// UART 2 interrupt handler
// it is set at priority level 2
void __ISR(_UART2_VECTOR, ipl2) IntUart2Handler(void)
{
// Is this an RX interrupt?
if(INTGetFlag(INT_SOURCE_UART_RX(UART2)))
{
unsigned char databyte;
// Clear the RX interrupt Flag
INTClearFlag(INT_SOURCE_UART_RX(UART2));
// Code to be executed on RX interrupt:
databyte = UARTGetDataByte(UART2);
databyte++;
// Echo what we just received.
PutCharacter(databyte);
}
// We don't care about TX interrupt
if ( INTGetFlag(INT_SOURCE_UART_TX(UART2)) )
{
// Clear the TX interrupt Flag
INTClearFlag(INT_SOURCE_UART_TX(UART2));
// Code to be executed on TX interrupt:
}
}
void __ISR(_UART2_VECTOR, ipl2) IntUart2Handler(void)
{
// Is this an RX interrupt?
if(INTGetFlag(INT_SOURCE_UART_RX(UART2)))
{
// Clear the RX interrupt Flag
INTClearFlag(INT_SOURCE_UART_RX(UART2));
// Code to be executed on RX interrupt:
COMMAND = UARTGetDataByte(UART2);
// Echo what we just received.
PutCharacter(COMMAND);
}
// We don't care about TX interrupt
if ( INTGetFlag(INT_SOURCE_UART_TX(UART2)) )
{
// Clear the TX interrupt Flag
INTClearFlag(INT_SOURCE_UART_TX(UART2));
// Code to be executed on TX interrupt:
//none
}
}
//*************************************
//*************************************
//********** COMMS TX PACKET **********
//*************************************
//*************************************
//Call with:
// comms_tx_byte Check this is zero before loading comms_tx_buffer (confirms last tx is complete)
// comms_tx_buffer[] The packet data to send with the command in byte 0:1. The Length will automatically be added to bytes 2:3 by this function
// packet_length The number of data bytes excluding the checksum (which is automatically added by the tx function)
void comms_tx_packet (WORD packet_length)
{
//Packet format:
// CommandH | CommandL | LengthH | LengthL | 0-# Data Bytes | Checksum H | Checksum L
//Check last tx is complete
if (comms_tx_byte)
return;
if (packet_length > COMMS_TX_BUFFER_LENGTH)
return;
//----- START TX -----
comms_tx_no_of_bytes_to_tx = packet_length; //no of bytes to tx (excluding checksum)
//Set the length bytes
comms_tx_buffer[2] = (BYTE)(packet_length >> 8);
comms_tx_buffer[3] = (BYTE)(packet_length & 0x00ff);
//comms_rx_no_of_bytes_to_rx = 0xfffe; //If you want to reset rx
//comms_rx_1ms_timeout_timer = ;
comms_tx_byte = 0;
comms_tx_chksum = (WORD)comms_tx_buffer[0];
INTClearFlag(INT_SOURCE_UART_TX(COMMS_UART_NAME));
UARTSendDataByte(COMMS_UART_NAME, comms_tx_buffer[comms_tx_byte++]); //Manually trigger the first tx
INTEnable(INT_SOURCE_UART_TX(COMMS_UART_NAME), INT_ENABLED);
}
// UART 2 interrupt handler
// it is set at priority level 2
void __ISR(_UART2_VECTOR, ipl2) IntUart2Handler(void)
{
// Is this an RX interrupt?
if(INTGetFlag(INT_SOURCE_UART_RX(UART2)))
{
// Clear the RX interrupt Flag
INTClearFlag(INT_SOURCE_UART_RX(UART2));
// Code to be executed on RX interrupt:
// Echo what we just received.
