void main(void) {
char c;
signed char length;
unsigned char msgtype;
unsigned char last_reg_recvd;
i2c_comm ic;
unsigned char msgbuffer[MSGLEN + 1];
unsigned char i;
uart_thread_struct uthread_data; // info for uart_lthread
timer1_thread_struct t1thread_data; // info for timer1_lthread
timer0_thread_struct t0thread_data; // info for timer0_lthread
t1thread_data.new_move_msg=0;
#ifdef __USE18F2680
OSCCON = 0xFC; // see datasheet
// We have enough room below the Max Freq to enable the PLL for this chip
OSCTUNEbits.PLLEN = 1; // 4x the clock speed in the previous line
#else
#ifdef __USE18F45J10
OSCCON = 0x82; // see datasheeet
OSCTUNEbits.PLLEN = 0; // Makes the clock exceed the PIC's rated speed if the PLL is on
#else
#ifdef __USE18F26J50
OSCCON = 0xE0; // see datasheeet
OSCTUNEbits.PLLEN = 1;
#else
#ifdef __USE18F46J50
OSCCON = 0xE0; //see datasheet
//Alex:
//OSCCON : OSCILLATOR CONTROL REGISTER
//OSCCON[7] : IDLEN = ( 1 = Device enters Idle mode on SLEEP instruction ) or ( 0 = Device enters Sleep mode on SLEEP instruction )
//OSCCON[6:4] : IRCF; 111 = 8 MHz, 110 = 4 MHz(2), 101 = 2 MHz, 100 = 1 MHz, 011 = 500 kHz, 010 = 250 kHz, 001 = 125 kHz, 000 = 31 kHz
//OSCCON[3] : OSTS = Oscillator Start-up Time-out Status bit = ( 1 = Oscillator Start-up Timer time-out has expired; primary oscillator is running ) or ( 0 = Oscillator Start-up Timer time-out is running; primary oscillator is not ready )
//OSCCON[2] : ( Unimplemented: Read as ?1? ) ??????
//OSCCON[0:1] : SCS = System Clock Select bits
OSCTUNEbits.PLLEN = 1;
#else
Something is messed up.
The PIC selected is not supported or the preprocessor directives are wrong.
#endif
#endif
#endif
#endif
// initialize my uart recv handling code
//init_uart_recv(&uc);
// initialize the i2c code
//Alex:
//Essentially just sets error and status flags to intial values ( ic is a struct )
init_i2c(&ic);
// init the timer1 lthread
init_timer1_lthread(&t1thread_data);
// initialize message queues before enabling any interrupts
init_queues();
#ifndef __USE18F26J50
// set direction for PORTB to output
TRISB = 0x0;
LATB = 0x0;
#endif
// how to set up PORTA for input (for the V4 board with the PIC2680)
/*
PORTA = 0x0; // clear the port
LATA = 0x0; // clear the output latch
ADCON1 = 0x0F; // turn off the A2D function on these pins
// Only for 40-pin version of this chip CMCON = 0x07; // turn the comparator off
TRISA = 0x0F; // set RA3-RA0 to inputs
*/
// initialize Timers
OpenTimer0(TIMER_INT_ON & T0_16BIT & T0_SOURCE_INT & T0_PS_1_128);
#ifdef __USE18F26J50
// MTJ added second argument for OpenTimer1()
OpenTimer1(TIMER_INT_ON & T1_SOURCE_FOSC_4 & T1_PS_1_8 & T1_16BIT_RW & T1_OSC1EN_OFF & T1_SYNC_EXT_OFF,0x0);
#else
#ifdef __USE18F46J50
OpenTimer1(TIMER_INT_ON & T1_SOURCE_FOSC_4 & T1_PS_1_8 & T1_16BIT_RW & T1_OSC1EN_OFF & T1_SYNC_EXT_OFF,0x0);
//configure Timer 3
/*
TRISAbits.TRISA5 = 1;
T3CON = 0x00;
T3CONbits.TMR3CS = 0x2;
T3CONbits.T3CKPS = 0x0;
T3CONbits.RD16 = 0;
T3CONbits.T3SYNC = 0;
T3CONbits.TMR3ON = 1;
RPINR6 = 0x02;
*/
#else
OpenTimer1(TIMER_INT_ON & T1_PS_1_8 & T1_16BIT_RW & T1_SOURCE_INT & T1_OSC1EN_OFF & T1_SYNC_EXT_OFF);
#endif
#endif
// Decide on the priority of the enabled peripheral interrupts
// 0 is low, 1 is high
// Timer1 interrupt
IPR1bits.TMR1IP = 0;
// Timer3 interrupt
IPR2bits.TMR3IP = 0;
// USART RX interrupt
IPR1bits.RCIP = 0;
// I2C interrupt
IPR1bits.SSPIP = 1;
// configure the hardware i2c device as a slave (0x9E -> 0x4F) or (0x9A -> 0x4D)
#if 1
// Note that the temperature sensor Address bits (A0, A1, A2) are also the
// least significant bits of LATB -- take care when changing them
// They *are* changed in the timer interrupt handlers if those timers are
// enabled. They are just there to make the lights blink and can be
// disabled.
//i2c_configure_slave(0x9E);
i2c_configure_master(I2C_DEFAULT_PIC_ADDRESS);
#else
// If I want to test the temperature sensor from the ARM, I just make
// sure this PIC does not have the same address and configure the
// temperature sensor address bits and then just stay in an infinite loop
i2c_configure_slave(0x9A);
for (;;);
#endif
// must specifically enable the I2C interrupts
PIE1bits.SSPIE = 1;
/*
// configure the hardware USART device
#ifdef __USE18F26J50
Open1USART(USART_TX_INT_OFF & USART_RX_INT_ON & USART_ASYNCH_MODE & USART_EIGHT_BIT &
USART_CONT_RX & USART_BRGH_LOW, 0x19);
#else
#ifdef __USE18F46J50
Open1USART(USART_TX_INT_OFF & USART_RX_INT_ON & USART_ASYNCH_MODE & USART_EIGHT_BIT &
USART_CONT_RX & USART_BRGH_LOW, 0x19);
#else
OpenUSART(USART_TX_INT_OFF & USART_RX_INT_ON & USART_ASYNCH_MODE & USART_EIGHT_BIT &
USART_CONT_RX & USART_BRGH_LOW, 0x19);
#endif
#endif
*/
// Alex: Set registers for debug output
#ifdef DEBUG_MODE
debug_configure();
blip();
blip1();
blip2();
blip3();
blip4();
#endif
//uart_send_byte( 0x50 );
//uart_send_byte( 0x54 );
// Peripheral interrupts can have their priority set to high or low
// enable high-priority interrupts and low-priority interrupts
enable_interrupts();
/* Junk to force an I2C interrupt in the simulator (if you wanted to)
PIR1bits.SSPIF = 1;
_asm
goto 0x08
_endasm;
*/
//Alex: Configure UART for transmit and recieve
uart_configure();
// Initialize snesor data buffer
unsigned char sensor_data[MSGLEN];
sensor_data[0] = MSGID_SENSOR_RESPONSE;
for(i=1;i<MSGLEN;i++)
{
sensor_data[i] = 0x00;
}
// Initialize motor data buffer
unsigned char motor_data[MSGLEN];
motor_data[0] = MSGID_MOTOR_RESPONSE;
for(i=1;i<MSGLEN;i++)
{
motor_data[i] = 0x00;
}
// printf() is available, but is not advisable. It goes to the UART pin
// on the PIC and then you must hook something up to that to view it.
