0)
{ // already have some active
SYS_INT_SourceDisable(pMacD->mData._macIntSrc); // stop ints for a while
}
pDcpt->_TcpEnabledEvents |= tcpSetEv; // add more
pDcpt->_EthEnabledEvents |= ethSetEvents;
if(pDcpt->_TcpEnabledEvents != 0)
{
ethSetEvents &= ~pDcpt->_EthPendingEvents; // keep just the new un-ack events
EthEventsClr( ethSetEvents ); // clear the old pending ones
EthEventsEnableSet( ethSetEvents ); // enable the new un-ack ones!
SYS_INT_SourceEnable(pMacD->mData._macIntSrc); // enable
}
return TCPIP_MAC_EVRES_OK;
}
/* This function is used by ETHMAC driver */
bool SYS_INT_SourceRestore(INT_SOURCE src, int level)
{
if(level)
{
SYS_INT_SourceEnable(src);
}
return level;
}
/*******************************************************
* UART2 Initialize routine. Baud rate is set 9600
*******************************************************/
void APP_UART2Initialize(void)
{
/* Initialize the UART2 on Explorer 16 board */
U2MODE = 0x8000;
U2STA = 0x1400;
U2BRG = 520;
appData.isUARTTransmitBusy = false;
SYS_INT_SourceDisable(INT_SOURCE_USART_2_TRANSMIT);
SYS_INT_SourceEnable(INT_SOURCE_USART_2_RECEIVE);
}
/****************************************************
* Application UART2 Write Routine
***************************************************/
void APP_UART2Write(void * data, size_t length)
{
appData.uartTransmitData = data;
appData.uartTransmitDataLength = length;
appData.isUARTTransmitBusy = true;
appData.uartTxCount = 0;
U2TXREG = *((uint8_t *)(data));
SYS_INT_SourceEnable(INT_SOURCE_USART_2_TRANSMIT);
}
void APP_Initialize ( void )
{
//stopEverything();
/* Place the App state machine in its initial state. */
appData.state = APP_STATE_INIT;
/* TODO: Initialize your application's state machine and other
* parameters.
*/
//Create the queue
appData.local_q = xQueueCreate(10, sizeof(unsigned int));
//Ensure queue was created. If not, do not continue and turn on LED
if(appData.local_q == 0)
{
stopEverything();
}
appData.sensor1_q = xQueueCreate(100, sizeof(unsigned char));
if(appData.sensor1_q == 0)
{
stopEverything();
}
//stopEverything();
//Create the timer
appData.local_timer = xTimerCreate( "50msTimer",
50 / portTICK_PERIOD_MS,
pdTRUE,
0,
vTimerCallback );
//Ensure timer was created. If not, do not continue and turn on LED
if(appData.local_timer == 0)
{
stopEverything();
}
BaseType_t started = xTimerStart(appData.local_timer, 0);
//Ensure the timer started successfully. If not, do not continue and turn
// on LED
if(started == pdFAIL)
{
stopEverything();
}
//Setup AD Driver
SYS_INT_SourceEnable(INT_SOURCE_ADC_1);
DRV_ADC_Initialize();
DRV_ADC_Open();
DRV_ADC_ChannelScanInputsAdd(ADC_INPUT_SCAN_AN0 | ADC_INPUT_SCAN_AN1|ADC_INPUT_SCAN_AN2);
PLIB_ADC_MuxAInputScanEnable(ADC_ID_1);
DRV_ADC_Start();
/* Initialization is done, allow the state machine to continue */
appData.state = APP_STATE_OUTPUT;
}
/*******************************************************************************
Function:
TCPIP_MAC_EVENT_RESULT MRF24W_MACEventSetNotifyEvents(TCPIP_MAC_HANDLE hMac, TCPIP_MAC_EVENT_GROUP tcpEvGroup, TCPIP_EVENT tcpipEvents)
Summary:
Adds new events to the list of the enabled ones.
Description:
This function sets new enabled events.
Multiple events can be orr-ed together.
All events that are set will be added to the notification process. The other events will not ne touched.
The stack (or stack user) has to catch the events that are notified and process them:
- The stack should process the TCPIP_EV_RX_PKTPEND, TCPIP_EV_TX_DONE transfer events
- Process the specific condition and acknowledge them calling MRF24W_MACEventAck() so that they can be re-enabled.
Precondition:
TCPIPInit should have been called.
tcpEvGroup, tcpSetEv valid values
Parameters:
hMac - parameter identifying the intended MAC
tcpEvGroup - group of events the notification refers to
tcpipEvents - events the user of the stack wants to add for notification
Returns:
TCPIP_MAC_EVRES_OK if operation succeeded,
an error code otherwise
Example:
<code>
MRF24W_MACEventSetNotifyEvents( hMac, TCPIP_MAC_EVGROUP_RX, TCPIP_EV_RX_OVFLOW | TCPIP_EV_RX_BUFNA );
</code>
Remarks:
Globally enable/disable all notifications for now.
