void SERIAL_Init(void) {
transmitBuffer = (struct CircBuffer*) &outgoingUart; //set up buffer for receive
newCircBuffer(transmitBuffer);
receiveBuffer = (struct CircBuffer*) &incomingUart; //set up buffer for transmit
newCircBuffer(receiveBuffer);
UARTConfigure(UART1, 0x00);
UARTSetDataRate(UART1, F_PB, 115200);
UARTSetFifoMode(UART1, UART_INTERRUPT_ON_RX_NOT_EMPTY | UART_INTERRUPT_ON_TX_BUFFER_EMPTY);
INTSetVectorPriority(INT_UART_1_VECTOR, INT_PRIORITY_LEVEL_4); //set the interrupt priority
//RPC5R = 1;
PPSOutput(1, RPC5, U1TX);
PORTSetPinsDigitalIn(IOPORT_C, BIT_3);
//U1RXRbits.U1RXR = 0b111;
PPSInput(3, U1RX, RPC3);
UARTEnable(UART1, UART_ENABLE_FLAGS(UART_PERIPHERAL | UART_TX | UART_RX));
INTEnable(INT_U1RX, INT_ENABLED);
//INTSetFlag(INT_U1RX);
//INTEnable(INT_U1TX, INT_ENABLED);
//PutChar('z');
}
void midgParserInit(void){
// initialize the circular buffer
#if __IN_DSPIC__
midgBuffer = (struct CircBuffer* )&midgParseBuffer;
newCircBuffer(midgBuffer);
#else
midgBuffer = newCircBuffer(BSIZE);
#endif
}
void UART2Init(void)
{
// Configure and open the port;
// U2MODE Register
// ==============
U2MODEbits.UARTEN = 0; // Disable the port
U2MODEbits.USIDL = 0; // Stop on idle
U2MODEbits.IREN = 0; // No IR decoder
U2MODEbits.RTSMD = 0; // Ready to send mode (irrelevant)
U2MODEbits.UEN = 0; // Only RX and TX
U2MODEbits.WAKE = 1; // Enable at startup
U2MODEbits.LPBACK = 0; // Disable loopback
U2MODEbits.ABAUD = 0; // Disable autobaud
U2MODEbits.URXINV = 0; // Normal operation (high is idle)
U2MODEbits.PDSEL = 0; // No parity 8 bit
U2MODEbits.STSEL = 0; // 1 stop bit
U2MODEbits.BRGH = 1;
IPC7 = 0x4400;
// U2STA Register
// ==============
U2STAbits.URXISEL = 0; // RX interrupt on every character
U2STAbits.OERR = 0; // clear overun error
// U2BRG Register
// ==============
U2BRG = 86; // Set the baud rate to 115200 by 86 576000 by 173
// Enable the port;
U2MODEbits.UARTEN = 1; // Enable the port
U2STAbits.UTXEN = 1; // Enable TX
UART_transmitBuffer=(struct CircBuffer*)&outgoingUart; //set up buffer for receive
newCircBuffer(UART_transmitBuffer);
//printf("%p\r\n",BufferB);
#ifdef DMAON
need_buffer=0;
DMA0CON=0x0002;
DMA0CONbits.DIR=0; //peripheral to ram
DMA0CONbits.MODE=2; // ping pong
DMA0CONbits.SIZE=1; //char supposedly in size, seems to be true
DMA0CNT=DMABUFFERSIZE-1;
DMA0REQ=0b0011110;
DMA0PAD=(volatile unsigned int) &U2RXREG;
DMA0STA=__builtin_dmaoffset(BufferA);
DMA0STB=__builtin_dmaoffset(BufferB);
IFS0bits.DMA0IF=0;
IEC0bits.DMA0IE=1;
DMA0CONbits.CHEN = 1;
#else
IEC1bits.U2RXIE = 1; // Enable RX interrupts
UART_receiveBuffer=(struct CircBuffer*)&incomingUart; //set up buffer for transmit
newCircBuffer(UART_receiveBuffer);
#endif
}
void SERIAL_Init(void)
{
transmitBuffer = (struct CircBuffer*) &outgoingUart; //set up buffer for receive
newCircBuffer(transmitBuffer);
