int main(void) {
char c;
INTCON1bits.NSTDIS = 1;
openQEI();
OpenUART();
// openPWM();
// InitTMR2();
Clock_Init();
// enablePWM;
// ch1Run;
// ch2Run;
initInterpreter();
initOdometrie();
initAsservissement();
initPIDs();
while(1)
{
c = (char)ReadUART1();
if(buildCommande())
{
interpreteCommande();
clearCommande();
}
}
return 0;
}
// UART1 RX ISR
void __attribute__ ((interrupt,no_auto_psv)) _U1RXInterrupt(void)
{
char c;
// Clear the interrupt status of UART1 RX
U1RX_Clear_Intr_Status_Bit;
// Get the character from the GSM UART
c = gsmRead();
// If a character comes in from the GSM module...
if (c)
{
while(BusyUART3());
WriteUART3((unsigned int)c); // Print the incoming character to USB UART
// Clear out any garbage characters
while(DataRdyUART1())
ReadUART1();
}
// Detect if GSM antenna is ready
if(newSINDreceived() && gsmReady()) {
// gsmCall(HOME_NUMBER);
// gsmText(HOME_NUMBER, "Hey Matt!");
//
//MS: add parser
}
}
void _ISR_PSV _U1RXInterrupt(void) // UART RX [6b]
{ __builtin_disi(0x3FFF); //disable interrupts up to priority 6 for n cycles
InterruptTest7++;
_U1RXIF = 0; // interrupt flag reset
ClrWdt(); // [1]
unsigned char DatoRx;
DatoRx = ReadUART1();
if(StatoSeriale[PORT_COM1] == WAIT_MESSAGE)
{ // time-out dei dati in ricezione non sia scaduto, altrimenti
if (!TimerOutRxModbus[PORT_COM1])
{ FreeRxBuffer(PORT_COM1);
}
TimerOutRxModbus[PORT_COM1] = TIME_OUT_MODBUS;
*RxPointer[PORT_COM1] = DatoRx; // Salva nel buffer il dato ricevuto
RxPointer[PORT_COM1]++;
RxNByte[PORT_COM1]++;
if (RxNByte[PORT_COM1] >= MODBUS_N_BYTE_RX) // se ricevuti più caratteri della lunghezza del buffer
{ RxPointer[PORT_COM1] = ModbusRxBuff[PORT_COM1]; // azzera il puntatore di ricezione
RxNByte[PORT_COM1] = 0; // e il numero di byte ricevuti
}
}
InterruptTest7--;
DISICNT = 0; //re-enable interrupts
}
void __attribute__((interrupt, auto_psv)) _U1RXInterrupt (void)
{
ledr = ledr^1;
ReadUART1();
IFS0bits.U1RXIF = 0;
return;
}
//-----------------------------------------------------------------
// Interrupts
//-----------------------------------------------------------------
// UART1 -> IR signal
void __attribute__((__interrupt__)) _U1RXInterrupt(void)
{
unsigned char buffer;
IFS0bits.U1RXIF = 0;
while( DataRdyUART1() )
{
buffer=ReadUART1();
}
if (buffer == current_TRANSMITTER) //check if the received signal is the current slave's adress
{
receive_flag[current_state]=buffer;
}
}
void __ISR(_UART1_VECTOR, ipl2) IntUart1Handler(void)
{
// Is this an RX interrupt?
if (mU2RXGetIntFlag())
{
// Clear the RX interrupt Flag
mU2RXClearIntFlag();
char change = (char) ReadUART1();
if (change == ']')
{
width++;
if (width > 32)
{
width = width - 32;
}
}
if (change == '[')
{
width--;
if (width < 1)
{
width = width + 32;
}
}
// Echo what we just received.