*****************************************************************************/
TCPIP_MAC_EVENT_RESULT MRF24W_MACEventSetNotifyEvents(TCPIP_MAC_HANDLE hMac, TCPIP_MAC_EVENT_GROUP tcpEvGroup, TCPIP_EVENT tcpSetEv)
{
if(tcpEvGroup != TCPIP_MAC_EVGROUP_ALL)
{
return TCPIP_MAC_EVRES_GROUP_ERR;
}
_mrfGroupDcpt._mrfEnabledEvents = true;
SYS_INT_SourceEnable(MRFWB0M_INT_SOURCE); // start MRF ints
return TCPIP_MAC_EVRES_OK;
}
/****************************************************************************
* Function: DRV_EXTPHY_IntInit
*
* PreCondition: EthInit and EthPhyInit should have been called.
*
* Input: hClientObj - A valid open-instance handle, returned from the driver's open routine
* src - interrupt source
* intPri - intrrupt priority
* intSubPri - Interuupt Sub Priority
*
* Output: none
*
*
* Side Effects: None
*
* Overview: Initialize External Interrupt 3. One can take this as reference for their WOL
* Interrupt.
*
* Note: None
*****************************************************************************/
void DRV_EXTPHY_IntInit(DRV_HANDLE hClientObj,INT_SOURCE src,int intPri, int intSubPri)
{
// set up the External Interrupt 3 with a prioirty of 5 and 1 sub-priority
SYS_INT_SourceDisable(src); // stop Eth ints
SYS_INT_SourceStatusClear(src);
SYS_INT_VectorPrioritySet(src, intPri);
SYS_INT_VectorSubprioritySet(src, intSubPri);
SYS_INT_SourceEnable(src);
}
bool SYS_INT_SourceRestore(INT_SOURCE src)
{
bool isEnabled;
isEnabled = SYS_INT_SourceDisable(src);
if(isEnabled)
{
SYS_INT_SourceEnable(src);
}
return isEnabled;
}
/*******************************************************************************
Function:
bool _MRF24W_MACEventSetMask(TCPIP_MAC_HANDLE hMac, TCPIP_MAC_EVENT tcpipEvents, bool enable)
Summary:
Adds new events to the list of the enabled ones.
Description:
This function sets new enabled events.
Multiple events can be orr-ed together.
All events that are set will be added to the notification process. The other events will not ne touched.
The stack (or stack user) has to catch the events that are notified and process them:
- The stack should process the TCPIP_MAC_EV_RX_DONE, TCPIP_MAC_EV_TX_DONE transfer events
- Process the specific condition and acknowledge them calling _MRF24W_MACEventAcknowledge() so that they can be re-enabled.
Precondition:
TCPIPInit should have been called.
Parameters:
hMac - parameter identifying the intended MAC
tcpipEvents - events the user of the stack wants to add for notification
enable - boolean to enable/disable the event notification
Returns:
true if operation succeeded,
false code otherwise
Example:
<code>
_MRF24W_MACEventSetMask( hMac, TCPIP_MAC_EV_RX_OVFLOW | TCPIP_MAC_EV_RX_BUFNA, true );
</code>
Remarks:
Globally enable/disable all notifications for now.
*******************************************************************************/
bool _MRF24W_MACEventSetMask(TCPIP_MAC_HANDLE hMac, TCPIP_MAC_EVENT macEvents, bool enable)
{
if (enable)
{
s_mrfGroupDcpt.mrfEnabledEvents = true;
SYS_INT_SourceEnable(MRF_INT_SOURCE); // start MRF ints
}
else
{
SYS_INT_SourceDisable(MRF_INT_SOURCE); // stop MRF ints
s_mrfGroupDcpt.mrfEnabledEvents = false;
}
return true;
}
DRV_SPI_BUFFER_HANDLE DRV_SPI0_BufferAddWriteRead2 ( void *txBuffer, size_t txSize, void *rxBuffer, size_t rxSize, DRV_SPI_BUFFER_EVENT_HANDLER completeCB, void * context, DRV_SPI_BUFFER_HANDLE * jobHandle )
{
DRV_SPI_OBJ *dObj = (DRV_SPI_OBJ*)NULL;
dObj = &gDrvSPI0Obj;
DRV_SPI_JOB_OBJECT * pJob = NULL;
if (DRV_SPI_SYS_QUEUE_AllocElementLock(dObj->queue, (void **)&pJob) != DRV_SPI_SYS_QUEUE_SUCCESS)
{
SYS_ASSERT(false, "\r\nSPI Driver: Error trying to get a free entry.");
return (DRV_SPI_BUFFER_HANDLE)NULL;
}
memset(pJob, 0, sizeof(DRV_SPI_JOB_OBJECT));
pJob->txBuffer = txBuffer;
pJob->dataLeftToTx = txSize;
pJob->rxBuffer = rxBuffer;
pJob->dataLeftToRx = rxSize;
if (jobHandle != NULL )
{
*jobHandle = (DRV_SPI_BUFFER_HANDLE)pJob;
}
if (rxSize > txSize)
{
pJob->dummyLeftToTx = rxSize - txSize;
}
if (txSize > rxSize)
{
pJob->dummyLeftToRx = txSize - rxSize;
}
pJob->completeCB = completeCB;
pJob->context = context;
pJob->status = DRV_SPI_BUFFER_EVENT_PENDING;
if (DRV_SPI_SYS_QUEUE_EnqueueLock(dObj->queue, (void*)pJob) != DRV_SPI_SYS_QUEUE_SUCCESS)
{
SYS_ASSERT(false, "\r\nSPI Driver: Error enqueing new job.");
return (DRV_SPI_BUFFER_HANDLE)NULL;
}
dObj->txEnabled = true;
SYS_INT_SourceEnable(INT_SOURCE_SPI_1_TRANSMIT);
return (DRV_SPI_BUFFER_HANDLE)pJob;
}
/****************************************************************************
* Function: DRV_EXTPHY_IntInit
*
* PreCondition: EthInit and EthPhyInit should have been called.