// It is also slow and is blocking, so it will perturb your code's operation
// Here is how it looks: printf("Hello\r\n");
// loop forever
// This loop is responsible for "handing off" messages to the subroutines
// that should get them. Although the subroutines are not threads, but
// they can be equated with the tasks in your task diagram if you
// structure them properly.
while (1) {
// Call a routine that blocks until either on the incoming
// messages queues has a message (this may put the processor into
// an idle mode)
block_on_To_msgqueues();
// At this point, one or both of the queues has a message. It
// makes sense to check the high-priority messages first -- in fact,
// you may only want to check the low-priority messages when there
// is not a high priority message. That is a design decision and
// I haven't done it here.
length = ToMainHigh_recvmsg(MSGLEN, &msgtype, (void *) msgbuffer);
if (length < 0) {
// no message, check the error code to see if it is concern
if (length != MSGQUEUE_EMPTY) {
// This case be handled by your code.
}
}
else
{
switch (msgtype) {
case MSGT_TIMER0:
{
timer0_lthread(&t0thread_data, msgtype, length, msgbuffer);
break;
};
case MSGT_I2C_DATA:
{
switch(msgbuffer[0])
{
case MSGID_SENSOR_RESPONSE:
{
for(i=2;i<MSGLEN-2;i++)
{
sensor_data[i] = msgbuffer[i];
}
send_uart_message( sensor_data );
break;
}
case MSGID_MOTOR_RESPONSE:
{
for(i=2;i<MSGLEN-2;i++)
{
motor_data[i] = msgbuffer[i];
}
//motor_data[3] = 3;
send_uart_message( motor_data );
break;
}
default:
{
break;
}
}
}
case MSGT_I2C_DBG:
{
// Here is where you could handle debugging, if you wanted
// keep track of the first byte received for later use (if desired)
last_reg_recvd = msgbuffer[0];
break;
};
case MSGT_I2C_RQST:
{
// Generally, this is *NOT* how I recommend you handle an I2C slave request
// I recommend that you handle it completely inside the i2c interrupt handler
// by reading the data from a queue (i.e., you would not send a message, as is done
// now, from the i2c interrupt handler to main to ask for data).
//
// The last byte received is the "register" that is trying to be read
// The response is dependent on the register.
break;
};
default:
{
// Your code should handle this error
// Sometimes the best course of action is to do nothing
break;
};
};
}
// Check the low priority queue
length = ToMainLow_recvmsg(MSGLEN, &msgtype, (void *) msgbuffer);
if (length < 0) {
// no message, check the error code to see if it is concern
if (length != MSGQUEUE_EMPTY) {
// Your code should handle this situation
}
}
else
{
unsigned char uart_response[UART_DATA_LENGTH];
int jjj;
for(jjj=0;jjj<UART_DATA_LENGTH;jjj++)
{
uart_response[jjj] = 0;
}
switch (msgtype)
{
case MSGT_TIMER1:
{
timer1_lthread(&t1thread_data, msgtype, length, msgbuffer);
break;
};
case MSGT_OVERRUN:
{}
case MSGT_UART_BAD_CHECKSUM:
{
uart_response[0] = MSGID_UART_BAD_CHECKSUM; //Set Message ID
uart_response[1] = msgbuffer[0];
send_uart_message( uart_response );
break;
}
case MSGT_UART_BAD_COUNTER:
{
uart_response[0] = MSGID_UART_BAD_COUNTER; //Set Message ID
uart_response[1] = msgbuffer[0];
uart_response[2] = msgbuffer[1];
send_uart_message( uart_response );
break;
}
case MSGT_UART_BAD_START:
{
uart_response[0] = MSGID_UART_BAD_START; //Set Message ID
uart_response[1] = msgbuffer[0];
send_uart_message( uart_response );
break;
}
case MSGT_UART_BAD_END:
{
uart_response[0] = MSGID_UART_BAD_END; //Set Message ID
uart_response[1] = msgbuffer[0];
send_uart_message( uart_response );
break;
}
case MSGT_UART_ACK_DATA:
{
uart_response[0] = MSGID_UART_ACK; //Set Message ID
uart_response[1] = msgbuffer[0];
send_uart_message( uart_response );
break;
}
case MSGT_UART_DATA:
{
//uart_lthread(&uthread_data, msgtype, length, msgbuffer);
switch( msgbuffer[0] )
{
case MSGID_STATUS_REQUEST:
{
//send_uart_message( sensor_data );
break;
}
case MSGID_SENSOR_REQUEST:
{
send_uart_message( sensor_data );
break;
}
case MSGID_MOTOR_REQUEST:
{
send_uart_message( motor_data );
motor_data[1] = 0;
break;
}
case MSGID_MOVE:
{
// Copy msgbuffer over for timer 1 to deal with
for(i=0;i<UART_DATA_LENGTH;i++)
{
t1thread_data.move_msg[i] = msgbuffer[i];
}
t1thread_data.new_move_msg = 1;
break;
}
default:
{
break;
}
}
break;
};
default:
{
// Your code should handle this error
// Sometimes the best course of action is to do nothing
break;
};
};
}
}
}
void main(void) {
TRISA = 0x0;
TRISB = 0x0;
TRISC = 0x0;
PORTA = 0x0;
PORTB = 0x0;
PORTC = 0x0;
LATA = 0x0;
LATB = 0x0;
LATC = 0x0;
signed char length;
unsigned char msgtype;
uart_comm uc;
i2c_comm ic;
unsigned char msgbuffer[MSGLEN + 1];
uart_thread_struct uthread_data; // info for uart_lthread
timer0_thread_struct t0thread_data;
timer1_thread_struct t1thread_data; // info for timer1_lthread
encoder_struct encoder_data;
sensor_data sensors;
#ifdef __USE18F2680
OSCCON = 0xFC; // see datasheet
// We have enough room below the Max Freq to enable the PLL for this chip
OSCTUNEbits.PLLEN = 1; // 4x the clock speed in the previous line
#else
OSCCON = 0x82; // see datasheeet
OSCTUNEbits.PLLEN = 0; // Makes the clock exceed the PIC's rated speed if the PLL is on
#endif
#ifdef SENSORPIC
i2c2_comm ic2;
init_i2c2(&ic2);
#endif
// initialize everything
init_uart_comm(&uc);
init_i2c(&ic);
init_encoder(&encoder_data);
init_timer0_lthread(&t0thread_data);
init_timer1_lthread(&t1thread_data);
init_uart_lthread(&uthread_data);
init_queues();
#ifdef MASTERPIC
// Enable and set I2C interrupt to high
