void task_pi_listen(void) {
static int received = 0;
//static char tx_test[] = {"The quick brown fox jumps over the lazy dog!\r\n"};
static unsigned char rx_pi_cmd[265];
static char PI_HDR[] = "$$$";
static char cmd[]="PITAKEIMG";
static char msg[100];
static char tmp[51];
static int i=0;
static int j;
static int msg_length; // used for message length to/from Pi
static BOOL PI_ON = FALSE; // flag used if Pi is on or off
static BOOL RTS_FROM_PI = FALSE; // when Pi needs to talk to PIC
static BOOL CTS_FROM_PI = FALSE; // when Pi needs to talk to PIC
//TAKEPICPI = FALSE;
dprintf("Starting task_pi_listen...\r\n");
while(1) {
while (!csk_uart0_count()) { OS_Delay(50); }
dprintf("In task_pi_listen...\tOERR=%d\r\n",U1STAbits.OERR);
// check for UART0 RX buffer Overflow Error and reset bit
if (U1STAbits.OERR==1) {
U1STAbits.OERR=0;
csk_uart2_puts("Reset OERR in main while!\r\n");
}
i = 0;
msg_length = 0;
while(csk_uart0_count()) {
rx_pi_cmd[i] = csk_uart0_getchar();
if (i==4) {
// take the 2 hex array elements and convert to int
sprintf(tmp,"%c%c",rx_pi_cmd[i-1],rx_pi_cmd[i]);
msg_length = (int)strtol(tmp,NULL,16);
//dprintf("msg_length type: %s",typeof(msg_length));
// dprintf("i= %d msg_length= %d %c %c",i,msg_length,rx_pi_cmd[i-1],rx_pi_cmd[i]*1);
}
i++;
// check for max msg_length (cases where byte 3 isn't valid
// OR bounds checking w/ i & msg_length
// if ((msg_length > 20) || (i > (msg_length+4))) { break; }
} // end: while(csk_uart0_count())
// Message from Pi header: check for "$$$"
if (rx_pi_cmd[0]=='$' && rx_pi_cmd[1]=='$' && rx_pi_cmd[2]=='$'){
if (!(OSReadBinSem(BINSEM_PI_ISON)) && (rx_pi_cmd[5]=='P' && rx_pi_cmd[6]=='I' && rx_pi_cmd[7]=='P' && rx_pi_cmd[8]=='O' && rx_pi_cmd[9]=='W' && rx_pi_cmd[10]=='E' && rx_pi_cmd[11]=='R' && rx_pi_cmd[12]=='E' && rx_pi_cmd[13]=='D' && rx_pi_cmd[14]=='O' && rx_pi_cmd[15]=='N') ) {
//if (!PI_ON && msg=="PIPOWEREDON"){
//if (msg=="PIPOWEREDON"){
// PI_ON = TRUE;
OSSignalBinSem(BINSEM_PI_ISON);
//csk_uart0_puts("$$$ROGERTHAT");
//csk_uart0_puts("$$$ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz");
//csk_uart2_puts("in ROGERTHAT response\r\n");
//sprintf(tmp, "\r\nin PIPOWERED response. PI_ON = %d\r\n", PI_ON);
// sprintf(tmp, "$$$09ROGERTHAT\r\n");
if (OSReadBinSem(BINSEM_TAKEPICPI)){
csk_uart0_puts("$$$09ROGERTHAT");
}
//DEBUG...
// dprintf("tmp: %s\t ",tmp);
// dprintf("rx_pi_cmd before memset: %s\r\n",rx_pi_cmd);
}
} // end rx_pi_cmd header check
//rx_pi_cmd[0] = '\0';
memset(rx_pi_cmd, 0, sizeof(rx_pi_cmd)); // testing array clear
// dprintf("rx_pi_cmd AFTER memset: %s\r\n",rx_pi_cmd);
//RTS_FROM_PI = FALSE;
/*
if (PI_ON) { // process commands for Pi...
if (TAKEPICPI) {
csk_uart0_puts("$$$09TAKEPICPI");
} // end: if(TAKEPICPI)
} // end: if(PI_ON)
*/
OS_Delay(50);
} // end while(1)
} // end task_pi_listen()
/******************************************************************************
**** ****
** **
init()
** **
**** ****
******************************************************************************/
void init(void) {
// Force WDT off for now ... having it on tends to confuse novice
// users.
csk_wdt_off();
// Keep interrupts off for now ...