*
* Input: hClientObj - A valid open-instance handle, returned from the driver's open routine
* src - interrupt source
* intPri - intrrupt priority
* intSubPri - Interuupt Sub Priority
*
* Output: none
*
*
* Side Effects: None
*
* Overview: Initialize External Interrupt 3. One can take this as refreence for their WOL
* Interrupt.
*
* Note: None
*****************************************************************************/
static void DRV_EXTPHY_IntInit(DRV_HANDLE hClientObj,SYS_INT_SOURCE src,int intPri, int intSubPri)
{
// set up the External Interrupt 3 with a prioirty of 5 and 1 sub-priority
SYS_INT_SourceDisable(src); // stop Eth ints
SYS_INT_SourceStatusClear(src);
#if defined (HARMONY_INT)
SYS_INT_VectorPrioritySet(src, intPri);
SYS_INT_VectorSubprioritySet(src, intSubPri);
#else
SYS_INT_PrioritySet(src, intPri);
SYS_INT_SubprioritySet(src, intSubPri);
SYS_INT_DynamicRegister(src, LAN8740WOLIsr, (void*)&hClientObj);
#endif
SYS_INT_SourceEnable(src);
}
void APP_ProcessSwitchPress(APP_DATA * appData)
{
/* This function checks if the switch is pressed and then
* debounces the switch press*/
if(!appData->ignoreSwitchPress)
{
/* Check if the switch was pressed */
if(BSP_ReadSwitch(SWITCH_1) == BSP_SWITCH_STATE_PRESSED)
{
/* The switch was pressed. Ignore any more switch presses
* and then start the debounce timer. The debounce timer
* is implemented using the core timer */
appData->ignoreSwitchPress = true;
BSP_StartTimer(APP_SWITCH_DEBOUNCE_PERIOD);
SYS_INT_SourceEnable(INT_SOURCE_TIMER_CORE);
}
}
}
int32_t DRV_SPI_ISRMasterEBM8BitTasks ( struct DRV_SPI_DRIVER_OBJECT * pDrvInstance )
{
bool continueLoop;
/* Disable the interrupts */
SYS_INT_SourceDisable(pDrvInstance->rxInterruptSource);
SYS_INT_SourceDisable(pDrvInstance->txInterruptSource);
SYS_INT_SourceDisable(pDrvInstance->errInterruptSource);
do {
DRV_SPI_JOB_OBJECT * currentJob = pDrvInstance->currentJob;
SPI_MODULE_ID spiId = pDrvInstance->spiId;
/* Check for a new task */
if (pDrvInstance->currentJob == NULL)
{
if (DRV_SPI_SYS_QUEUE_Dequeue(pDrvInstance->queue, (void *)&(pDrvInstance->currentJob)) != DRV_SPI_SYS_QUEUE_SUCCESS)
{
SYS_ASSERT(false, "\r\nSPI Driver: Error in dequeing.");
return 0;
}
if (pDrvInstance->currentJob == NULL)
{
pDrvInstance->txEnabled = false;
return 0;
}
currentJob = pDrvInstance->currentJob;
pDrvInstance->symbolsInProgress = 0;
/* Call the operation starting function pointer. This can be used to modify the slave select lines */
DRV_SPI_CLIENT_OBJECT * pClient = (DRV_SPI_CLIENT_OBJECT*)currentJob->pClient;
if (pClient->operationStarting != NULL)
{
(*pClient->operationStarting)(DRV_SPI_BUFFER_EVENT_PROCESSING, (DRV_SPI_BUFFER_HANDLE)currentJob, currentJob->context);
}
/* Check the baud rate. If its different set the new baud rate*/
if (pClient->baudRate != pDrvInstance->currentBaudRate)
{
PLIB_SPI_BaudRateSet( spiId , SYS_CLK_PeripheralFrequencyGet(pDrvInstance->spiClk), pClient->baudRate );
pDrvInstance->currentBaudRate = pClient->baudRate;
}
/* List the new job as processing*/
currentJob->status = DRV_SPI_BUFFER_EVENT_PROCESSING;
if (currentJob->dataLeftToTx +currentJob->dummyLeftToTx > PLIB_SPI_RX_8BIT_FIFO_SIZE(spiId))
{
