// Set up the UART for the GSM chip
void gsmSetup(void)
{
// Configure Port Direction
TRISGbits.TRISG6 = 0; // Turn RG6 into output for GSM TX
TRISGbits.TRISG7 = 1; // Turn RG7 into input for GSM RX
// Configure PPS pins for GSM
iPPSInput(IN_FN_PPS_U1RX,IN_PIN_PPS_RP26); // Assign U1RX to pin RP26
iPPSOutput(OUT_PIN_PPS_RP21,OUT_FN_PPS_U1TX); // Assign U1TX to pin RP21
// Close UART in case it's already open
CloseUART1();
// Enable UART Interface
ConfigIntUART1(UART_RX_INT_DIS | UART_RX_INT_PR7 | UART_TX_INT_DIS | UART_TX_INT_PR7);
// Receive interrupt disabled
// Transmit interrupt disabled
OpenUART1(UART_EN, UART_TX_ENABLE, 25);
// Module enable
// BRG generates 4 clocks per bit period
// Transmit enable
// 9600 baud rate (@ 4 MHz FCY)
}
void UARTinit()
{
CloseUART1();
U1MODEbits.STSEL = 0; // 1 Stop bit
U1MODEbits.PDSEL = 0; // No Parity, 8 data bits
U1MODEbits.BRGH = 0; // Low-Speed mode - ovde je bila nula!
U1BRG = 31; // BAUD Rate Setting for 57600
U1MODEbits.UARTEN = 1; // Enable UART
U1STAbits.UTXEN = 1;
IFS0bits.U1RXIF = 0;
}
/**
* Start the servo hardware
*/
void initServos(){
SERVO_HW_INIT();
if(getPrintLevel() == NO_PRINT){
CloseUART1();
}
int i;
for(i=0;i<dataTableSize;i++){
pinOff(i);
setServo(i,128,0);
}
// runLinearInterpolationServo(start,stop);
// runSort();
// for(i=0;i<numPidMotor;i++){
// println_I("Servo Positions: ");p_sl_I(getServoPosition(i));
// }
// for(i=0;i<numPidMotor;i++){
// println_I("Sorted Servo Positions index: ");p_sl_I(sort[i]); print_I(" value: ");p_sl_I(position[sort[i]]);
// }
setTimerLowTime();
}
int main(void)
{
// Bring all Outputs Low
LATB = 0x0000;
LATD = 0x0000;
LATF = 0x0000;
LATG = 0x0000;
// Disable analog I/O on PORT B and G
ANSB = 0x0000;
ANSG = 0x0000;
// Setup the GPS and USB UART
usbSetup();
gpsSetup();
gsmSetup();
sdSetup();
// Clear and enable GSM and USB interrupts
U1RX_Clear_Intr_Status_Bit;
U3RX_Clear_Intr_Status_Bit;
EnableIntU1RX;
EnableIntU3RX;
// Clear and enable GPS interrupt
// U2RX_Clear_Intr_Status_Bit;
// EnableIntU2RX;
// Set up to echo GPS data
// sendCommand(PMTK_SET_BAUD_9600);
// DELAY_MS(100);
// sendCommand(PMTK_SET_NMEA_OUTPUT_RMCONLY);
// sendCommand(PMTK_SET_NMEA_OUTPUT_OFF); // Enable for log dump
// DELAY_MS(100);
// sendCommand(PMTK_SET_NMEA_UPDATE_1HZ); // Disable for log dump
// DELAY_MS(100);
// Start GPS data logger
// startLOCUS();
strToUSB("Starting SM5100B Communication...\n");
// Loop Forever
while(1)
{
blink(LED_GRN_P42);
DELAY_MS(1000);
// Print out logger info
// displayLOCUSInfo();
}
// Disable Interrupts and close UART
DisableIntU1RX;
DisableIntU2RX;
DisableIntU3RX;
CloseUART1();
CloseUART2();
CloseUART3();
}
void initUART1( unsigned long baudrate )
{
/* Holds the value of baud register */
unsigned int baudvalue;
/* Holds the value of uart config reg */
unsigned int U1MODEvalue;
/* Holds the information regarding uart
* Tx and Rx interrupt modes
*/
unsigned int U1STAvalue;
/* Turn off UART1module */
CloseUART1();
/** Clear UART1 Receive Interrupt Flag
* Note: If flag is not cleared, the program will continue to
* think an interrupt has occured and remain within the
* the user defined interrupt routine.