receiveBuffer = (struct CircBuffer*) &incomingUart; //set up buffer for transmit
newCircBuffer(receiveBuffer);
UARTConfigure(UART1, 0x00);
UARTSetDataRate(UART1, F_PB, 115200);
UARTSetFifoMode(UART1, UART_INTERRUPT_ON_RX_NOT_EMPTY | UART_INTERRUPT_ON_RX_NOT_EMPTY);
INTSetVectorPriority(INT_UART_1_VECTOR, INT_PRIORITY_LEVEL_4); //set the interrupt priority
UARTEnable(UART1, UART_ENABLE_FLAGS(UART_PERIPHERAL | UART_TX | UART_RX));
INTEnable(INT_U1RX, INT_ENABLED);
INTEnable(INT_U1TX, INT_ENABLED);
}
void uartMavlinkBufferInit (void){
#if (WIN != 1)
_U1RXIP = 6; /* Rx Interrupt priority set to 1 */
_U1RXIF = 0;
_U1RXIE = 1; /* Enable Interrupt */
/* Configure Remappables Pins */
RPINR18 = 0x62;
#endif
uartMavlinkInBuffer = (struct CircBuffer*) &comMavlinkBuffer;
newCircBuffer(uartMavlinkInBuffer);
}
void spiSlaveInit(void) {
// Initialize the circular buffer
protBuffer = &spiBuffer;
newCircBuffer (protBuffer);
// Configure the Analog pins B2, and SPI pins as digital.
// This is done as work-around for a bug in the
// dspic blockset version 0.98d
AD1PCFGLbits.PCFG2 = 1;
AD2PCFGLbits.PCFG2 = 1;
TRISFbits.TRISF7 = 1;
TRISFbits.TRISF8 = 0;
TRISBbits.TRISB2 = 1;
// SPI1CON1 Register Settings
SPI1CON1bits.DISSCK = 0; //Internal Serial Clock is Enabled.
SPI1CON1bits.DISSDO = 0; //SDOx pin is controlled by the module.
SPI1CON1bits.MODE16 = 0; //Communication is byte-wide (8 bits).
SPI1CON1bits.SMP = 0; //Cleared in slave mode.
SPI1CON1bits.CKE = 0; //Serial output data changes on transition from
//Idle clock state to active clock state
SPI1CON1bits.CKP = 0; //Idle state for clock is a low level;
//active state is a high level
SPI1CON1bits.SSEN = 1; // SS Used in slave mode
SPI1CON1bits.MSTEN = 0; //Slave Mode Enabled
// Configure the clock for 10 MHz
SPI1CON1bits.SPRE = 7; //Secondary prescaler to 1:1
SPI1CON1bits.PPRE = 2; //Primary prescaler 4:1
// Enable the module
SPI1STATbits.SPIROV = 0; //Clear overflow bit
SPI1STATbits.SPIEN = 1; //Enable SPI Module
// clear the interrupt flag
IFS0bits.SPI1IF = 0;
// clear the error flag
IFS0bits.SPI1EIF = 0;
// clear the overflow flag
SPI1STATbits.SPIROV = 0;
// Enable the interrupts
IPC2bits.SPI1IP = 6;
IEC0bits.SPI1EIE = 1;
IEC0bits.SPI1IE = 1;
INTCON1bits.NSTDIS = 1;
}
void UART_init(uint8_t id, uint32_t baudRate){
//will need buffers for both the UARTS
if(id == UART1_ID){
transmitBufferUart1 = (struct CircBuffer*) &outgoingUart1; //set up buffer for receive
newCircBuffer(transmitBufferUart1);
receiveBufferUart1 = (struct CircBuffer*) &incomingUart1; //set up buffer for transmit
newCircBuffer(receiveBufferUart1);
UARTConfigure(UART1, 0x00);
UARTSetDataRate(UART1, F_PB, baudRate);
UARTSetFifoMode(UART1, UART_INTERRUPT_ON_RX_NOT_EMPTY);
mU1SetIntPriority(4); //set the interrupt priority
UARTEnable(UART1, UART_ENABLE_FLAGS(UART_PERIPHERAL | UART_TX | UART_RX));