PLIB_SPI_FIFOInterruptModeSelect(spiId, SPI_FIFO_INTERRUPT_WHEN_TRANSMIT_BUFFER_IS_1HALF_EMPTY_OR_MORE);
PLIB_SPI_FIFOInterruptModeSelect(spiId, SPI_FIFO_INTERRUPT_WHEN_RECEIVE_BUFFER_IS_1HALF_FULL_OR_MORE);
}
/* Flush out the Receive buffer */
PLIB_SPI_BufferClear(spiId);
}
/* Set up DMA Receive job. This is done here to ensure that the RX job is ready to receive when TXing starts*/
if ((pDrvInstance->rxDmaThreshold != 0) && (currentJob->dataLeftToRx > pDrvInstance->rxDmaThreshold))
{
PLIB_SPI_FIFOInterruptModeSelect(spiId, SPI_FIFO_INTERRUPT_WHEN_RECEIVE_BUFFER_IS_NOT_EMPTY);
uint8_t * ptr = &(currentJob->rxBuffer[currentJob->dataRxed]);
uint32_t len = MIN(MIN(PLIB_DMA_MAX_TRF_SIZE, DRV_SPI_DMA_TXFER_SIZE), currentJob->dataLeftToRx);
void * spiPtr = PLIB_SPI_BufferAddressGet(spiId);
currentJob->rxDMAProgressStage = DRV_SPI_DMA_DATA_INPROGRESS;
currentJob->dataLeftToRx -= len;
currentJob->dataRxed += len;
pDrvInstance->rxEnabled = false;
SYS_DMA_ChannelTransferAdd(pDrvInstance->rxDmaChannelHandle, spiPtr, 1, ptr, len, 1);
}
else if ((currentJob->rxDMAProgressStage == DRV_SPI_DMA_NONE) && (currentJob->dataLeftToRx == 0) && (pDrvInstance->rxDmaThreshold != 0) && (currentJob->dummyLeftToRx > pDrvInstance->rxDmaThreshold))
{
PLIB_SPI_FIFOInterruptModeSelect(spiId, SPI_FIFO_INTERRUPT_WHEN_RECEIVE_BUFFER_IS_NOT_EMPTY);
uint8_t * ptr = sDrvSpiRxDummy;
uint32_t len = MIN(MIN(MIN(PLIB_DMA_MAX_TRF_SIZE, DRV_SPI_DMA_DUMMY_BUFFER_SIZE), DRV_SPI_DMA_TXFER_SIZE), currentJob->dummyLeftToRx);
void * spiPtr = PLIB_SPI_BufferAddressGet(spiId);
currentJob->rxDMAProgressStage = DRV_SPI_DMA_DUMMY_INPROGRESS;
currentJob->dummyLeftToRx -= len;
pDrvInstance->rxEnabled = false;
SYS_DMA_ChannelTransferAdd(pDrvInstance->rxDmaChannelHandle, spiPtr, 1, ptr, len, 1);
}
/* Set up the DMA Transmit job here. This is done after the RX job to help prevent buffer overruns.*/
if ((pDrvInstance->txDmaThreshold != 0) && (currentJob->dataLeftToTx > pDrvInstance->txDmaThreshold))
{
PLIB_SPI_FIFOInterruptModeSelect(spiId, SPI_FIFO_INTERRUPT_WHEN_TRANSMIT_BUFFER_IS_1HALF_EMPTY_OR_MORE);
uint8_t * ptr = &(currentJob->txBuffer[currentJob->dataTxed]);
uint32_t len = MIN(MIN(PLIB_DMA_MAX_TRF_SIZE, DRV_SPI_DMA_TXFER_SIZE), currentJob->dataLeftToTx);
void * spiPtr = PLIB_SPI_BufferAddressGet(pDrvInstance->spiId);
currentJob->txDMAProgressStage = DRV_SPI_DMA_DATA_INPROGRESS;
currentJob->dataLeftToTx -= len;
currentJob->dataTxed += len;
pDrvInstance->txEnabled = false;
SYS_DMA_ChannelTransferAdd(pDrvInstance->txDmaChannelHandle, ptr, len, spiPtr, 1, 1);
}
else if ((currentJob->txDMAProgressStage == DRV_SPI_DMA_NONE) && (currentJob->dataLeftToTx == 0) && (pDrvInstance->txDmaThreshold != 0) && (currentJob->dummyLeftToTx > pDrvInstance->txDmaThreshold))
{
PLIB_SPI_FIFOInterruptModeSelect(spiId, SPI_FIFO_INTERRUPT_WHEN_TRANSMIT_BUFFER_IS_1HALF_EMPTY_OR_MORE);
uint8_t * ptr = sDrvSpiTxDummy;
uint32_t len = MIN(MIN(MIN(PLIB_DMA_MAX_TRF_SIZE, DRV_SPI_DMA_DUMMY_BUFFER_SIZE), DRV_SPI_DMA_TXFER_SIZE), currentJob->dummyLeftToTx);
void * spiPtr = PLIB_SPI_BufferAddressGet(pDrvInstance->spiId);
currentJob->txDMAProgressStage = DRV_SPI_DMA_DUMMY_INPROGRESS;
currentJob->dummyLeftToTx -= len;
pDrvInstance->txEnabled = false;