*/
IFS0bits.U1RXIF = 0;
IFS0bits.U1TXIF = 0;
/** Configure UART1 Receive and Transmit Interrupts */
ConfigIntUART1( UART_RX_INT_EN & // Enable UART1 Receive Interrupts
UART_RX_INT_PR3 & // Set UART1 Receive interrupts to priority 3
UART_TX_INT_DIS & // Disable UART1 Transmit interrupts
UART_TX_INT_PR3 ); // Set UART1 Transmit interrupts to priority 3
/* Configure UART1 module to transmit 8 bit data with one stopbit.
*
* Load a value into Baud Rate Generator. Example is for 38400.
* See section 19.3.1 of datasheet.
* baudvalue = (Fcy/(16*BaudRate))-1
* baudvalue = (40M/(16*38400))-1
* baudvalue = 65
*/
/* Slow speed settings */
if(baudrate <= 57600UL)
{
baudvalue = ( unsigned int )( ( FCY / ( 16 * baudrate ) ) - 1 );
U1MODEvalue = UART_EN & // Enable UART1
UART_IDLE_CON & // Work in idle mode
UART_IrDA_DISABLE & // Disable IrDA encoder and decoder
UART_MODE_FLOW & // UART1 pin in flow control mode
UART_UEN_00 & // U1TX and U1RX used, U1TCS, U1RTS, and BCLK controlled by latch for flow control
UART_DIS_WAKE & // Disable wakeup on start
UART_DIS_LOOPBACK & // Disable loopback mode
UART_DIS_ABAUD & // Baudrate me asurment disabled
UART_UXRX_IDLE_ONE & // U1Rx Idle state is 1 (not 0)
UART_BRGH_SIXTEEN & // Baud Rate Generator generates 16 clocks per bit second (16x baudrate)
UART_NO_PAR_8BIT & // Do not use a parity bit
UART_1STOPBIT; // Use 1 stop bit
}
/* High speed settings */
else
{
baudvalue = ( unsigned int )( ( FCY / ( 4 * baudrate ) ) - 1 );
U1MODEvalue = UART_EN &
UART_IDLE_CON &
UART_IrDA_DISABLE &
UART_MODE_FLOW &
UART_UEN_00 &
UART_DIS_WAKE &
UART_DIS_LOOPBACK &
UART_DIS_ABAUD &
UART_UXRX_IDLE_ONE &
UART_BRGH_FOUR & // Baud Rate Generator generates 4 clocks per bit second (4x baudrate) high speed
UART_NO_PAR_8BIT &
UART_1STOPBIT;
}
/* Status register settings */
U1STAvalue = UART_INT_TX & // Interrupt on transfer of every character to Trap Service Routine
UART_TX_ENABLE & // Enable UART1 transmit
UART_IrDA_POL_INV_ZERO & // IrDA encoded, idle state is 0 (not 1)
UART_SYNC_BREAK_DISABLED & // Sync break transmission disabled
UART_INT_RX_CHAR & // Trigger an interrupt on every character received
UART_ADR_DETECT_DIS & // Disable address detection
UART_TX_BUF_FUL & // Transmit buffer is full
UART_RX_OVERRUN_CLEAR; // Rx buffer over run bit clear
/* Open UART1 connection
*
* This function is defined in uart.h the builtin library fuctions
* provided with the compiler. See uart.h or the C30 library users
* guide for more infromation
*/
OpenUART1( U1MODEvalue, U1STAvalue, baudvalue );
__delay_ms(10);
/* Prints a welcome banner alerting user serial communication port
* has been opened.
*/
//putsUART1("UART1 started!\r\n");
}