sprintf(RS232_Out_Buffer, "Width: %d \r\n", width);
putsUART1(RS232_Out_Buffer);
//reset chip to new width
nrf24l01_initialize_debug(true, width, false);
}
// We don't care about TX interrupt
if (mU2TXGetIntFlag())
{
mU2TXClearIntFlag();
}
}
void __attribute__((interrupt, auto_psv)) _U1RXInterrupt(void) {
IFS0bits.U1RXIF = 0; // clear RX interrupt flag
/* get the data */
if (U1STAbits.URXDA == 1) {
if (decode_pkgs(ReadUART1())) {
PARSER_FLAG = 1; //if correct packet parse command start interrupt flag
}
} else {
/* check for receive errors */
if (U1STAbits.FERR == 1) {
pkg_error(ERROR_FRAMMING);
}
/* must clear the overrun error to keep uart receiving */
if (U1STAbits.OERR == 1) {
U1STAbits.OERR = 0;
pkg_error(ERROR_OVERRUN);
}
}
}
//*******************************************************************************************
// UART 1 interrupt handler
// it is set at priority level 2
//*******************************************************************************************
void __ISR(_UART1_VECTOR, ipl2) IntUart1Handler(void)
{
unsigned char theChar;
// Is this an RX interrupt?
if (mU1RXGetIntFlag())
{
theChar = ReadUART1();
store_char(theChar, &rx_buffer1);
// Clear the RX interrupt Flag (must be AFTER the read)
mU1RXClearIntFlag();
}
// We don't care about TX interrupt
if ( mU1TXGetIntFlag() )
{
mU1TXClearIntFlag();
}
}
/* Read GSM data */
char gsmRead(void) {
char c = 0;
/* Grab data from GSM if available */
if (!DataRdyUART1()) {
return c;
} else {
c = ReadUART1();
}
if (c == '+') {
gsmCurrentLine[gsmLineIdx] = 0;
gsmLineIdx = 0;
}
if (c == '\n') {
gsmCurrentLine[gsmLineIdx] = 0;
if (gsmCurrentLine == gsmLine1) {
gsmCurrentLine = gsmLine2;
gsmLastLine = gsmLine1;
} else {
gsmCurrentLine = gsmLine1;
gsmLastLine = gsmLine2;
}
gsmLineIdx = 0;
gsmRcvdFlag = true;
}
gsmCurrentLine[gsmLineIdx++] = c;
if (gsmLineIdx >= SINDMAXLINELENGTH)
gsmLineIdx = SINDMAXLINELENGTH-1;
return c;
}
void InterruptAX() {
while(DataRdyUART1()) {
byte b = ReadUART1();
if(posAX == -5 && b == 0xFF)
posAX = -4;
else if(posAX == -4 && b == 0xFF) {
posAX = -3;
checksumAX = 0;
responseAX.len = 1;
}
else if(posAX == -3) {
posAX = -2;
responseAX.id = b;
}
else if(posAX == -2 && b < 2 + 4 /*taille de ax.parameters*/) {
posAX = -1;
checksumAX = responseAX.id + b;
responseAX.len = b - 2;
}
else if(posAX == -1) {
posAX = 0;
responseAX.error = *((errorAX*)&b);
//checksumAX += b;
}
else if(0 <= posAX && posAX < responseAX.len) {
((byte*)&responseAX.params)[posAX++] = b;
checksumAX += b;
}
else if(posAX == responseAX.len && (b & checksumAX) == 0) {
responseReadyAX = 1;
posAX = -5;
}
else
posAX = -5; // Erreur.
}
}
//read data from the UART, and call the proper function based on the Xbee code
void __attribute__((__interrupt__, no_auto_psv)) _U1RXInterrupt(void)
{
static unsigned char uart_rx_state = UART_RX_WAITING;
static unsigned char uart_rx_cnt = 0;
static Payload uart_pld;
static WordVal uart_pld_len;
static byte uart_checksum;
static unsigned char packet_type = 0;
static unsigned char test;
unsigned char c;
if(U1STAbits.OERR)
{
U1STAbits.OERR = 0;
}
c = ReadUART1();
if (uart_rx_state == UART_RX_WAITING && c == RX_START)
{
uart_rx_state = UART_RX_ON;
packet_type = 0;
uart_rx_cnt = 1;
uart_checksum = 0x00;
}else if (uart_rx_state == UART_RX_ON)
{
switch (uart_rx_cnt)
{
//XBee interface uses two bytes for payload length, despite the
//fact that packets can't be longer than 128 bytes. The high byte
//is extracted, but never used here.