SYS_DMA_ChannelTransferAdd(pDrvInstance->txDmaChannelHandle, ptr, len, spiPtr, 1, 1);
}
bool rxDMAInProgress = (currentJob->rxDMAProgressStage == DRV_SPI_DMA_DATA_INPROGRESS) || (currentJob->rxDMAProgressStage == DRV_SPI_DMA_DUMMY_INPROGRESS);
bool txDMAInProgress = (currentJob->txDMAProgressStage == DRV_SPI_DMA_DATA_INPROGRESS) || (currentJob->txDMAProgressStage == DRV_SPI_DMA_DUMMY_INPROGRESS);
continueLoop = false;
/* Execute the sub tasks */
DRV_SPI_ISRErrorTasks(pDrvInstance);
/* Figure out how many bytes are left to be received */
size_t bytesLeft = currentJob->dataLeftToRx + currentJob->dummyLeftToRx;
// Check to see if we have any data left to receive and update the bytes left.
if ((bytesLeft != 0) && !rxDMAInProgress)
{
DRV_SPI_MasterEBMReceive8BitISR(pDrvInstance);
bytesLeft = currentJob->dataLeftToRx + currentJob->dummyLeftToRx;
}
if
(!txDMAInProgress &&
(currentJob->dataLeftToTx +currentJob->dummyLeftToTx != 0)
)
{
DRV_SPI_MasterEBMSend8BitISR(pDrvInstance);
}
if ((bytesLeft == 0) && !rxDMAInProgress && !txDMAInProgress)
{
// Disable the interrupt, or more correctly don't re-enable it later*/
pDrvInstance->rxEnabled = false;
/* Job is complete*/
currentJob->status = DRV_SPI_BUFFER_EVENT_COMPLETE;
/* Call the job complete call back*/
if (currentJob->completeCB != NULL)
{
(*currentJob->completeCB)(DRV_SPI_BUFFER_EVENT_COMPLETE, (DRV_SPI_BUFFER_HANDLE)currentJob, currentJob->context);
}
/* Call the operation complete call back. This is different than the
job complete callback. This can be used to modify the Slave Select line.
The job complete callback can be used to free a client that is blocked
waiting for complete*/
DRV_SPI_CLIENT_OBJECT * pClient = (DRV_SPI_CLIENT_OBJECT*)currentJob->pClient;
if (pClient->operationEnded != NULL)
{
(*pClient->operationEnded)(DRV_SPI_BUFFER_EVENT_COMPLETE, (DRV_SPI_BUFFER_HANDLE)currentJob, currentJob->context);
}
/* Return the job back to the free queue*/
if (DRV_SPI_SYS_QUEUE_FreeElement(pDrvInstance->queue, currentJob) != DRV_SPI_SYS_QUEUE_SUCCESS)
{
SYS_ASSERT(false, "\r\nSPI Driver: Queue free element error.");
return 0;
}
/* Clean up */
pDrvInstance->currentJob = NULL;
if (!DRV_SPI_SYS_QUEUE_IsEmpty(pDrvInstance->queue))
{
continueLoop = true;
continue;
}
else
{
break;
}
}
else if (rxDMAInProgress)
{
// DMA is in progress
// Wipe out the symbols in Progress
pDrvInstance->rxEnabled = false;
pDrvInstance->symbolsInProgress = 0;
}
/* Check to see if the interrupts would fire again if so just go back into
the loop instead of suffering the interrupt latency of exiting and re-entering*/
if (pDrvInstance->currentJob != NULL)
{
/* Clear the Interrupts */
SYS_INT_SourceStatusClear(pDrvInstance->rxInterruptSource);
SYS_INT_SourceStatusClear(pDrvInstance->txInterruptSource);
SYS_INT_SourceStatusClear(pDrvInstance->errInterruptSource);
/* Interrupts should immediately become active again if they're in a fired condition */
if (((pDrvInstance->rxEnabled) && SYS_INT_SourceStatusGet(pDrvInstance->rxInterruptSource)) ||
((pDrvInstance->txEnabled) && SYS_INT_SourceStatusGet(pDrvInstance->txInterruptSource)) ||
(SYS_INT_SourceStatusGet(pDrvInstance->errInterruptSource)))
{
/* Interrupt would fire again anyway so we should just go back to the start*/