i2c_configure_master();
IPR1bits.SSPIP = 1;
PIE1bits.SSPIE = 1;
// initialize Timer0 to go off approximately every 10 ms
//OpenTimer0(TIMER_INT_ON & T0_8BIT & T0_SOURCE_INT & T0_PS_1_1);
CloseTimer0();
INTCONbits.TMR0IE = 0; //Enable Timer0 Interrupt
// Configure UART
OpenUSART(USART_TX_INT_OFF & USART_RX_INT_ON & USART_ASYNCH_MODE & USART_EIGHT_BIT &
USART_CONT_RX & USART_BRGH_LOW, 9); // 19.2kHz (197910/t - 1 = target)
IPR1bits.RCIP = 0;
IPR1bits.TXIP = 0;
uc.expected = 1;
PORTB = 0x0;
LATB = 0x0;
TRISB = 0x0;
#endif //MASTERPIC
#ifdef SENSORPIC
// Enable and set I2C interrupt to high
i2c_configure_slave(SENSORPICADDR);
IPR1bits.SSPIP = 1;
PIE1bits.SSPIE = 1;
i2c2_configure_master();
IPR3bits.SSP2IP = 1;
PIE3bits.SSP2IE = 1;
// Open ADC on channel 1
ADCON0= 0x01;
ADCON1=0x30;
ADCON2=0xa1;
TRISA=0x0F;
PIE1bits.ADIE = 1; //Enabling ADC interrupts
IPR1bits.ADIP = 0; //Setting A/D priority
// initialize Timer0 to go off approximately every 10 ms
OpenTimer0(TIMER_INT_ON & T0_8BIT & T0_SOURCE_INT & T0_PS_1_128);
INTCONbits.TMR0IE = 1; //Enable Timer0 Interrupt
INTCON2bits.TMR0IP = 0; //TMR0 set to Low Priority Interrupt
#endif //SENSORPIC
#ifdef MOTORPIC
i2c_configure_slave(MOTORPICADDR);
// Enable and set I2C interrupt to high
IPR1bits.SSPIP = 1;
PIE1bits.SSPIE = 1;
// Configure UART
OpenUSART(USART_TX_INT_OFF & USART_RX_INT_ON & USART_ASYNCH_MODE & USART_EIGHT_BIT &
USART_CONT_RX & USART_BRGH_LOW, 0x9);
IPR1bits.RCIP = 0;
IPR1bits.TXIP = 0;
INTCONbits.TMR0IE = 0; // Disable Timer0 Interrupt
PORTB = 0x0;
LATB = 0x0;
TRISB = 0x0;
// Set up RB5 as interrupt
TRISBbits.RB5 = 1;
INTCON2bits.RBIP = 0;
#endif //MOTORPIC
#ifdef MASTERPIC
//init_communication(MOTORPICADDR);
//init_communication(SENSORPICADDR);
#endif
// Peripheral interrupts can have their priority set to high or low
// enable high-priority interrupts and low-priority interrupts
enable_interrupts();
while (1) {
// Spins until a message appears
block_on_To_msgqueues();
// Continuously check high priority messages until it is empty
while((length = ToMainHigh_recvmsg(MSGLEN, &msgtype, (void *) msgbuffer)) >= 0) {
switch (msgtype) {
case MSGT_I2C_RQST: {
#ifdef SENSORPIC
char command = msgbuffer[0];
char length = 0;
char buffer[8];
switch(command) {
case SHORT_IR1_REQ: {
length = 2;
buffer[0] = command;
buffer[1] = 0x11;
} break;
case SHORT_IR2_REQ: {
length = 2;
buffer[0] = command;
buffer[1] = 0x22;
} break;
case MID_IR1_REQ: {
length = 2;
buffer[0] = command;
buffer[1] = 0x33;
} break;
case MID_IR2_REQ: {
length = 2;
buffer[0] = command;
buffer[1] = 0x44;
} break;
case COMPASS_REQ: {
length = 2;
buffer[0] = command;
buffer[1] = 0x55;
} break;
case ULTRASONIC_REQ: {
length = 2;
buffer[0] = command;
buffer[1] = 0x66;
} break;
default: {
length = 2;
buffer[0] = 0x0;
buffer[1] = 0x0;
} break;
}
if(length > 0) {
start_i2c_slave_reply(length,buffer);
}
#endif
#ifdef MOTORPIC
unsigned char buffer[8];
unsigned char length = 0;
char command = msgbuffer[0];
buffer[0] = command;
switch(command) {
case MOVE_FORWARD_CMD: {
length = 1;
motor_move_forward(10);
INTCONbits.RBIE = 1; // Temporary
} break;
case MOVE_BACKWARD_CMD: {
length = 1;
motor_move_backward(10);
} break;
case TURN_RIGHT_CMD: {
length = 1;
motor_turn_right(10);
} break;
case TURN_LEFT_CMD: {
length = 1;
motor_turn_left(10);
} break;
case STOP_CMD: {
length = 1;
motor_stop();
} break;
case DISTANCE_REQ: {
INTCONbits.RBIE = 0; // Temporary
buffer[1] = encoder_to_distance();
length = 2;
} break;
default: {
buffer[0] = 0x0;
length = 1;
} break;
}
if(length > 0) {
start_i2c_slave_reply(length,buffer);
}
#endif
} break;
case MSGT_I2C_DATA: {
} break;
case MSGT_I2C_MASTER_SEND_COMPLETE: {
#ifdef MASTERPIC
/* char command = msgbuffer[0];
switch(command) {
case MOVE_FORWARD_CMD:
case MOVE_BACKWARD_CMD:
case TURN_RIGHT_CMD:
case TURN_LEFT_CMD:
case STOP_CMD: {
i2c_master_recv(1,MOTORPICADDR);
} break;
case DISTANCE_REQ: {
i2c_master_recv(2,MOTORPICADDR);
} break;
case SHORT_IR1_REQ:
case SHORT_IR2_REQ:
case MID_IR1_REQ:
case MID_IR2_REQ:
case COMPASS_REQ:
case ULTRASONIC_REQ: {
i2c_master_recv(2,SENSORPICADDR);
} break;
default: {
} break;
}*/
#endif
#ifdef SENSORPIC
// Start receiving data from sensor
if(t0thread_data.currentState == readCompassState) {
i2c2_master_recv(6,COMPASSADDR);
}
else if(t0thread_data.currentState == readUltrasonicState) {
i2c2_master_recv(2,ULTRASONICADDR);
}
#endif
} break;
case MSGT_I2C_MASTER_SEND_FAILED: {
} break;
case MSGT_I2C_MASTER_RECV_COMPLETE: {
#ifdef MASTERPIC
char buffer[2];
char length = 0;
char command = msgbuffer[0];
switch(command) {
case MOVE_FORWARD_CMD:
case MOVE_BACKWARD_CMD:
case TURN_RIGHT_CMD:
case TURN_LEFT_CMD:
case STOP_CMD: {
buffer[0] = command;
length = 1;
} break;
case DISTANCE_REQ: {
buffer[0] = command;
buffer[1] = msgbuffer[1];
length = 2;
} break;
case SHORT_IR1_REQ:
case SHORT_IR2_REQ:
case MID_IR1_REQ:
case MID_IR2_REQ:
case COMPASS_REQ:
case ULTRASONIC_REQ: {
buffer[0] = command;
buffer[1] = msgbuffer[1];
length = 2;
} break;
default: {
length = 0;
} break;
}
if(length > 0) {
start_uart_send(length,buffer);
}
#endif
#ifdef SENSORPIC
// Received data from sensor
if(t0thread_data.currentState == readCompassState) {
sensors.compassData[0] = msgbuffer[0];
sensors.compassData[1] = msgbuffer[1];
sensors.compassData[2] = msgbuffer[2];
sensors.compassData[3] = msgbuffer[3];
sensors.compassData[4] = msgbuffer[4];
sensors.compassData[5] = msgbuffer[5];
}
else if(t0thread_data.currentState == readUltrasonicState) {