PutCharacter(UARTGetDataByte(UART2));
// Toggle LED to indicate UART activity
mPORTAToggleBits(BIT_7);
}
// We don't care about TX interrupt
if ( INTGetFlag(INT_SOURCE_UART_TX(UART2)) )
{
// Clear the TX interrupt Flag
INTClearFlag(INT_SOURCE_UART_TX(UART2));
// Code to be executed on TX interrupt:
}
}
//********************************
//********************************
//********** INTERRUPTS **********
//********************************
//********************************
void __ISR(_UART_1_VECTOR, ipl5) Uart1InterruptHandler (void) //(ipl# must match the priority level assigned to the irq where its enabled)
{
static BYTE data;
static BYTE status;
static WORD tx_checksum;
static WORD rx_checksum;
static WORD checksum_recevied;
static WORD w_temp;
static WORD rx_length_received;
Nop();
if (
(INTGetEnable(INT_SOURCE_UART_TX(COMMS_UART_NAME))) &&
(INTGetFlag(INT_SOURCE_UART_TX(COMMS_UART_NAME)))
)
{
//----------------------------------
//----------------------------------
//---------- TX INTERRUPT ----------
//----------------------------------
//----------------------------------
while (UARTTransmitterIsReady(COMMS_UART_NAME))
{
//if (comms_tx_byte == 0) //Done in start tx function
//{
// //----- SEND BYTE 0 -----
// comms_tx_chksum = (WORD)comms_tx_buffer[0];
// COMMS_TX_REG = (WORD)comms_tx_buffer[comms_tx_byte++];
//}
if (comms_tx_byte < comms_tx_no_of_bytes_to_tx)
{
//----- SEND NEXT DATA BYTE -----
comms_tx_chksum += (WORD)comms_tx_buffer[comms_tx_byte]; //Add to checksum
UARTSendDataByte(COMMS_UART_NAME, comms_tx_buffer[comms_tx_byte++]);
}
else if (comms_tx_byte == comms_tx_no_of_bytes_to_tx)
{
//----- SEND CHECKSUM HIGH -----
UARTSendDataByte(COMMS_UART_NAME, (comms_tx_chksum >> 8));
comms_tx_byte++;
}
else if (comms_tx_byte == (comms_tx_no_of_bytes_to_tx + 1))
{
//----- SEND CHECKSUM LOW -----
UARTSendDataByte(COMMS_UART_NAME, (comms_tx_chksum & 0x00ff));
comms_tx_byte++;
//----- ALL BYTES SENT -----
comms_tx_byte = 0; //Reset tx byte counter (indicates we're done)
comms_tx_no_of_bytes_to_tx = 0;
//DISABLE TX IRQ
INTEnable(INT_SOURCE_UART_TX(COMMS_UART_NAME), INT_DISABLED);
}
} //while (UARTTransmitterIsReady(COMMS_UART_NAME))
void hal_uart_send_async(hal_uart_port port, uint8_t size){
assert(port >= HAL_UART_PORT_1 && port <= HAL_UART_NUMBER_OF_PORTS );
/* select the respective output buffer */
struct txbuffer_struct* tx_buffer = get_tx_buffer(port);
tx_buffer->nbytes = size;
tx_buffer->counter = 0;
UART_MODULE uart = logic_uart2phy_uart(port);
INTClearFlag(INT_SOURCE_UART_TX(uart));
INTEnable(INT_SOURCE_UART_TX(uart), INT_ENABLED);
}
void __ISR(_UART1_VECTOR, IPL2SOFT) IntUart1Handler(void)
{
if(INTGetFlag(INT_SOURCE_UART_RX(UART1)))
{
INTClearFlag(INT_SOURCE_UART_RX(UART1));
if (uart_rx_count<sizeof(uart_rx_buff)-1)
uart_rx_count++;
else
uart_rx_count=0; // overflow
uart_rx_buff[uart_rx_count]=UARTGetDataByte(UART1);
}
if(INTGetFlag(INT_SOURCE_UART_TX(UART1)))
{
INTClearFlag(INT_SOURCE_UART_TX(UART1));
}
}
void handleUartInterrupt(UART_MODULE uart, Buffer* buffer) {
// Is this an RX interrupt?
