void SerialPort::irq_handler()
{
debug(A_SERIALPORT, "irq_handler: Entered SerialPort IRQ handler");
uint8 int_id_reg = read_UART( SC::IIR );
if( int_id_reg & 0x01 )
return; // it is not my IRQ or IRQ is handled
uint8 int_id = (int_id_reg & 0x06) >> 1;
switch( int_id )
{
case 0: // Modem status changed
break;
case 1: // Output buffer is empty
WriteLock = 0;
break;
case 2: // Data is available
int_id = read_UART( 0 );
_in_buffer->put( int_id );
break;
case 3: // Line status changed
break;
default: // This will never be executed
break;
}
return;
}
void UART2_task(void){
/*Performs a set task depenedent upon command received over UART from the
dsPIC on the primary board. These tasks include turning on/off the lower
magnet, reading the motor/lower magnet encoder, reading the IMU on the secondary
board, etc.*/
unsigned char task;
if(uart_buffer.len>0){
task = read_UART();
LED2 = !LED2;
if(task == LOWMAG_ON){
LOWMAG = 1; //Turn on low magnet
}
else if(task == LOWMAG_OFF){
LOWMAG = 0; //Turn off low magnet
}
else if(task == LOWMAG_TOGGLE){
LOWMAG = !LOWMAG; //Toggle low magnet
write_UART2('w'); //Simple test to ensure UART communication between boards is working
}
else if(task == LOWMAGENC_READ){
//Reads the encoder value of the lower magnet
long value;
unsigned short i;
unsigned char temp[4];
value = read_LOWMAGENC();
temp[0] = value;
temp[1] = value>>8;
temp[2] = value>>16;
temp[3] = value>>24;
for (i=0; i<4; i++){
write_UART2(temp[i]);
}
//write_string_UART2(temp,4);
}
void read_Gyro_Secondary(unsigned char *data){
unsigned short i;
write_UART2('a');
while(!(uart_buffer.len>5));
for (i=0;i<6;i++){
data[i] = read_UART();
}
}
int main(void) {
initialize();
//initialize_ADC_Offset();
//initialize_UART();
//TOPMAG=1;
unsigned char c=0;
motoron = 1;
direction = CW;
kick();
write_duty(512);
//write_duty(0);
//timer1_on();
printf("hello world!\n");
while (1) {
c = read_UART();
if (c=='o'){
TOPMAG=1;
}
else if (c=='f'){
TOPMAG=0;
}
else if(c == 'g') {
//Turn on Bottom Magnet
write_UART2('1');
} else if(c =='h') {
//Turn off Bottom Magnet
write_UART2('2');
}
else if (c=='u'){
// inc duty
// for now, increase the duty by 10% of max duty
write_duty(read_duty()+100);
c = 'x';
}
else if (c=='d'){
// dec duty
write_duty(read_duty()+100);
c = 'x';
}
else if (c=='m'){
// motor off
motoron = 0;
}
else if (c=='x'){
// make sure duty is only updated once per call
continue;
}
}
return 0;
}
void read_string_UART(unsigned char *data, int n){
int i = 0,j = 0;
while(i < n && j != 1){
data[i] = read_UART();
if(data[i] == '\n'){
j = 1;
}
else{
j = 0;
}
i++;
}
data[i] = '\n';
}
int32 SerialPort::writeData(int32 offset, int32 num_bytes, const char*buffer)
{
if( offset != 0 )
return -1;
uint32 jiffies = 0, bytes_written = 0;
while( ArchThreads::testSetLock( SerialLock ,1 ) && jiffies++ < 50000 );
if( jiffies == 50000 )
{
WriteLock = 0;
return -1;
}
WriteLock = bytes_written = 0;
while( num_bytes -- )
{
jiffies = 0;
while( !(read_UART( SC::LSR ) & 0x40) && jiffies++ < 50000 );
if( jiffies == 50000 ) // TIMEOUT
{
SerialLock = 0;
WriteLock = 0;
return -1;
}
write_UART( 0, *(buffer++) );
bytes_written++;
}
SerialLock = 0;
return bytes_written;
};
void read_MPU_test_secondary(unsigned char *data){
write_UART2('c');
while(!(uart_buffer.len>0));
data[0] = read_UART();
printf("%x\n",data[0]);
}