case LEN_HB_POS:
uart_pld_len.byte.HB = c;
uart_rx_cnt++;
break;
case LEN_LB_POS:
uart_pld_len.byte.LB = c;
//We create a payload structure to store the data incoming from the uart
uart_pld = payCreateEmpty(uart_pld_len.byte.LB-PAYLOAD_HEADER_LENGTH);
test = uart_pld_len.byte.LB;
uart_rx_cnt++;
break;
case API_ID_POS:
//Currently, we're only supporting the 16-bit TX/RX API,
//and the AT command mode
packet_type = c;
uart_checksum += c;
uart_rx_cnt++;
break;
default:
if (uart_rx_cnt == (uart_pld_len.byte.LB + RX_DATA_OFFSET-1))
{
if (uart_checksum + c == 0xFF) //We have a legit packet
{
//Check for type of packet and call relevant function
switch (packet_type)
{
case AT_COMMAND_MODE:
xbeeHandleAt(uart_pld);
break;
case TX_16BIT:
xbeeHandleTx(uart_pld);
break;
default:
//do nothing, but probably should send an error
break;
}
payDelete(uart_pld);
}else //Start over
{
payDelete(uart_pld);
}
uart_rx_state = UART_RX_WAITING;
}else
{
uart_pld->pld_data[uart_rx_cnt-RX_DATA_OFFSET] = c;
uart_checksum += c;
uart_rx_cnt++;
}
break;
}
}
_U1RXIF = 0;
}
void test_uart_read()
{
TEST_ASSERT_TRUE(U1RXREG == ReadUART1());
}
void vLogicAnalizer(void){
unsigned int keepGoing = 0; // Determina si debe seguir o no el muestreo
unsigned int triggerType; // Tipo de trigger
unsigned int samplingFrequency; // Frecuencia de muestreo
unsigned int channelMask; // Máscara para filtrar los canales (un 1 en el canal que se desea el trigger, 0 de otro modo)
TRISB |= 0xFF00; // Parte alta del puerto B como entrada (hacemos una OR sino modificamos los pines
// UART y deja de funcionar)
TRISAbits.TRISA1 = 0; // Pin de dirección del buffer
PORTAbits.RA1 = 0; // Puerto B del buffer como entrada y A como salida (A <- B)
CNPU1 = CNPU2 = 0; // Deshabilito pull-ups
CLKDIVbits.DOZEN = 0; // CPU a 40 MIPS
disableUARTInt();
writeUART1(LOGIC_ANALIZER); // Envío el modo
debug("\r\nAnalizador Logico");
// Elimino datos que puedan quedar en el UART
while(DataRdyUART1()){
printNumericDebug("\r\nDatos disponibles en el UART: ", ReadUART1());
}
// Leo el estado para saber si debo continuar o detenerme
sleepWait();
keepGoing = mReadUART1();
printNumericDebug("\r\nKeepGoing recibido: ", keepGoing);
while(keepGoing != 0){
if(keepGoing != 0){
debug("\r\nKeep Going!");
samplingFrequency = mReadUART1(); // Obtengo la frecuencia de muestreo
triggerType = mReadUART1(); // Obtengo el tipo de trigger
channelMask = mReadUART1(); // Obtengo la máscara
printCharDebug("\r\nSampling Frequency: ", samplingFrequency);
printNumericDebug("\r\nTrigger Type: ", triggerType);
printNumericDebug("\r\nChannel Mask: ", channelMask);
CNEN1 = CNEN2 = 0;
if(channelMask == 0) triggerType = noTrigger;
// De acuerdo al bit seteado en el Mask detecto o no el cambio de estado
// en el pin correspondiente
if(bitTest(channelMask, 7)) CNEN1bits.CN11IE = 1;
if(bitTest(channelMask, 6)) CNEN1bits.CN12IE = 1;
if(bitTest(channelMask, 5)) CNEN1bits.CN13IE = 1;