if (INTGetFlag(INT_SOURCE_UART_RX(uart))) {
if (UARTReceivedDataIsAvailable(uart)) {
unsigned char c = UARTGetDataByte(uart);
// BUG2018, BUG2019 (255 / 254 value) when Motor Power is too strong
if (c != 'ÿ' && c != 'þ') {
bufferWriteChar(buffer, c);
}
// Clear the RX interrupt Flag
INTClearFlag(INT_SOURCE_UART_RX(uart));
}
}
// We don't care about TX interrupt
if ( INTGetFlag(INT_SOURCE_UART_TX(uart)) ) {
INTClearFlag(INT_SOURCE_UART_TX(uart));
}
}
void __ISR(_UART_4_VECTOR, ipl1) IntUart4Handler(void)
{
// Is this an RX interrupt?
if(INTGetFlag(INT_SOURCE_UART_RX(UART_WIFI_MODULE_ID)))
{
const char rchar = UARTGetDataByte(UART_WIFI_MODULE_ID);
PutcToWifiReceivedBuffer(rchar, &DefaultWifiService);
// Clear the RX interrupt Flag
INTClearFlag(INT_SOURCE_UART_RX(UART_WIFI_MODULE_ID));
}
// We don't care about TX interrupt
if ( INTGetFlag(INT_SOURCE_UART_TX(UART_WIFI_MODULE_ID)) )
{
INTClearFlag(INT_SOURCE_UART_TX(UART_WIFI_MODULE_ID));
}
}
// UART interrupt handler, set at priority level 2
void __ISR(_UART_2_VECTOR, ipl2) IntUart2Handler(void)
{
// Is this an RX interrupt?
if(INTGetFlag(INT_SOURCE_UART_RX(UART_CMD_MODULE_ID)))
{
char rchar = UARTGetDataByte(UART_CMD_MODULE_ID);
AddKeystroke(&CurrentCommandEngine, rchar);
// Clear the RX interrupt Flag
INTClearFlag(INT_SOURCE_UART_RX(UART_CMD_MODULE_ID));
}
// We don't care about TX interrupt
if ( INTGetFlag(INT_SOURCE_UART_TX(UART_CMD_MODULE_ID)) )
{
INTClearFlag(INT_SOURCE_UART_TX(UART_CMD_MODULE_ID));
}
}
void __ISR(_UART_2_VECTOR, ipl2) IntUart2Handler(void)
{
// Is this an RX interrupt?
if(INTGetFlag(INT_SOURCE_UART_RX(UART_MODULE_ID2)))
{
#ifdef DEBUG
PutCharacterXbee(UARTGetDataByte(UART_MODULE_ID2));
#endif
INTClearFlag(INT_SOURCE_UART_RX(UART_MODULE_ID2));
}
// We don't care about TX interrupt
if (INTGetFlag(INT_SOURCE_UART_TX(UART_MODULE_ID2)))
{
INTClearFlag(INT_SOURCE_UART_TX(UART_MODULE_ID2));
}
}
// TODO: Maybe sanity check buffer not empty
void hal_uart_send_buffer_async(hal_uart_port port, uint8_t* buffer,
uint8_t size){
assert(port >= HAL_UART_PORT_1 && port <= HAL_UART_NUMBER_OF_PORTS );
assert(size > 0 && size < HAL_UART_BUFFER_SIZE );
assert(buffer != NULL);
/* select the respective output buffer */
struct txbuffer_struct* tx_buffer = get_tx_buffer(port);
/* buffer should be empty before sending a new frame */
assert(tx_buffer->nbytes == 0);
/* copy buffer into output buffer */
memcpy(tx_buffer->buffer, buffer, size);
/* enable the tx interrupt. It starts the augomagically data transmision
* from tx_buffer.