continueLoop = true;
continue;
}
/* If we're here then we know that the interrupt should not be firing again so we can exit cleanly*/
/* Clear the interrupts now that we're done*/
/* Re-enable the interrupts*/
if (pDrvInstance->rxEnabled)
{
SYS_INT_SourceEnable(pDrvInstance->rxInterruptSource);
}
if (pDrvInstance->txEnabled)
{
SYS_INT_SourceEnable(pDrvInstance->txInterruptSource);
}
return 0;
}
} while(continueLoop);
/* if we're here it means that we have no more jobs in the queue, tx and rx interrupts will be re-enabled by the BufferAdd* functions*/
SYS_INT_SourceStatusClear(pDrvInstance->rxInterruptSource);
SYS_INT_SourceStatusClear(pDrvInstance->txInterruptSource);
return 0;
}
int32_t DRV_SPI_ISRSlaveEBM8BitTasks ( struct DRV_SPI_DRIVER_OBJECT * pDrvInstance )
{
volatile bool continueLoop;
SYS_INT_SourceDisable(pDrvInstance->rxInterruptSource);
SYS_INT_SourceDisable(pDrvInstance->txInterruptSource);
SYS_INT_SourceDisable(pDrvInstance->errInterruptSource);
do {
continueLoop = false;
DRV_SPI_JOB_OBJECT * currentJob = pDrvInstance->currentJob;
SPI_MODULE_ID spiId = pDrvInstance->spiId;
if (pDrvInstance->currentJob == NULL)
{
if (DRV_SPI_SYS_QUEUE_Dequeue(pDrvInstance->queue, (void *)&(pDrvInstance->currentJob)) != DRV_SPI_SYS_QUEUE_SUCCESS)
{
SYS_ASSERT(false, "\r\nSPI Driver: Error in dequeing.");
return 0;
}
if (pDrvInstance->currentJob == NULL)
{
pDrvInstance->txEnabled = false;
return 0;
}
currentJob = pDrvInstance->currentJob;
pDrvInstance->symbolsInProgress = 0;
/* Call the operation starting function pointer. This can be used to modify the slave select lines */
DRV_SPI_CLIENT_OBJECT * pClient = (DRV_SPI_CLIENT_OBJECT*)currentJob->pClient;
if (pClient->operationStarting != NULL)
{
(*pClient->operationStarting)(DRV_SPI_BUFFER_EVENT_PROCESSING, (DRV_SPI_BUFFER_HANDLE)currentJob, currentJob->context);
}
/* List the new job as processing*/
currentJob->status = DRV_SPI_BUFFER_EVENT_PROCESSING;
if (currentJob->dataLeftToTx > PLIB_SPI_RX_8BIT_FIFO_SIZE(spiId))
{
PLIB_SPI_FIFOInterruptModeSelect(spiId, SPI_FIFO_INTERRUPT_WHEN_TRANSMIT_BUFFER_IS_1HALF_EMPTY_OR_MORE);
PLIB_SPI_FIFOInterruptModeSelect(spiId, SPI_FIFO_INTERRUPT_WHEN_RECEIVE_BUFFER_IS_1HALF_FULL_OR_MORE);
}
/* Flush out the Receive buffer */
PLIB_SPI_BufferClear(spiId);
}
if (currentJob->dataLeftToRx + currentJob->dummyLeftToRx != 0)
{
DRV_SPI_SlaveEBMReceive8BitISR(pDrvInstance);
}
if (currentJob->dataLeftToTx != 0)
{
DRV_SPI_SlaveEBMSend8BitISR(pDrvInstance);
}
else
{
pDrvInstance->txEnabled = false;
pDrvInstance->rxEnabled = true;
}
DRV_SPI_ISRErrorTasks(pDrvInstance);
/* Check to see if the job is done */
if (currentJob->dataLeftToRx + currentJob->dummyLeftToRx == 0)
{
// Disable the interrupt, or more correctly don't re-enable it later*/
pDrvInstance->rxEnabled = false;
/* Job is complete*/
currentJob->status = DRV_SPI_BUFFER_EVENT_COMPLETE;
/* Call the job complete call back*/
if (currentJob->completeCB != NULL)
{
(*currentJob->completeCB)(DRV_SPI_BUFFER_EVENT_COMPLETE, (DRV_SPI_BUFFER_HANDLE)currentJob, currentJob->context);
}
/* Call the operation complete call back. This is different than the
job complete callback. This can be used to modify the Slave Select line.