}
#endif
} break;
case MSGT_I2C_MASTER_RECV_FAILED: {
} break;
case MSGT_I2C_DBG: {
} break;
default: {
} break;
}
}
// Error check
if (length != MSGQUEUE_EMPTY) {
// Handle Error
}
// Check the low priority queue
if ((length = ToMainLow_recvmsg(MSGLEN, &msgtype, (void *) msgbuffer)) >= 0) {
switch (msgtype) {
case MSGT_TIMER0: {
timer0_lthread(&t0thread_data, msgtype, length, msgbuffer);
} break;
case MSGT_TIMER1:
timer1_lthread(&t1thread_data, msgtype, length, msgbuffer);
break;
case ADCSC1_ADCH:
ADC_lthread(&ADCthread_data, msgtype, length, msgbuffer,&t0thread_data);
break;
case MSGT_OVERRUN:
case MSGT_UART_DATA: {
uart_lthread(&uthread_data, msgtype, length, msgbuffer);
} break;
case MSGT_UART_SEND_COMPLETE: {
} break;
default:
break;
}
}
// Error check
else if (length != MSGQUEUE_EMPTY) {
// Handle error
}
}
}
void main(void) {
//char c;
signed char length;
unsigned char msgtype;
unsigned char last_reg_recvd;
uart_comm uc;
i2c_comm ic;
unsigned char msgbuffer[MSGLEN + 1];
// unsigned char to_send_buffer[MAX_I2C_SENSOR_DATA_LEN + HEADER_MEMBERS];
// uint8 to_send_len;
// int data_points_count = 0;
//unsigned char i;
//uart_thread_struct uthread_data; // info for uart_lthread
//timer1_thread_struct t1thread_data; // info for timer1_lthread
//timer0_thread_struct t0thread_data; // info for timer0_lthread
#ifdef __USE18F2680
OSCCON = 0xFC; // see datasheet
// We have enough room below the Max Freq to enable the PLL for this chip
OSCTUNEbits.PLLEN = 1; // 4x the clock speed in the previous line
#else
#ifdef __USE18F45J10
OSCCON = 0x82; // see datasheeet
OSCTUNEbits.PLLEN = 0; // Makes the clock exceed the PIC's rated speed if the PLL is on
#else
#ifdef __USE18F26J50
OSCCON = 0xE0; // see datasheeet
OSCTUNEbits.PLLEN = 1;
#else
#ifdef __USE18F46J50
OSCCON = 0xE0; //see datasheet
OSCTUNEbits.PLLEN = 1;
#else
Something is messed up.
The PIC selected is not supported or the preprocessor directives are wrong.
#endif
#endif
#endif
#endif
// initialize my uart recv handling code
init_uart_recv(&uc);
// initialize the i2c code
init_i2c(&ic);
// init the timer1 lthread
// init_timer1_lthread(&t1thread_data);
// initialize message queues before enabling any interrupts
init_queues();
#ifndef __USE18F26J50
// set direction for PORTB to output
#ifndef MOTOR_PIC
TRISB = 0x0;
LATB = 0x0;
#else
TRISBbits.RB0 = 0;
TRISBbits.RB1 = 0;
TRISBbits.RB2 = 0;
TRISBbits.RB3 = 0;
#endif
#endif
// how to set up PORTA for input (for the V4 board with the PIC2680)
/*
PORTA = 0x0; // clear the port
LATA = 0x0; // clear the output latch
ADCON1 = 0x0F; // turn off the A2D function on these pins
// Only for 40-pin version of this chip CMCON = 0x07; // turn the comparator off
TRISA = 0x0F; // set RA3-RA0 to inputs
*/
// initialize Timers
#ifndef MASTER_PIC
#ifdef SENSOR_PIC
OpenTimer0(TIMER_INT_ON & T0_16BIT & T0_SOURCE_INT & T0_PS_1_16);
INTCONbits.T0IE = 1;
#elif !defined(MOTOR_PIC)
OpenTimer0(TIMER_INT_ON & T0_16BIT & T0_SOURCE_INT & T0_PS_1_4);
#else
OpenTimer0(TIMER_INT_ON & T0_8BIT & T0_PS_1_1 & T0_SOURCE_EXT);
#endif
#else
OpenTimer0(TIMER_INT_ON & T0_16BIT & T0_SOURCE_INT & T0_PS_1_16);
#endif
#ifdef __USE18F26J50
// MTJ added second argument for OpenTimer1()
OpenTimer1(TIMER_INT_ON & T1_SOURCE_FOSC_4 & T1_PS_1_8 & T1_16BIT_RW & T1_OSC1EN_OFF & T1_SYNC_EXT_OFF, 0x0);
#else
#ifdef __USE18F46J50
//OpenTimer1(TIMER_INT_ON & T1_SOURCE_FOSC_4 & T1_PS_1_8 & T1_16BIT_RW & T1_OSC1EN_OFF & T1_SYNC_EXT_OFF, 0x0);
#else
#ifndef MOTOR_PIC
// OpenTimer1(TIMER_INT_ON & T1_PS_1_8 & T1_16BIT_RW & T1_SOURCE_INT & T1_OSC1EN_OFF & T1_SYNC_EXT_OFF);
#else
OpenTimer1(TIMER_INT_ON & T1_PS_1_1 & T1_16BIT_RW & T1_SOURCE_EXT & T1_OSC1EN_OFF & T1_SYNC_EXT_OFF);
WRITETIMER1(0xFFE8); // leave in here, encoder's for motor 2 doesn't work without it
#endif
#endif
#endif
// Decide on the priority of the enabled peripheral interrupts
// 0 is low, 1 is high
//Timer0 interrupt
INTCON2bits.TMR0IP = 1;
// Timer1 interrupt
#ifdef SENSOR_PIC
// IPR1bits.TMR1IP = 0;
#else
IPR1bits.TMR1IP = 1;
#endif
// USART RX interrupt
IPR1bits.RCIP = 0;
IPR1bits.TXIP = 0;
// I2C interrupt
IPR1bits.SSPIP = 1;
//set i2c int high
PIE1bits.SSPIE = 1;
#ifdef SENSOR_PIC
//resetAccumulators();
init_adc();
initUS();
// must specifically enable the I2C interrupts
IPR1bits.ADIP = 0;
// configure the hardware i2c device as a slave (0x9E -> 0x4F) or (0x9A -> 0x4D)
i2c_configure_slave(SENSOR_ADDR << 1); //address 0x10
#elif defined MOTOR_PIC
i2c_configure_slave(MOTOR_ADDR << 1); //address 0x20
#elif defined PICMAN
i2c_configure_slave(PICMAN_ADDR << 1); //address 0x10,different bus from sensor
#elif defined I2C_MASTER
//sending clock frequency
i2c_configure_master(); //12MHz clock set hardcoded
#endif
#ifdef MASTER_PIC
///////Color Sensor Interrupt//////////
TRISBbits.TRISB0 = 1;
ANCON1bits.PCFG12 = 1; //not sure which is port b
INTCONbits.INT0IE = 1;
INTCON2bits.INTEDG0 = 0;
INTCONbits.INT0IF = 0;
initializeColorSensor();
///////////////////////////////////////
#endif
// configure the hardware USART device
#ifdef __USE18F26J50
Open1USART(USART_TX_INT_OFF & USART_RX_INT_ON & USART_ASYNCH_MODE & USART_EIGHT_BIT &
USART_CONT_RX & USART_BRGH_LOW, 0x19);
#else
#ifdef __USE18F46J50
#ifndef MOTOR_PIC
Open1USART(USART_TX_INT_OFF & USART_RX_INT_ON & USART_ASYNCH_MODE & USART_EIGHT_BIT &
USART_CONT_RX & USART_BRGH_LOW, 38);
#else
Open1USART(USART_TX_INT_OFF & USART_RX_INT_ON & USART_ASYNCH_MODE & USART_EIGHT_BIT &