*/
/* copy the size of the buffer.*/
tx_buffer->nbytes = size;
/* set the framecounter at null */
tx_buffer->counter = 0;
UART_MODULE uart = logic_uart2phy_uart(port);
INTClearFlag(INT_SOURCE_UART_TX(uart));
INTEnable(INT_SOURCE_UART_TX(uart), INT_ENABLED);
}
// *****************************************************************************
// Initialize the Console serial port (BAUDRATE)
// *****************************************************************************
void InitConsole(UINT32 baud)
{
UARTConfigure(UART_CONSOLE, UART_ENABLE_PINS_TX_RX_ONLY | UART_ENABLE_HIGH_SPEED);
UARTSetFifoMode(UART_CONSOLE, UART_INTERRUPT_ON_TX_NOT_FULL | UART_INTERRUPT_ON_RX_NOT_EMPTY);
UARTSetLineControl(UART_CONSOLE, UART_DATA_SIZE_8_BITS | UART_PARITY_NONE | UART_STOP_BITS_1);
UARTSetDataRate(UART_CONSOLE, GetPeripheralClock(), baud);
#ifdef DEBUG_ALLOW_USER_INPUT
INTEnable(INT_SOURCE_UART_RX(UART_CONSOLE), INT_ENABLED);
INTSetVectorPriority(INT_VECTOR_UART(UART_CONSOLE), INT_PRIORITY_LEVEL_2);
INTSetVectorSubPriority(INT_VECTOR_UART(UART_CONSOLE), INT_SUB_PRIORITY_LEVEL_0);
INTEnable(INT_SOURCE_UART_TX(UART_CONSOLE), INT_DISABLED);//Disable TX interrupt!
#endif
UARTEnable(UART_CONSOLE, UART_ENABLE_FLAGS(UART_PERIPHERAL | UART_RX | UART_TX));
}
void enableUartISR( UART_MODULE umPortNum )
{
/* Enable Interrupts */
INTEnable( INT_SOURCE_UART_RX( umPortNum ), INT_ENABLED );
INTEnable( INT_SOURCE_UART_TX( umPortNum ), INT_ENABLED );
}
// UART3 interrupt handler, priority level 2
void __ISR(_UART_3_VECTOR, ipl2) IntUart3Handler(void) {
// Is this an RX interrupt?
if(INTGetFlag(INT_SOURCE_UART_RX(UART3))){
char data = UARTGetDataByte(UART3);
LED1 = !LED1;
if(data =='x') {
//Stop program, both magnets ON
start = 0;
EMAG1 = EMAG2 = 1;
}
if(data =='e') {
// Magnet 1 ON
EMAG1 = 1;
}
if(data =='f') {
// Magnet 1 OFF
EMAG1 = 0;
}
if(data =='g') {
// Magnet 2 ON
EMAG2 = 1;
}
if(data =='h') {
// Magnet 2 OFF
EMAG2 = 0;
}
if(data =='s') {
// start motion program
start = 1;
LED0=0;
}
if(data =='o') {
delay1 = delay1+1;
}
if(data =='p') {
delay1 = delay1-1;
}
if(data =='k') {
delay2 = delay2+1;
}
if(data =='l') {
delay2 = delay2-1;
}
if(data =='n') {
delay3 = delay3+1;
}
if(data =='m') {
delay3 = delay3-1;
}
// Clear the RX interrupt Flag
INTClearFlag(INT_SOURCE_UART_RX(UART3));
}
// We don't care about TX interrupt
if(INTGetFlag(INT_SOURCE_UART_TX(UART3))) {
INTClearFlag(INT_SOURCE_UART_TX(UART3));
}
}
void hal_uart_interrupt_handler(hal_uart_port port) {
UART_MODULE uart = logic_uart2phy_uart(port);
assert(port >= HAL_UART_PORT_1 && port <= HAL_UART_NUMBER_OF_PORTS );
/* get the txbuffer to send */
struct txbuffer_struct *buffer = get_tx_buffer(port);
/* If the source of interrupt is the TXInterrupt, start
* transmitting the data in output queue. */