mU1RXIntEnable(1);
mU1TXIntEnable(1);
}else if(id == UART2_ID){
transmitBufferUart2 = (struct CircBuffer*) &outgoingUart2; //set up buffer for receive
newCircBuffer(transmitBufferUart2);
receiveBufferUart2 = (struct CircBuffer*) &incomingUart2; //set up buffer for transmit
newCircBuffer(receiveBufferUart2);
UARTConfigure(UART2, 0x00);
UARTSetDataRate(UART2, F_PB, baudRate);
UARTSetFifoMode(UART2, UART_INTERRUPT_ON_RX_NOT_EMPTY);
mU2SetIntPriority(4); //set the interrupt priority
UARTEnable(UART2, UART_ENABLE_FLAGS(UART_PERIPHERAL | UART_TX | UART_RX));
mU2RXIntEnable(1);
mU2TXIntEnable(1);
}
}
void protParserInit(void){
// initialize the circular buffer
ppBuffer = (struct CircBuffer* )&protParseBuffer;
newCircBuffer(ppBuffer);
// Initialize all global data structures
memset(&gpsControlData, 0, sizeof(tGpsData));
memset(&rawControlData, 0, sizeof(tRawData));
memset(&statusControlData, 0, sizeof(tSensStatus));
memset(&attitudeControlData, 0, sizeof(tAttitudeData));
memset(&attitudeRotatedControlData, 0, sizeof(tAttitudeData));
memset(&dynTempControlData, 0, sizeof(tDynTempData));
memset(&biasControlData, 0, sizeof(tBiasData));
memset(&diagControlData, 0, sizeof(tDiagData));
memset(&xyzControlData, 0, sizeof(tXYZData));
memset(&aknControlData, 0, sizeof(tAknData));
memset(&pilControlData, 0, sizeof(tPilotData));
memset(&pwmControlData, 0, sizeof(tPWMData));
memset(&pidControlData, 0, sizeof(tPIDData));
memset(&queControlData, 0, sizeof(tQueryData));
memset(&wpsControlData, 0, sizeof(tWPData));
memset(&apsControlData, 0, sizeof(tAPStatusData));
memset(&comControlData, 0, sizeof(tCommandsData));
memset(&navControlData, 0, sizeof(tNavData));
memset(&senControlData, 0, sizeof(tSensData));
memset(&logControlData, 0, sizeof(tLogFloats));
filterControlData = 0;
// Control MCU boot procedures
#ifdef _IN_PC_
//
#else
aknControlData.reboot = 1;
#endif
// Manual mode
apsControlData.controlType = CTRL_TYPE_MANUAL;
}
void schedulerInit (void){
// initialize the circular buffers
logBuffer = (struct CircBuffer* )&com2Buffer;
newCircBuffer(logBuffer);
uartBufferIn = (struct CircBuffer* )&com2BufferIn;
newCircBuffer(uartBufferIn);
// DMA0REQ Register
// ================
DMA0REQ = 0x001F;
// DMA0PAD Register
// ================
DMA0PAD = (volatile unsigned int) &U2TXREG;
// DMA0CON Register
// ================
DMA0CONbits.AMODE = 0; // Register Indirect with post-increment
DMA0CONbits.MODE = 1; // One-shot, No Ping-Pong Mode
DMA0CONbits.DIR = 1; // Read from RAM and send to Periphereal
DMA0CONbits.SIZE = 0; // Word Data Transfer
// DMA0CNT Register
// ==============
DMA0CNT = MAXSEND-1;
// DMA0STA Register
// ================
DMA0STA= __builtin_dmaoffset(BufferA);
// Enable DMA0 TX interrupts
IFS0bits.DMA0IF = 0; // Clear DMA Interrupt Flag
IEC0bits.DMA0IE = 1; // Enable DMA interrupt