if(bitTest(channelMask, 4)) CNEN1bits.CN14IE = 1;
if(bitTest(channelMask, 3)) CNEN1bits.CN15IE = 1;
if(bitTest(channelMask, 2)) CNEN2bits.CN16IE = 1;
if(bitTest(channelMask, 1)) CNEN2bits.CN21IE = 1;
if(bitTest(channelMask, 0)) CNEN2bits.CN22IE = 1;
// Habilito interrupciones por cambio de estado en caso de usarlas
if(triggerType == simpleTrigger){
IEC1bits.CNIE = 1;
IFS1bits.CNIF = 0;
}
else IEC1bits.CNIE = 0;
}
else{
debug("\r\nAnalizador Logico BREAK");
break;
}
switch(samplingFrequency){
case F40MHz:
debug("\r\nSampling 40MHz");
if(triggerType == noTrigger) vSample40MHz((unsigned char *)&PORTB+1, Buffer, BUFFER_SIZE);
else if(triggerType == simpleTrigger) vSample40MHzTriggerSimple((unsigned char *)&PORTB+1, Buffer, BUFFER_SIZE, channelMask);
break;
case F20MHz:
debug("\r\nSampling 20MHz");
if(triggerType == noTrigger) vSample20MHz((unsigned char *)&PORTB+1, Buffer, BUFFER_SIZE);
else if(triggerType == simpleTrigger) vSample20MHzTriggerSimple((unsigned char *)&PORTB+1, Buffer, BUFFER_SIZE, channelMask);
break;
case F10MHz:
debug("\r\nSampling 10MHz");
if(triggerType == noTrigger) vSample10MHz((unsigned char *)&PORTB+1, Buffer, BUFFER_SIZE);
else if(triggerType == simpleTrigger) vSample10MHzTriggerSimple((unsigned char *)&PORTB+1, Buffer, BUFFER_SIZE, channelMask);
break;
case F4MHz:
debug("\r\nSampling 4MHz");
if(triggerType == noTrigger) vSample4MHz((unsigned char *)&PORTB+1, Buffer, BUFFER_SIZE);
else if(triggerType == simpleTrigger) vSample4MHzTriggerSimple((unsigned char *)&PORTB+1, Buffer, BUFFER_SIZE, channelMask);
break;
case F400KHz:
debug("\r\nSampling 400KHz");
if(triggerType == noTrigger) vSample400KHz((unsigned char *)&PORTB+1, Buffer, BUFFER_SIZE);
else if(triggerType == simpleTrigger) vSample400KHzTriggerSimple((unsigned char *)&PORTB+1, Buffer, BUFFER_SIZE, channelMask);
break;
case F2KHz:
debug("\r\nSampling 2KHz");
//vSample2KHz((char *)&PORTB+1, &Buffer, BUFFER_SIZE);
break;
case F10Hz:
debug("\r\nSampling 10Hz");
//vSample10Hz((char *)&PORTB+1, &Buffer, BUFFER_SIZE);
break;
default:
debug("\r\nSampling Default");
break;
}
debug("\r\nSending data");
writeUART1(START_BYTE); // Envío byte de Start
writeUART1(LOGIC_ANALIZER); // Envío proveniencia del dato
// Envío el buffer comprimido
RLEncodeSendBuffer(Buffer, BUFFER_SIZE);
// Dos 0xFF indican la terminación
writeUART1(0xFF);
writeUART1(0xFF);
sleepWait();
keepGoing = mReadUART1();
printNumericDebug("\r\nKeepGoing recibido: ", keepGoing);
}
debug("\r\nSale de Analizador Logico");
enableUARTInt(); // Habilito nuevamente las interrupciones UART
}
/**
* Espero un byte desde el USART 1 y lo devuelvo
* @return byte leido desde el USART
*/
unsigned int mReadUART1 (void){
while(!DataRdyUART1());
return ReadUART1();
}
void __attribute__ ((interrupt,no_auto_psv)) _U1RXInterrupt(void) {
U1RX_Clear_Intr_Status_Bit;
csk_uart0_inchar(ReadUART1());
OSSignalSem(SEM_CMD_CHAR_P); // commands normally come from Rx0 (terminal port on Dev Board)
}