if (INTGetFlag(INT_SOURCE_UART_TX(uart))) {
/* Clear interrupt to prevent reentry */
INTClearFlag(INT_SOURCE_UART_TX(uart));
/* if queue is not empty, send tx data to uart while available. */
while (buffer->nbytes > 0) {
if (UARTTransmitterIsReady(uart)) {
UARTSendDataByte(uart, buffer->buffer[buffer->counter++]);
/* decrement buffer count after byte was transmitted */
buffer->nbytes --;
} else {
break;
}
}
/* if queue is empty, disable tx interrupt. */
if (buffer->nbytes <= 0) {
INTEnable(INT_SOURCE_UART_TX(uart), INT_DISABLED);
if(on_data_sent[port]!=NULL)
on_data_sent[port](port);
}
}
/* detect uart rx errors */
if(INTGetFlag(INT_SOURCE_UART_ERROR(uart))){
uint8_t in_byte = 0x00;
hal_uart_error error = HAL_UART_ERR_NONE;
volatile UART_LINE_STATUS lineStatus = UARTGetLineStatus(uart);
/* detect framming error. (break)*/
/* Framing error are only valid if data is available in buffer. */
if(UART_FRAMING_ERROR & lineStatus){
/* trigger an on_data_received_callback */
error = HAL_UART_ERR_FRAMMING;
}
/* detect uart overrun errors. */
if(UART_OVERRUN_ERROR & lineStatus)
{
error = HAL_UART_ERR_OVERRUN;
/* TODO: Not sure what to do if buffer overruns (it means data
* arrives faster than we are able to process. So just
* clear error and continue with our lives as nothing happened.
*/
UARTClearOverrunError(uart);
}
if(UART_PARITY_ERROR & lineStatus){
error = HAL_UART_ERR_PARITY;
}
if(UARTReceivedDataIsAvailable(uart)){
in_byte = UARTGetDataByte(uart);
}
if(on_data_received[port]!=NULL)
on_data_received[port](port,in_byte,error);
/* clear the error flag. */
INTClearFlag(INT_SOURCE_UART_ERROR(uart));
}
/* If receive interrupt was triggered, feed user apps with data. */
if (INTGetFlag(INT_SOURCE_UART_RX(uart))) {
/* Clear interrupt to prevent reentry */
INTClearFlag(INT_SOURCE_UART_RX(uart));
/* Copy the received data into input buffer */
while (UARTReceivedDataIsAvailable(uart)) {
uint8_t c = UARTGetDataByte(uart);
if(on_data_received[port]!=NULL)
on_data_received[port](port, c,HAL_UART_ERR_NONE);
}
}
}
void hal_uart_disable_interrupts(hal_uart_port port){
UART_MODULE uart = logic_uart2phy_uart(port);
// INTEnable(INT_SOURCE_UART_RX(uart), INT_DISABLED);
INTEnable(INT_SOURCE_UART_TX(uart), INT_DISABLED);
}
void disableUartISR( UART_MODULE umPortNum )
{
/* Disable Interrupts */
INTEnable( INT_SOURCE_UART_RX( umPortNum ), INT_DISABLED );
INTEnable( INT_SOURCE_UART_TX( umPortNum ), INT_DISABLED );
}
/*******************************************************************************
Function:
void ConsoleUartIntHandler(void)
Remarks:
UART 1 interrupt handler is set at priority level 2 with software context saving
*/
void ConsoleUartIntHandler(void)
{
unsigned char byteReceived;
// Is this an RX interrupt?