__disable_interrupt();
// All CSK control signals are active LOW.
#if defined(__PIC24FJ256GA110__) // PSPM D
// Minimal set of I/O ... only necessary control signals are configured as outputs.
TRISA = 0xFFFF;
TRISB = ~( BIT5); // TX3
TRISC = ~( BIT1); // -OE_USB
TRISD = ~( BIT8+BIT5+BIT2+BIT1); // HS3, HS4 & HS5, TX2
TRISE = ~( BIT8+BIT4+BIT3+BIT2); // IO.30, -ON_SD, -ON_MHX & -OE_MHX
TRISF = ~( BIT5+BIT3); // TX1 & TX0
PORTA = 0x0000;
PORTB = 0x0000+BIT5; // TX3 initially HIGH
PORTC = 0x0000+BIT1; // -OE_USB is OFF
PORTD = 0x0000+BIT8; // TX2 initially HIGH
PORTE = 0x0000+BIT4+BIT3+BIT2; // -ON_SD, -ON_MHX, -OE_MHX are OFF
PORTF = 0x0000+BIT3+BIT5; // TX0 & TX1 initially HIGH.
PORTG = 0x0000;
AD1PCFGL = 0xFFFF;
#elif defined(__PIC24FJ256GB110__) // PSPM E Rev A
// Minimal set of I/O ... only necessary control signals are configured as outputs.
TRISA = 0xFFFF;
TRISB = ~( BIT5 ); // TX3
TRISC = ~( BIT1 ); // -OE_USB
TRISD = ~( BIT9+BIT8+BIT7+ BIT5 ); // TX0, TX2, HS3, HS5
TRISE = ~( BIT8+ BIT4+BIT3+BIT2 ); // IO.30, -ON_SD, -ON_MHX & -OE_MHX
TRISF = ~( BIT5 ); // TX1
TRISG = ~(BIT15 ); // HS4
PORTA = 0x0000;
PORTB = 0x0000+BIT5; // TX3 initially HIGH
PORTC = 0x0000+BIT1; // -OE_USB is OFF
PORTD = 0x0000+BIT9+BIT8; // TX0, TX2 initially high
PORTE = 0x0000+BIT4+BIT3+BIT2; // -ON_SD, -ON_MHX, -OE_MHX are OFF
PORTF = 0x0000+BIT5; // TX1 initially high.
PORTG = 0x0000;
#elif defined(__PIC24FJ256GB210__) // PSPM E Rev B
// Minimal set of I/O ... only necessary control signals are configured as outputs.
TRISA = 0xFFFF;
TRISB = ~( BIT5 ); // TX3
TRISC = ~( BIT1 ); // -OE_USB
TRISD = ~( BIT9+BIT8+BIT7+ BIT5 ); // TX0, TX2, HS3, HS5
TRISE = ~( BIT8+ BIT4+BIT3+BIT2 ); // IO.30, -ON_SD, -ON_MHX & -OE_MHX
TRISF = ~( BIT5 ); // TX1
TRISG = ~(BIT15 ); // HS4
PORTA = 0x0000;
PORTB = 0x0000+BIT5; // TX3 initially HIGH
PORTC = 0x0000+BIT1; // -OE_USB is OFF
PORTD = 0x0000+BIT9+BIT8; // TX0, TX2 initially high
PORTE = 0x0000+BIT4+BIT3+BIT2; // -ON_SD, -ON_MHX, -OE_MHX are OFF
PORTF = 0x0000+BIT5; // TX1 initially high.
PORTG = 0x0000;
ANSA = 0x0000;
ANSB = 0x0000;
ANSC = 0x0000;
ANSD = 0x0000;
ANSE = 0x0000;
ANSF = 0x0000;
ANSG = 0x0000;
#else
#error PIC24F device not supported by CubeSat Kit
#endif
// High-level inits (works at any clock speed).
csk_mhx_close();
csk_mhx_pwr_off();
csk_usb_close();
csk_led_status_close();
// Set up to run with primary oscillator.