USART_CONT_RX & USART_BRGH_LOW, 0x19);
#endif
#else
OpenUSART(USART_TX_INT_OFF & USART_RX_INT_ON & USART_ASYNCH_MODE & USART_EIGHT_BIT &
USART_CONT_RX & USART_BRGH_HIGH, 38);
// BAUDCONbits.BRG16 = 1;
// TXSTAbits.TXEN = 1;
// RCSTAbits.SPEN = 1;
// RCSTAbits.CREN = 1;
#endif
#endif
// Peripheral interrupts can have their priority set to high or low
// enable high-priority interrupts and low-priority interrupts
enable_interrupts();
LATBbits.LB7 = 0;
#ifndef MASTER_PIC
LATBbits.LB0 = 0;
#endif
LATBbits.LB1 = 0;
LATBbits.LB2 = 0;
LATBbits.LB3 = 0;
WRITETIMER0(0x00FF);
// loop forever
// This loop is responsible for "handing off" messages to the subroutines
// that should get them. Although the subroutines are not threads, but
// they can be equated with the tasks in your task diagram if you
// structure them properly.
while (1) {
// Call a routine that blocks until either on the incoming
// messages queues has a message (this may put the processor into
// an idle mode)
block_on_To_msgqueues();
//We have a bunch of queues now - ToMainHigh, ToMainLow, FromMainHigh, FromMainLow,
//FromUARTInt, and FromI2CInt
//From queues are most important because they will be called repeatedly with busy info
//Int queues are second because we'll often get data from either UART or I2C
//ToMain are least
length = FromMainHigh_recvmsg(MSGLEN, &msgtype, (void *) msgbuffer);
if (length < 0) {
// no message, check the error code to see if it is concern
if (length != MSGQUEUE_EMPTY) {
// This case be handled by your code.
}
} else {
switch (msgtype) {
#ifdef I2C_MASTER
case MSGT_MASTER_RECV_BUSY:
{
//retry
//debugNum(4);
i2c_master_recv(msgbuffer[0]);
break;
};
case MSGT_MASTER_SEND_BUSY:
{
//retry
//debugNum(8);
i2c_master_send(msgbuffer[0], length - 1, msgbuffer + 1); // point to second position (actual msg start)
break;
};
case MSGT_MASTER_SEND_NO_RAW_BUSY:
{
i2c_master_send_no_raw(msgbuffer[0], length-1, msgbuffer + 1);
};
case MSGT_TURN_CHECK:
{
//check IR sensors
unsigned char frame[FRAME_MEMBERS] = {0};
packFrame(frame, sizeof frame);
//frame[1] is ir1 and frame[2] is ir2
frame[1] = 1;//just for now, provide these dummy values
frame[2] = 1;
if((frame[1] > frame[2]) && (frame[1] - frame[2]) > 10){
//readjust right
char out[HEADER_MEMBERS] = {0};
uint8 len = generateReadjustCW(out, sizeof out, I2C_COMM);
i2c_master_send(MOTOR_ADDR, len, out);
// no need to call waitForSensorFrame() again
}
else if((frame[2] > frame[1]) && (frame[2] - frame[1]) > 10){
//readjust left
char out[HEADER_MEMBERS] = {0};
uint8 len = generateReadjustCCW(out, sizeof out, I2C_COMM);
i2c_master_send(MOTOR_ADDR, len, out);
// no need to call waitForSensorFrame() again
}
else{
char command[HEADER_MEMBERS] = {0};
uint8 len = generateTurnCompleteReq(command, sizeof command, UART_COMM); //tell picman turn complete
uart_send_array(command, len);
turnCompleted();
}
};
#endif
case MSGT_UART_TX_BUSY:
{
// TODO: take out for now
uart_send_array(msgbuffer, length);
break;
};
default:
break;
}
}
length = FromUARTInt_recvmsg(MSGLEN, &msgtype, (void *) msgbuffer);
if (length < 0) {
// no message, check the error code to see if it is concern
if (length != MSGQUEUE_EMPTY) {
// This case be handled by your code.
}
} else {
switch (msgtype) {
case MSGT_OVERRUN:
break;
case MSGT_UART_DATA:
{
#ifdef PICMAN
setRoverDataLP(msgbuffer);
handleRoverDataLP();
#elif defined(MASTER_PIC) || defined(ROVER_EMU)
setBrainDataLP(msgbuffer); //pass data received and tell will pass over i2c
handleMessageLP(UART_COMM, I2C_COMM); //sends the response and then sets up the command handling
#endif
break;
};
case MSGT_UART_RECV_FAILED:
{
debugNum(2);
debugNum(4);
debugNum(2);
debugNum(4);
break;
};
case MSGT_UART_TX_BUSY:
{
// TODO: take out for now
uart_send_array(msgbuffer, length);
break;
};
default:
break;
}
}
length = FromI2CInt_recvmsg(MSGLEN, &msgtype, (void *) msgbuffer);
if (length < 0) {
// no message, check the error code to see if it is concern
if (length != MSGQUEUE_EMPTY) {
// This case be handled by your code.
}
} else {
switch (msgtype) {
case MSGT_I2C_DATA:
{
#if defined(MASTER_PIC) || defined(ARM_EMU)
//handle whatever data will come through via i2c
//msgbuffer can hold real data - error codes will be returned through the error cases
setRoverDataLP(msgbuffer);
handleRoverDataLP();
#else
setBrainDataLP(msgbuffer);
#endif
break;
};
case MSGT_I2C_RQST:
{
#if defined(MOTOR_PIC) || defined(SENSOR_PIC)
handleMessageLP(I2C_COMM, I2C_COMM);
#elif defined(PICMAN)
handleMessageLP(I2C_COMM, UART_COMM);
#endif
break;
};
case MSGT_I2C_DBG:
{
// Here is where you could handle debugging, if you wanted
// keep track of the first byte received for later use (if desired)
last_reg_recvd = msgbuffer[0];
break;
};
#ifdef MASTER_PIC
case MSGT_I2C_MASTER_RECV_FAILED:
{
uart_send_array(msgbuffer, length);
break;
};
case MSGT_I2C_MASTER_SEND_FAILED:
{
uart_send_array(msgbuffer, length);
break;
};
case MSGT_MASTER_RECV_BUSY:
{
//retry
// debugNum(4);
i2c_master_recv(msgbuffer[0]);
break;
};
case MSGT_MASTER_SEND_BUSY:
{
//retry
// debugNum(8);
i2c_master_send(msgbuffer[0], length - 1, msgbuffer + 1); // point to second position (actual msg start)
break;
};
case MSGT_COLOR_SENSOR_INIT:
{
initializeColorSensorStage();
};
#endif
default:
break;
}
}
length = ToMainHigh_recvmsg(MSGLEN, &msgtype, (void *) msgbuffer);
if (length < 0) {
// no message, check the error code to see if it is concern
if (length != MSGQUEUE_EMPTY) {
// This case be handled by your code.