The job complete callback can be used to free a client that is blocked
waiting for complete*/
DRV_SPI_CLIENT_OBJECT * pClient = (DRV_SPI_CLIENT_OBJECT*)currentJob->pClient;
if (pClient->operationEnded != NULL)
{
(*pClient->operationEnded)(DRV_SPI_BUFFER_EVENT_COMPLETE, (DRV_SPI_BUFFER_HANDLE)currentJob, currentJob->context);
}
/* Return the job back to the free queue*/
if (DRV_SPI_SYS_QUEUE_FreeElement(pDrvInstance->queue, currentJob) != DRV_SPI_SYS_QUEUE_SUCCESS)
{
SYS_ASSERT(false, "\r\nSPI Driver: Queue free element error.");
return 0;
}
/* Clean up */
pDrvInstance->currentJob = NULL;
if (!DRV_SPI_SYS_QUEUE_IsEmpty(pDrvInstance->queue))
{
continueLoop = true;
continue;
}
}
/* Check to see if the interrupts would fire again if so just go back into
the loop instead of suffering the interrupt latency of exiting and re-entering*/
if (pDrvInstance->currentJob != NULL)
{
/* Clear the Interrupts */
SYS_INT_SourceStatusClear(pDrvInstance->rxInterruptSource);
SYS_INT_SourceStatusClear(pDrvInstance->txInterruptSource);
SYS_INT_SourceStatusClear(pDrvInstance->errInterruptSource);
/* Interrupts should immediately become active again if they're in a fired condition */
if ((SYS_INT_SourceStatusGet(pDrvInstance->rxInterruptSource)) ||
(SYS_INT_SourceStatusGet(pDrvInstance->errInterruptSource)))
{
/* Interrupt would fire again anyway so we should just go back to the start*/
continueLoop = true;
continue;
}
/* If we're here then we know that the interrupt should not be firing immediately so enable it and exit */
SYS_INT_SourceEnable(pDrvInstance->rxInterruptSource);
return 0;
}
} while(continueLoop);
return 0;
}
SYS_MODULE_OBJ DRV_SPI0_Initialize(void)
{
DRV_SPI_OBJ *dObj = (DRV_SPI_OBJ*)NULL;
dObj = &gDrvSPI0Obj;
/* Disable the SPI module to configure it*/
PLIB_SPI_Disable ( SPI_ID_1 );
/* Set up Master or Slave Mode*/
PLIB_SPI_MasterEnable ( SPI_ID_1 );
PLIB_SPI_PinDisable(SPI_ID_1, SPI_PIN_SLAVE_SELECT);
/* Set up if the SPI is allowed to run while the rest of the CPU is in idle mode*/
PLIB_SPI_StopInIdleDisable( SPI_ID_1 );
/* Set up clock Polarity and output data phase*/
PLIB_SPI_ClockPolaritySelect( SPI_ID_1, SPI_CLOCK_POLARITY_IDLE_LOW );
PLIB_SPI_OutputDataPhaseSelect( SPI_ID_1, SPI_OUTPUT_DATA_PHASE_ON_IDLE_TO_ACTIVE_CLOCK );
/* Set up the Input Sample Phase*/
PLIB_SPI_InputSamplePhaseSelect ( SPI_ID_1, SPI_INPUT_SAMPLING_PHASE_IN_MIDDLE);
/* Communication Width Selection */
PLIB_SPI_CommunicationWidthSelect ( SPI_ID_1, SPI_COMMUNICATION_WIDTH_8BITS );
/* Baud rate selection */
PLIB_SPI_BaudRateSet( SPI_ID_1 , SYS_CLK_PeripheralFrequencyGet(CLK_BUS_PERIPHERAL_2), 1000000 );
/* Protocol selection */
PLIB_SPI_FramedCommunicationDisable( SPI_ID_1 );
#if defined (PLIB_SPI_ExistsAudioProtocolControl)
if (PLIB_SPI_ExistsAudioProtocolControl(SPI_ID_1))
{
PLIB_SPI_AudioProtocolDisable(SPI_ID_1);
}
#endif
/* Buffer type selection */
#if defined (PLIB_SPI_ExistsFIFOControl)
if (PLIB_SPI_ExistsFIFOControl( SPI_ID_1 ))
{
PLIB_SPI_FIFODisable( SPI_ID_1 );
}
#endif
PLIB_SPI_BufferClear( SPI_ID_1 );
PLIB_SPI_ReceiverOverflowClear ( SPI_ID_1 );
/* Initialize Queue only once for all instances of SPI driver*/