// See _CONFIG2 above. A configuration-word-centric setup of the
// oscillator(s) was chosen because of its relative simplicity.
// Note e.g. that PwrMgnt_OscSel() returns FALSE if clock switching
// (FCKSM) is disabled ...
// Set up Timer2 to run at system tick rate
ConfigIntTimer2(T2_INT_ON & T2_INT_PRIOR_1); // Timer is configured for 10 msec (100Hz), with interrupts
OpenTimer2(T2_ON & T2_IDLE_CON & T2_GATE_OFF & T2_PS_1_1 & T2_32BIT_MODE_OFF & T2_SOURCE_INT,
(MAIN_XTAL_FREQ/(2*100))); // A prescalar is not required because 8E6/200 < 16 bits.
#if defined(__PIC24FJ256GA110__) // PSPM D
// Configure I/O pins for UARTs via PIC24's PPS system.
// RP inputs must be configured as inputs!
// CSK UART0 is used as the terminal, via USB, IO.6(RP17) & IO.7(RP10)
// CSK UART0 (PIC24 UART1) TX/RX = IO.6/IO.7
iPPSInput(IN_FN_PPS_U1RX,IN_PIN_PPS_RP10);
iPPSOutput(OUT_PIN_PPS_RP17,OUT_FN_PPS_U1TX);
// CSK UART1 can talk to GPSRM 1 via IO.4(RP16) & IO.5(RP30)
// CSK UART1 (PIC24 UART2) TX/RX = IO.4/IO.5
iPPSInput(IN_FN_PPS_U2RX,IN_PIN_PPS_RP30);
iPPSOutput(OUT_PIN_PPS_RP16,OUT_FN_PPS_U2TX);
// CSK UART2 can talk to GPSRM 1 via IO.16(RP2) & IO.17(RP22)
// CSK UART2 (PIC24 UART3) TX/RX = IO.16/IO.17
iPPSInput(IN_FN_PPS_U3RX,IN_PIN_PPS_RP22);
iPPSOutput(OUT_PIN_PPS_RP2,OUT_FN_PPS_U3TX);
// CSK UART3 can talk to GPSRM 1 via IO.32(RP18) & IO.33(RP28)
// CSK UART3 (PIC24 UART4) TX/RX = IO.4/IO.5
iPPSInput(IN_FN_PPS_U4RX,IN_PIN_PPS_RP28);
iPPSOutput(OUT_PIN_PPS_RP18,OUT_FN_PPS_U4TX);
#elif defined(__PIC24FJ256GB110__) || defined(__PIC24FJ256GB210__)
iPPSInput(IN_FN_PPS_U1RX,IN_PIN_PPS_RP10); // RF4
iPPSOutput(OUT_PIN_PPS_RP17,OUT_FN_PPS_U1TX); // RF5
iPPSInput(IN_FN_PPS_U2RX,IN_PIN_PPS_RP30); // RF2
iPPSOutput(OUT_PIN_PPS_RP4,OUT_FN_PPS_U2TX); // RD9
iPPSInput(IN_FN_PPS_U3RX,IN_PIN_PPS_RP22); // RD3
iPPSOutput(OUT_PIN_PPS_RP2,OUT_FN_PPS_U3TX); // RD8
iPPSInput(IN_FN_PPS_U4RX,IN_PIN_PPS_RP28); // RB4
iPPSOutput(OUT_PIN_PPS_RP18,OUT_FN_PPS_U4TX); // RB5
#else
#error PIC24F device not supported by CubeSat Kit
#endif
// Init UARTs to 9600,N,8,1
// UARTs won't transmit until interrupts are enabled ...
csk_uart0_open(CSK_UART_9600_N81);
csk_uart1_open(CSK_UART_9600_N81);
csk_uart2_open(CSK_UART_9600_N81);
csk_uart3_open(CSK_UART_9600_N81);
csk_usb_open();
csk_uart0_puts(STR_CRLF STR_CRLF);
csk_uart0_puts("Pumpkin " STR_CSK_TARGET " " STR_APP_NAME "." STR_CRLF);
csk_uart0_puts(STR_VERSION "." STR_CRLF);
csk_uart0_puts(STR_WARNING "." STR_CRLF);
i2c1_open();
} /* init() */