}
} else {
switch (msgtype) {
case MSGT_TIMER0:
{
//timer0_lthread(&t0thread_data, msgtype, length, msgbuffer);
break;
};
// #ifdef I2C_MASTER
// case MSGT_MASTER_RECV_BUSY:
// {
// //retry
// debugNum(4);
// i2c_master_recv(msgbuffer[0]);
// break;
// };
// case MSGT_MASTER_SEND_BUSY:
// {
// //retry
// debugNum(8);
// i2c_master_send(msgbuffer[0], length-1, msgbuffer + 1); // point to second position (actual msg start)
// break;
// };
// #endif
// case MSGT_I2C_DATA:
// {
// debugNum(4);
//#if defined(MASTER_PIC) || defined(ARM_EMU)
// //handle whatever data will come through via i2c
// //msgbuffer can hold real data - error codes will be returned through the error cases
// setRoverDataLP(msgbuffer);
// handleRoverDataLP();
//#else
// setBrainDataLP(msgbuffer);
//#endif
// debugNum(4);
// break;
// };
// case MSGT_I2C_RQST:
// {
//#if defined(MOTOR_PIC) || defined(SENSOR_PIC)
// handleMessageLP(I2C_COMM, I2C_COMM);
//#elif defined(PICMAN)
// handleMessageLP(I2C_COMM, UART_COMM);
//#endif
// break;
// };
// case MSGT_I2C_DBG:
// {
// // Here is where you could handle debugging, if you wanted
// // keep track of the first byte received for later use (if desired)
// last_reg_recvd = msgbuffer[0];
// break;
// };
//#ifdef MASTER_PIC
// case MSGT_I2C_MASTER_RECV_FAILED:
// {
// uart_send_array(msgbuffer, length);
// break;
// };
// case MSGT_I2C_MASTER_SEND_FAILED:
// {
// uart_send_array(msgbuffer, length);
// break;
// };
//#endif
case MSGT_AD:
{
#ifdef SENSOR_PIC
//addDataPoints(sensorADid, msgbuffer, length);
#endif
break;
};
default:
{
// Your code should handle this error
break;
};
};
}
// Check the low priority queue
length = ToMainLow_recvmsg(MSGLEN, &msgtype, (void *) msgbuffer);
if (length < 0) {
// no message, check the error code to see if it is concern
if (length != MSGQUEUE_EMPTY) {
// Your code should handle this situation
}
} else {
switch (msgtype) {
case MSGT_AD:
{
#ifdef SENSOR_PIC
//addDataPoints(sensorADid, msgbuffer, length);
#endif
break;
};
case MSGT_TIMER1:
{
//timer1_lthread(&t1thread_data, msgtype, length, msgbuffer);
break;
};
// case MSGT_OVERRUN:
// break;
// case MSGT_UART_DATA:
// {
//#ifdef PICMAN
// setRoverDataLP(msgbuffer);
// handleRoverDataLP();
//#elif defined(MASTER_PIC) || defined(ROVER_EMU)
// setBrainDataLP(msgbuffer);//pass data received and tell will pass over i2c
// handleMessageLP(UART_COMM, I2C_COMM); //sends the response and then sets up the command handling
//#endif
// break;
// };
// case MSGT_UART_RECV_FAILED:
// {
// debugNum(1);
// debugNum(2);
// debugNum(1);
// debugNum(2);
// break;
// };
default:
{
// Your code should handle this error
break;
};
};
}
}
//
}
void main(void) {
char c;
signed char length;
unsigned char msgtype;
int test_var = 0;
unsigned char last_reg_recvd;
uart_comm uc;
i2c_comm ic;
unsigned char msgbuffer[MSGLEN + 1];
unsigned char i;
uart_thread_struct uthread_data; // info for uart_lthread
timer1_thread_struct t1thread_data; // info for timer1_lthread
timer0_thread_struct t0thread_data; // info for timer0_lthread
#ifdef __USE18F2680
OSCCON = 0xFC; // see datasheet
// We have enough room below the Max Freq to enable the PLL for this chip
OSCTUNEbits.PLLEN = 1; // 4x the clock speed in the previous line
#else
OSCCON = 0x82; // see datasheeet
OSCTUNEbits.PLLEN = 0; // Makes the clock exceed the PIC's rated speed if the PLL is on
#endif
// initialize my uart recv handling code
// init_uart_recv(&uc);
// initialize the i2c code
init_i2c(&ic);
i2c_configure_master(0x02);
OpenI2C(MASTER, SLEW_OFF);
// init the timer1 lthread
init_timer1_lthread(&t1thread_data);
// initialize message queues before enabling any interrupts
init_queues();
// set direction for PORTB to output
TRISB = 0x0;
LATB = 0x0;
// how to set up PORTA for input (for the V4 board with the PIC2680)
/*
PORTA = 0x0; // clear the port
LATA = 0x0; // clear the output latch
ADCON1 = 0x0F; // turn off the A2D function on these pins
// Only for 40-pin version of this chip CMCON = 0x07; // turn the comparator off
TRISA = 0x0F; // set RA3-RA0 to inputs
*/
// initialize Timers
//OpenTimer0(TIMER_INT_ON & T0_16BIT & T0_SOURCE_INT & T0_PS_1_128);
OpenTimer1(TIMER_INT_ON & T1_PS_1_1 & T1_16BIT_RW & T1_SOURCE_INT & T1_OSC1EN_OFF & T1_SYNC_EXT_OFF);
// WriteTimer1(65086);
// OpenI2C(MASTER, SLEW_OFF);
// Peripheral interrupts can have their priority set to high or low
// enable high-priority interrupts and low-priority interrupts
enable_interrupts();
// Decide on the priority of the enabled peripheral interrupts
// 0 is low, 1 is high
// Timer1 interrupt
IPR1bits.TMR1IP = 0;
// USART RX interrupt
IPR1bits.RCIP = 1;
// USART TX interrupt
IPR1bits.TXIP = 0;
// I2C interrupt
IPR1bits.SSPIP = 1;
// OpenUSART( USART_TX_INT_OFF & USART_RX_INT_ON & USART_ASYNCH_MODE & USART_EIGHT_BIT & USART_CONT_RX & USART_BRGH_HIGH & USART_ADDEN_OFF, 38);
//38 gives us baud rate of approx 19230
//enable rx interrupts
PIE1bits.RCIE = 1;
PIE1bits.TXIE = 0; //disable send interrupt until we have something in mesage queue
// PIE1bits.SSPIE = 1;
// OpenADC( ADC_FOSC_16 & ADC_RIGHT_JUST & ADC_4_TAD, ADC_CH0 & ADC_INT_ON
// & ADC_VREFPLUS_VDD & ADC_VREFMINUS_VSS, ADC_0ANA);
// configure the hardware i2c device as a slave (0x9E -> 0x4F) or (0x9A -> 0x4D)
#if 1
// Note that the temperature sensor Address bits (A0, A1, A2) are also the
// least significant bits of LATB -- take care when changing them
// They *are* changed in the timer interrupt handlers if those timers are
// enabled. They are just there to make the lights blink and can be
// disabled.