if (INTGetFlag(INT_SOURCE_UART_RX(UART_CONSOLE)))
{
while (UARTReceivedDataIsAvailable(UART_CONSOLE) != 0)
{
byteReceived = UARTGetDataByte(UART_CONSOLE);
//Console Interrupt - In Self Test Mode
if(self_TESTMode == TRUE)
{
ConsoleMsgCallback_selfTest();
}
//Console Interrupt - RN1723 Command Mode
else if(RN_UartCmdMode == 1)
{
//Exit console mode if 'ESC'
if(byteReceived == ESC)
{
RN_UartCmdMode = FALSE;
RN_DATA_MODE();
memset(consoleMsg, '\0', sizeof(consoleMsg));
}
else
{
while(!UARTTransmitterIsReady(UART_WIFLY));
UARTSendDataByte(UART_WIFLY, byteReceived);
}
}
else
{
PIC32_ConsoleMode = TRUE;
putConsole(byteReceived);
if(byteReceived == CR)
{
PrintConsoleMenu();
}
else if(byteReceived == LF)
{
//Ignore Line Feed
}
else if(byteReceived == BACKSPACE)
{
consoleMsg[(strlen(consoleMsg)-1)] = '\0';
}
else if(byteReceived == ESC)
{
PIC32_ConsoleMode = FALSE;
memset(consoleMsg, '\0', sizeof(consoleMsg));
}
else
{
consoleMsg[strlen(consoleMsg)] = byteReceived;
}
}
}
// Clear the RX interrupt Flag
INTClearFlag(INT_SOURCE_UART_RX(UART_CONSOLE));
}
// We don't care about the TX interrupt
if (INTGetFlag(INT_SOURCE_UART_TX(UART_CONSOLE)) )
{
INTClearFlag(INT_SOURCE_UART_TX(UART_CONSOLE));
}
}
void __ISR(_UART_6_VECTOR, U6_INTERRUPT_PRIORITY) Uart6InterruptHandler(void)
{
UINT8 i
,iMax // Read/write max 8 bytes/interrupt
,data // used in UartFifoWrite/Read functions
;
if ( INTGetFlag ( INT_SOURCE_UART_ERROR(UART6)) )
{
LED_ERROR_ON;
INTClearFlag(INT_SOURCE_UART_ERROR(UART6));
}
// TX interrupt handling
//===========================================================
if ( INTGetEnable ( INT_SOURCE_UART_TX(UART6) ) ) // If TX interrupts enabled
{
if ( INTGetFlag ( INT_SOURCE_UART_TX(UART6) ) ) // If TX interrupt occured
{
if ( UARTTransmitterIsReady(UART6) && !Uart.Var.uartTxFifo[UART6].bufEmpty ) // If TX buffer is ready to receive data and the user's TX buffer is not empty
{
if (Uart.Var.uartTxFifo[UART6].lineBuffer.length < 8) // Write max 8 bytes/interrupt
{
iMax = Uart.Var.uartTxFifo[UART6].lineBuffer.length;
}
else
{
iMax = 8;
}
for (i = 0; i < iMax; i++)
{
UartFifoRead((void *) &Uart.Var.uartTxFifo[UART6], &data); // Copy from user
U6TXREG = data; // Put data in PIC32's TX buffer
}
}
if (Uart.Var.uartTxFifo[UART6].bufEmpty) // If User's TX buffer is empty
{
Uart.DisableTxInterrupts(UART6); // Disable TX interrupts
}
INTClearFlag(INT_SOURCE_UART_TX(UART6)); // Clear the TX interrupt Flag
}
}
//===========================================================
// RX interrupt handling
//===========================================================
if ( INTGetEnable ( INT_SOURCE_UART_RX(UART6) ) ) // If RX interrupts enabled
{
if ( INTGetFlag ( INT_SOURCE_UART_RX(UART6) ) ) // If RX interrupt occured
{
i = 0;
iMax = 8; // Read max 8 bytes/interrupt
while ( UARTReceivedDataIsAvailable(UART6) // While RX data available
&& !Uart.Var.uartRxFifo[UART6].bufFull // and user's RX buffer not full
&& (i < iMax) // and under 8 bytes read
)
{ // while ^
data = UARTGetDataByte(UART6); // Get data for PIC32's RX FIFO buffer and copy it to user (next line)
if ( UartFifoWrite((void *) &Uart.Var.uartRxFifo[UART6], &data) < 0 ) // If copy to user did not work
{
break; // Exit while loop
}
i++;
} // end while
if (!Uart.Var.uartRxFifo[UART6].bufEmpty) // If there is data in the user's RX buffer
{
Uart.Var.oIsRxDataAvailable[UART6] = 1; // Set according flag
}
INTClearFlag (INT_SOURCE_UART_RX(UART6) ); // Clear the RX interrupt Flag
}
}
//===========================================================
}
