/* Initialise the serial connection on the QR-side
* Author: Maurijn Neumann
*/
int serial_init() {
//Declare variables
unsigned char c;
//Setup interrupts (recv)
SET_INTERRUPT_VECTOR(INTERRUPT_PRIMARY_RX, &isr_serial_rx);
SET_INTERRUPT_PRIORITY(INTERRUPT_PRIMARY_RX, 20);
//There may yet be data in the internal buffer, empty to prevent unscheduled interrupts
while (X32_serial_status & 0x02)
//Emtpy through reading
c = X32_serial_data;
//Setup interrupts (send)
SET_INTERRUPT_VECTOR(INTERRUPT_PRIMARY_TX, &isr_serial_tx);
SET_INTERRUPT_PRIORITY(INTERRUPT_PRIMARY_TX, 15);
//Clear buffers
serial_buffer_recv_base = 0;
serial_buffer_recv_top = 0;
serial_buffer_send_base = 0;
serial_buffer_send_top = 0;
//Enable interrupts
ENABLE_INTERRUPT(INTERRUPT_PRIMARY_RX);
ENABLE_INTERRUPT(INTERRUPT_PRIMARY_TX);
//Communication is setup correctly
X32_leds |= COMM_LED;
return 0;
}
/* main entry point */
int main() {
int time, iterations;
/* make the code somewhat faster when running in the sim */
if (STATE_SIMULATOR) {
/* set timer 1 period to 5 seconds */
peripherals[PERIPHERAL_TIMER1_PERIOD] = 100*CLOCKS_PER_MS;
/* set timer 2 period to 7 seconds */
peripherals[PERIPHERAL_TIMER2_PERIOD] = 140*CLOCKS_PER_MS;
printf("Running in simulation mode!\n");
} else {
/* set timer 1 period to 5 seconds */
peripherals[PERIPHERAL_TIMER1_PERIOD] = 5000*CLOCKS_PER_MS;
/* set timer 2 period to 7 seconds */
peripherals[PERIPHERAL_TIMER2_PERIOD] = 7000*CLOCKS_PER_MS;
}
/* set interrupt addresses & priorities */
/* note: the priority MUST be > 1, larger means higher prio */
SET_INTERRUPT_VECTOR(INTERRUPT_TIMER1, &int_timer1);
SET_INTERRUPT_PRIORITY(INTERRUPT_TIMER1, 50);
SET_INTERRUPT_VECTOR(INTERRUPT_TIMER2, &int_timer2);
SET_INTERRUPT_PRIORITY(INTERRUPT_TIMER2, 40);
SET_INTERRUPT_VECTOR(INTERRUPT_PRIMARY_RX, &int_com1_in);
SET_INTERRUPT_PRIORITY(INTERRUPT_PRIMARY_RX, 30);
SET_INTERRUPT_VECTOR(INTERRUPT_PRIMARY_TX, &int_com1_out);
SET_INTERRUPT_PRIORITY(INTERRUPT_PRIMARY_TX, 20);
#ifdef INTERRUPT_SECONDARY_RX
SET_INTERRUPT_VECTOR(INTERRUPT_SECONDARY_RX, &int_com2_in);
SET_INTERRUPT_PRIORITY(INTERRUPT_SECONDARY_RX, 30);
#endif
#ifdef INTERRUPT_SECONDARY_TX
SET_INTERRUPT_VECTOR(INTERRUPT_SECONDARY_TX, &int_com2_out);
SET_INTERRUPT_PRIORITY(INTERRUPT_SECONDARY_TX, 20);
#endif
SET_INTERRUPT_VECTOR(INTERRUPT_BUTTONS, &int_buttons);
SET_INTERRUPT_PRIORITY(INTERRUPT_BUTTONS, 10);
SET_INTERRUPT_VECTOR(INTERRUPT_SWITCHES, &int_switches);
SET_INTERRUPT_PRIORITY(INTERRUPT_SWITCHES, 10);
/* enable interrupts */
ENABLE_INTERRUPT(INTERRUPT_TIMER1);
ENABLE_INTERRUPT(INTERRUPT_TIMER2);
ENABLE_INTERRUPT(INTERRUPT_PRIMARY_RX);
//ENABLE_INTERRUPT(INTERRUPT_PRIMARY_TX);
#ifdef INTERRUPT_SECONDARY_RX
ENABLE_INTERRUPT(INTERRUPT_SECONDARY_RX);
#endif
#ifdef INTERRUPT_SECONDARY_TX
//ENABLE_INTERRUPT(INTERRUPT_SECONDARY_TX);
#endif
ENABLE_INTERRUPT(INTERRUPT_BUTTONS);
ENABLE_INTERRUPT(INTERRUPT_SWITCHES);
/* this is the global 'turn all interrupts on/off interrupt',
when it's off, no interrupt will ever trigger, when it's
on, all enabled interrupts may trigger */
ENABLE_INTERRUPT(INTERRUPT_GLOBAL);
/* run idle loop, print "IDLE LOOP" each 1000 iterations */
time = iterations = 0;
while(!quit) {
if ((STATE_SIMULATOR && X32_MS_CLOCK - time > 50) || X32_MS_CLOCK - time > 1000) {
printf("IDLE LOOP: %d iterations/sec\r\n", iterations);
iterations = 0;
time = X32_MS_CLOCK;
}
iterations++;
}
/* disable interrupts */
DISABLE_INTERRUPT(INTERRUPT_GLOBAL);
DISABLE_INTERRUPT(INTERRUPT_TIMER1);
DISABLE_INTERRUPT(INTERRUPT_TIMER2);
DISABLE_INTERRUPT(INTERRUPT_PRIMARY_RX);
DISABLE_INTERRUPT(INTERRUPT_PRIMARY_TX);
#ifdef INTERRUPT_SECONDARY_RX
DISABLE_INTERRUPT(INTERRUPT_SECONDARY_RX);
#endif
#ifdef INTERRUPT_SECONDARY_TX
DISABLE_INTERRUPT(INTERRUPT_SECONDARY_TX);
#endif
DISABLE_INTERRUPT(INTERRUPT_BUTTONS);
DISABLE_INTERRUPT(INTERRUPT_SWITCHES);
return 0;
}