// i2c_configure_slave(0x9E);
#else
// If I want to test the temperature sensor from the ARM, I just make
// sure this PIC does not have the same address and configure the
// temperature sensor address bits and then just stay in an infinite loop
i2c_configure_slave(0x9A);
LATBbits.LATB1 = 1;
LATBbits.LATB0 = 1;
LATBbits.LATB2 = 1;
for (;;);
#endif
// must specifically enable the I2C interrupts
PIE1bits.SSPIE = 1;
// configure the hardware USART device
// OpenUSART(USART_TX_INT_OFF & USART_RX_INT_ON & USART_ASYNCH_MODE & USART_EIGHT_BIT &
// USART_CONT_RX & USART_BRGH_LOW, 0x19);
/* Junk to force an I2C interrupt in the simulator (if you wanted to)
PIR1bits.SSPIF = 1;
_asm
goto 0x08
_endasm;
*/
// printf() is available, but is not advisable. It goes to the UART pin
// on the PIC and then you must hook something up to that to view it.
// It is also slow and is blocking, so it will perturb your code's operation
// Here is how it looks: printf("Hello\r\n");
// loop forever
// This loop is responsible for "handing off" messages to the subroutines
// that should get them. Although the subroutines are not threads, but
// they can be equated with the tasks in your task diagram if you
// structure them properly.
while (1) {
// Call a routine that blocks until either on the incoming
// messages queues has a message (this may put the processor into
// an idle mode)
block_on_To_msgqueues();
// At this point, one or both of the queues has a message. It
// makes sense to check the high-priority messages first -- in fact,
// you may only want to check the low-priority messages when there
// is not a high priority message. That is a design decision and
// I haven't done it here.
length = ToMainHigh_recvmsg(MSGLEN, &msgtype, (void *) msgbuffer);
if (length < 0) {
// no message, check the error code to see if it is concern
if (length != MSGQUEUE_EMPTY) {
// This case be handled by your code.
}
} else {
switch (msgtype) {
case MSGT_TIMER0:
{
timer0_lthread(&t0thread_data, msgtype, length, msgbuffer);
break;
};
case MSGT_I2C_DATA:
case MSGT_I2C_DBG:
{
// Here is where you could handle debugging, if you wanted
// keep track of the first byte received for later use (if desired)
last_reg_recvd = msgbuffer[0];
break;
};
case MSGT_I2C_RQST:
{
// Generally, this is *NOT* how I recommend you handle an I2C slave request
// I recommend that you handle it completely inside the i2c interrupt handler
// by reading the data from a queue (i.e., you would not send a message, as is done
// now, from the i2c interrupt handler to main to ask for data).
//
// The last byte received is the "register" that is trying to be read
// The response is dependent on the register.
switch (last_reg_recvd) {
case 0xaa:
{
length = 2;
// msgbuffer[0] = x[test_var];
msgbuffer[1] = 0xAA;
test_var++;
if(test_var > 299)
test_var = 0;
break;
}
case 0xa8:
{
length = 1;
msgbuffer[0] = 0x3A;
break;
}
case 0xa9:
{
length = 1;
msgbuffer[0] = 0xA3;
break;
}
};
start_i2c_slave_reply(length, msgbuffer);
break;
};
default:
{
// Your code should handle this error
break;
};
};
}
// Check the low priority queue
length = ToMainLow_recvmsg(MSGLEN, &msgtype, (void *) msgbuffer);
if (length < 0) {
// no message, check the error code to see if it is concern
if (length != MSGQUEUE_EMPTY) {
// Your code should handle this situation
}
} else {
switch (msgtype) {
case MSGT_TIMER1:
{
timer1_lthread(&t1thread_data, msgtype, length, msgbuffer);
break;
};
case MSGT_OVERRUN:
case MSGT_UART_DATA:
{
uart_lthread(&uthread_data, msgtype, length, msgbuffer);
break;
};
default:
{
// Your code should handle this error
break;
};
};
}
}
}
void main(void) {
char c;
signed char length;
unsigned char msgtype;
unsigned char last_reg_recvd;
uart_comm uc;
i2c_comm ic;
unsigned char msgbuffer[MSGLEN + 1];
unsigned char i;
uart_thread_struct uthread_data; // info for uart_lthread
timer1_thread_struct t1thread_data; // info for timer1_lthread
timer0_thread_struct t0thread_data; // info for timer0_lthread
#ifdef __USE18F2680
OSCCON = 0xFC; // see datasheet
// We have enough room below the Max Freq to enable the PLL for this chip
OSCTUNEbits.PLLEN = 1; // 4x the clock speed in the previous line
#else
#ifdef __USE18F45J10
OSCCON = 0x82; // see datasheeet
OSCTUNEbits.PLLEN = 0; // Makes the clock exceed the PIC's rated speed if the PLL is on
#else
#ifdef __USE18F26J50
OSCCON = 0xE0; // see datasheeet
OSCTUNEbits.PLLEN = 1;
#else
#ifdef __USE18F46J50
OSCCON = 0xE0; //see datasheet
OSCTUNEbits.PLLEN = 1;
#else
Something is messed up.
The PIC selected is not supported or the preprocessor directives are wrong.