// Configure and open the port;
// U2MODE Register
// ==============
U2MODEbits.ABAUD = 0; // Disable autobaud
U2MODEbits.PDSEL = 0; // No parity 8 bit
U2MODEbits.STSEL = 0; // 1 stop bit
U2MODEbits.BRGH = 0; // Low speed mode
// U2STA Register
// ==============
U2STAbits.UTXISEL0 = 0; // generate interrupt on every char
U2STAbits.UTXISEL1 = 0; // for the DMA
U2STAbits.URXISEL = 0; // RX interrupt with every char
U2STAbits.OERR = 0; // clear overun error
// U2BRG Register
// ==============
U2BRG = LOG_UBRG; // Set the baud rate for data logger
// Initialize the Interrupt
// ========================
IPC7bits.U2RXIP = 5; // Interrupt priority 5
IFS1bits.U2RXIF = 0; // Clear the interrupt flag
IEC1bits.U2RXIE = 1; // Enable interrupts
// Enable the port;
U2MODEbits.UARTEN = 1; // Enable the port
U2STAbits.UTXEN = 1; // Enable TX
IEC4bits.U2EIE = 0;
}
// UART and Buffer initialization
void uartInit (void){
// initialize the circular buffer
uartBuffer = (struct CircBuffer* )&com1Buffer;
newCircBuffer(uartBuffer);
// Configure and open the port;
// U1MODE Register
// ==============
U1MODEbits.UARTEN = 0; // Disable the port
U1MODEbits.USIDL = 0; // Stop on idle
U1MODEbits.IREN = 0; // No IR decoder
U1MODEbits.RTSMD = 0; // Ready to send mode (irrelevant)
U1MODEbits.UEN = 0; // Only RX and TX
U1MODEbits.WAKE = 1; // Enable at startup
U1MODEbits.LPBACK = 0; // Disable loopback
U1MODEbits.ABAUD = 0; // Disable autobaud
U1MODEbits.URXINV = 0; // Normal operation (high is idle)
U1MODEbits.PDSEL = 0; // No parity 8 bit
U1MODEbits.STSEL = 0; // 1 stop bit
U1MODEbits.BRGH = 0; // Low speed mode
// U1STA Register
// ==============
U1STAbits.URXISEL = 2; // RX interrupt when 3 chars are in
U1STAbits.OERR = 0; // clear overun error
// U1BRG Register
// ==============
U1BRG = UCSCAP_UBRGI; // Set the baud rate for initial config of GPS
// Enable the port;
U1MODEbits.UARTEN = 1; // Enable the port
U1STAbits.UTXEN = 1; // Enable TX
// wait for the UART to settle
int i;
for( i = 0; i < 32700; i += 1 )
{
Nop();
}
// Configure the GPS sentences and change the baud Rate
gpsSentenceConfig();
// Disable the port and TX;
U1MODEbits.UARTEN = 0; // Disable the port
// U1BRG Register
// ==============
U1BRG = UCSCAP_UBRGF; // Set the baud rate for operation of GPS
// Enable the port;
U1MODEbits.UARTEN = 1; // Enable the port
U1STAbits.UTXEN = 1; // Enable TX
for( i = 0; i < 32700; i += 1 )
{
Nop();
}
// Configure the frequency to 5 Hz
gpsFreqConfig();
/*
// Disable the port and TX;
U1MODEbits.UARTEN = 0; // Disable the port
// Initialize the Interrupt
IPC2bits.U1RXIP = 6; // Interrupt priority 6
IFS0bits.U1RXIF = 0; // Clear the interrupt flag
IEC0bits.U1RXIE = 1; // Enable interrupts
// Enable the port;
U1STAbits.UTXEN = 0; // Disable TX
U1MODEbits.UARTEN = 1; // Enable the port
*/
}