if (DRV_SPI_SYS_QUEUE_Initialize(&qmInitData, &hQueueManager) != DRV_SPI_SYS_QUEUE_SUCCESS)
{
SYS_ASSERT(false, "\r\nSPI Driver: Could not create queuing system.");
return SYS_MODULE_OBJ_INVALID;
}
/* Update the Queue parameters. */
qInitData.maxElements = 10; //Queue size
qInitData.reserveElements = 1; //Mininmum number of job queues reserved
/* Create Queue for this instance of SPI */
if (DRV_SPI_SYS_QUEUE_CreateQueue(hQueueManager, &qInitData, &dObj->queue) != DRV_SPI_SYS_QUEUE_SUCCESS)
{
SYS_ASSERT(false, "\r\nSPI Driver: Could not set up driver instance queue.");
return SYS_MODULE_OBJ_INVALID;
}
/* Update the SPI OBJECT parameters. */
dObj->operationStarting = NULL;
dObj->operationEnded = NULL;
SYS_INT_SourceDisable(INT_SOURCE_SPI_1_TRANSMIT);
SYS_INT_SourceDisable(INT_SOURCE_SPI_1_RECEIVE);
SYS_INT_SourceEnable(INT_SOURCE_SPI_1_ERROR);
/* Clear all interrupt sources */
SYS_INT_SourceStatusClear(INT_SOURCE_SPI_1_TRANSMIT);
SYS_INT_SourceStatusClear(INT_SOURCE_SPI_1_RECEIVE);
SYS_INT_SourceStatusClear(INT_SOURCE_SPI_1_ERROR);
/* Enable the Module */
PLIB_SPI_Enable(SPI_ID_1);
return (SYS_MODULE_OBJ)DRV_SPI_INDEX_0 ;
}
void SYS_Initialize ( void* data )
{
/* Core Processor Initialization */
SYS_CLK_Initialize( NULL );
sysObj.sysDevcon = SYS_DEVCON_Initialize(SYS_DEVCON_INDEX_0, (SYS_MODULE_INIT*)&sysDevconInit);
SYS_DEVCON_PerformanceConfig(SYS_CLK_SystemFrequencyGet());
SYS_DEVCON_JTAGDisable();
SYS_PORTS_Initialize();
#ifdef DEBUG_ON
setDebugVal(SYS_INIT_START); // has to be after ports init
#endif
/* Initialize Drivers */
/*Initialize TMR0 */
DRV_TMR0_Initialize();
DRV_USART0_Initialize();
DRV_USART1_Initialize();
#ifdef DEBUG_ON
setDebugVal(SYS_INIT_UART);
#endif
/*Initialize OC0 */
DRV_OC0_Initialize();
/*Initialize OC1 */
DRV_OC1_Initialize();
/* Initialize System Services */
SYS_INT_Initialize();
#ifdef DEBUG_ON
setDebugVal(SYS_INIT_SYS);
#endif
/*Setup the INT_SOURCE_EXTERNAL_2 and Enable it*/
SYS_INT_VectorPrioritySet(INT_VECTOR_INT2, INT_PRIORITY_LEVEL3);
SYS_INT_VectorSubprioritySet(INT_VECTOR_INT2, INT_SUBPRIORITY_LEVEL0);
SYS_INT_ExternalInterruptTriggerSet(INT_EXTERNAL_INT_SOURCE2,INT_EDGE_TRIGGER_RISING);
SYS_INT_SourceEnable(INT_SOURCE_EXTERNAL_2);
/*Setup the INT_SOURCE_EXTERNAL_1 and Enable it*/
SYS_INT_VectorPrioritySet(INT_VECTOR_INT1, INT_PRIORITY_LEVEL3);
SYS_INT_VectorSubprioritySet(INT_VECTOR_INT1, INT_SUBPRIORITY_LEVEL0);
SYS_INT_ExternalInterruptTriggerSet(INT_EXTERNAL_INT_SOURCE1,INT_EDGE_TRIGGER_RISING);
SYS_INT_SourceEnable(INT_SOURCE_EXTERNAL_1);
/*Setup the INT_SOURCE_EXTERNAL_3 and Enable it*/
SYS_INT_VectorPrioritySet(INT_VECTOR_INT3, INT_PRIORITY_LEVEL3);
SYS_INT_VectorSubprioritySet(INT_VECTOR_INT3, INT_SUBPRIORITY_LEVEL0);
SYS_INT_ExternalInterruptTriggerSet(INT_EXTERNAL_INT_SOURCE3,INT_EDGE_TRIGGER_RISING);
SYS_INT_SourceEnable(INT_SOURCE_EXTERNAL_3);
/* Initialize Middleware */
/* Initialize the Application */
MOTORAPP_Initialize();
#ifdef DEBUG_ON
setDebugVal(SYS_INIT_APP);
#endif
UART_TX_APP_Initialize();
#ifdef DEBUG_ON
setDebugVal(SYS_INIT_UART_TX_APP);
#endif
UART_RX_APP_Initialize();
#ifdef DEBUG_ON
setDebugVal(SYS_INIT_UART_RX_APP);
#endif
}