#endif
#endif
#endif
#endif
// initialize my uart recv handling code
init_uart_recv(&uc);
// initialize the i2c code
init_i2c(&ic);
// init the timer1 lthread
init_timer1_lthread(&t1thread_data);
// initialize message queues before enabling any interrupts
init_queues();
#ifndef __USE18F26J50
// set direction for PORTB to output
TRISB = 0xFF; //input
LATB = 0x0;
PORTA = 0x0;
LATA = 0x0;
TRISA = 0x0F;
#endif
// how to set up PORTA for input (for the V4 board with the PIC2680)
/*
PORTA = 0x0; // clear the port
LATA = 0x0; // clear the output latch
ADCON1 = 0x0F; // turn off the A2D function on these pins
// Only for 40-pin version of this chip CMCON = 0x07; // turn the comparator off
TRISA = 0x0F; // set RA3-RA0 to inputs
*/
// initialize Timers
#ifdef MOTORPIC
OpenTimer0(TIMER_INT_ON & T0_8BIT & T0_SOURCE_EXT & T0_EDGE_RISE & T0_PS_1_1);
#else
OpenTimer0(TIMER_INT_ON & T0_8BIT & T0_SOURCE_INT & T0_PS_1_64);
#endif
#ifdef __USE18F26J50
// MTJ added second argument for OpenTimer1()
OpenTimer1(TIMER_INT_ON & T1_SOURCE_FOSC_4 & T1_PS_1_8 & T1_16BIT_RW & T1_OSC1EN_OFF & T1_SYNC_EXT_OFF,0x0);
#else
#ifdef __USE18F46J50
OpenTimer1(TIMER_INT_ON & T1_SOURCE_FOSC_4 & T1_PS_1_8 & T1_16BIT_RW & T1_OSC1EN_OFF & T1_SYNC_EXT_OFF,0x0);
#else
OpenTimer1(TIMER_INT_ON & T1_8BIT_RW & T1_PS_1_1 & T1_SOURCE_EXT & T1_OSC1EN_OFF & T1_SYNC_EXT_OFF);
TRISC = 0xFF; // C as input
#endif
#endif
// Decide on the priority of the enabled peripheral interrupts
// 0 is low, 1 is high
// ADC interrupt
IPR1bits.ADIP = 0;
PIE1bits.ADIE = 1;
// Timer1 interrupt
IPR1bits.TMR1IP = 0;
// Timer0 interrupt
INTCON2bits.TMR0IP = 1;
// USART RX interrupt
IPR1bits.RCIP = 0;
// USART TX interrupt
IPR1bits.TXIP = 0;
// I2C interrupt
IPR1bits.SSPIP = 1;
// configure the hardware i2c device as a slave (0x9E -> 0x4F) or (0x9A -> 0x4D)
#if 1
// Note that the temperature sensor Address bits (A0, A1, A2) are also the
// least significant bits of LATB -- take care when changing them
// They *are* changed in the timer interrupt handlers if those timers are
// enabled. They are just there to make the lights blink and can be
// disabled.
#ifdef I2CMASTER
i2c_configure_master();
#else
#ifdef SENSORPIC
i2c_configure_slave(0x9E); // slave addr 4F
#else
#ifdef MOTORPIC
i2c_configure_slave(0xBE); // slave addr 5F
#endif
#endif
#endif
#else
// If I want to test the temperature sensor from the ARM, I just make
// sure this PIC does not have the same address and configure the
// temperature sensor address bits and then just stay in an infinite loop
i2c_configure_slave(0x9A);
#ifdef __USE18F2680
LATBbits.LATB1 = 1;
LATBbits.LATB0 = 1;
LATBbits.LATB2 = 1;
#endif
for (;;);
#endif
// must specifically enable the I2C interrupts
PIE1bits.SSPIE = 1;
// configure the hardware USART device
#ifdef __USE18F26J50
Open1USART(USART_TX_INT_OFF & USART_RX_INT_ON & USART_ASYNCH_MODE & USART_EIGHT_BIT &
USART_CONT_RX & USART_BRGH_LOW, 0x19);
#else
#ifdef __USE18F46J50
Open1USART(USART_TX_INT_OFF & USART_RX_INT_ON & USART_ASYNCH_MODE & USART_EIGHT_BIT &
USART_CONT_RX & USART_BRGH_LOW, 0x19);
#else
OpenUSART(USART_TX_INT_ON & USART_RX_INT_ON & USART_ASYNCH_MODE & USART_EIGHT_BIT &
USART_CONT_RX & USART_BRGH_HIGH, 38);
RCSTAbits.SPEN = 1;
TRISC = 0xFF;
#endif
#endif
// Peripheral interrupts can have their priority set to high or low
// enable high-priority interrupts and low-priority interrupts
enable_interrupts();
/* Junk to force an I2C interrupt in the simulator (if you wanted to)
PIR1bits.SSPIF = 1;
_asm
goto 0x08
_endasm;
*/
// printf() is available, but is not advisable. It goes to the UART pin
// on the PIC and then you must hook something up to that to view it.
// It is also slow and is blocking, so it will perturb your code's operation
// Here is how it looks: printf("Hello\r\n");
OpenADC(ADC_FOSC_16 & ADC_LEFT_JUST & ADC_2_TAD,
ADC_CH1 & ADC_INT_OFF & ADC_VREFPLUS_VDD & ADC_VREFMINUS_VSS,
0b1011);
SetChanADC(ADC_CH1);
// ADC_CALIB();
// loop forever
// This loop is responsible for "handing off" messages to the subroutines
// that should get them. Although the subroutines are not threads, but
// they can be equated with the tasks in your task diagram if you
// structure them properly.
unsigned char msg[2] = {0x01, 0x02};
//i2c_master_send(1, 5, msg, 0x9E); // send length, recv length, message and address + r/w bit (0)
//i2c_master_recv();
//uart_trans(2, msg);
//WriteUSART(0xAA);
while (1) {
// Call a routine that blocks until either on the incoming
// messages queues has a message (this may put the processor into
// an idle mode)
block_on_To_msgqueues();
// At this point, one or both of the queues has a message. It
// makes sense to check the high-priority messages first -- in fact,
// you may only want to check the low-priority messages when there
// is not a high priority message. That is a design decision and
// I haven't done it here.
length = ToMainHigh_recvmsg(MSGLEN, &msgtype, (void *) msgbuffer);
if (length < 0) {
// no message, check the error code to see if it is concern
if (length != MSGQUEUE_EMPTY) {
// This case be handled by your code.
}
} else {
switch (msgtype) {
case MSGT_TIMER0:
{
timer0_lthread(&t0thread_data, msgtype, length, msgbuffer);
break;
};
case MSGT_I2C_DATA:
case MSGT_I2C_DBG:
{
// Here is where you could handle debugging, if you wanted
// keep track of the first byte received for later use (if desired)
last_reg_recvd = msgbuffer[0];
break;
};
case MSGT_I2C_MASTER_RECV_COMPLETE:
{
//msgbuffer[0] = length;
uart_trans(length, msgbuffer);
//i2c_master_send(1, 5, msg, 0x9E);
break;
};
case MSGT_I2C_MASTER_RECV_FAILED:
{
//unsigned char msg2[2] = {0xEE, 0xFF};
//i2c_master_send(1, 5, msg, 0x9E);
//LATBbits.LATB2 = 0;
break;
};
default:
{
// Your code should handle this error
break;
};
};
}
// Check the low priority queue
length = ToMainLow_recvmsg(MSGLEN, &msgtype, (void *) msgbuffer);
if (length < 0) {
// no message, check the error code to see if it is concern
if (length != MSGQUEUE_EMPTY) {
// Your code should handle this situation
}
} else {
switch (msgtype) {
case MSGT_TIMER1:
{
timer1_lthread(&t1thread_data, msgtype, length, msgbuffer);
break;
};
case MSGT_OVERRUN:
case MSGT_UART_DATA:
{
//uart_trans(2, msgbuffer);
if(msgbuffer[0] == 0xBA){
// motor command
i2c_master_send(5, 5, msgbuffer, 0xBE);
} else if(msgbuffer[0] == 0xAA){
// sensor command
i2c_master_send(1, 5, msgbuffer, 0x9E);
}
LATBbits.LATB2 = 0;
//uart_lthread(&uthread_data, msgtype, length, msgbuffer);
break;
};
default:
{
// Your code should handle this error
break;
};
};
}
}
}
