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#include "maindefs.h"

#include "timers.h"

#include "msg_queues.h"

#include "uart.h"

#include "i2c.h"

#include "adc.h"

#include "interrupts.h"

#include "xbee.h"

#include "pin_interrupts.h"

//----------------------------------------------------------------------------

// Note: This code for processing interrupts is configured to allow for high and

//       low priority interrupts.  The high priority interrupt can interrupt the

//       the processing of a low priority interrupt.  However, only one of each type

//       can be processed at the same time.  It is possible to enable nesting of low

//       priority interrupts, but this code is not setup for that and this nesting 

//       is not enabled.

void interrupt_init() {

    // Peripheral interrupts can have their priority set to high or low

    // Decide on the priority of the enabled peripheral interrupts (0 is low, 1 is high)

    // High priority interrupts

    IPR3bits.RC2IP = 1; // USART2 RX interrupt

    IPR1bits.SSPIP = 1; // I2C interrupt

    // Low priority interrupts

    //    IPR1bits.RC1IP = 0;      // USART1 RX interrupt

    INTCON2bits.TMR0IP = 0; // Timer0 interrupt

    IPR1bits.TMR1IP = 0;    // Timer1 interrupt

    IPR2bits.TMR3IP = 0;    // Timer3 interrupt

    //    IPR1bits.ADIP = 0;      // ADC interupt

    INTCON2bits.RBIP = 0;   // Port B interrupt

    INTCON3bits.INT1IP = 0; // INT1 interrupt

    // Enable I2C interrupt

    PIE1bits.SSPIE = 1;

    // Enable Port B interrupt

    INTCONbits.RBIE = 1;

    // Enable interrupt for INT1

    INTCON3bits.INT1IE = 1;

}

void interrupt_enable() {

    // Peripheral interrupts can have their priority set to high or low.

    // Enable both high-priority interrupts and low-priority interrupts

    RCONbits.IPEN = 1;

    INTCONbits.GIEH = 1;

    INTCONbits.GIEL = 1;

}

int interrupt_in_high_interrupt_routine() {

    return (!INTCONbits.GIEH);

}

int interrupt_low_int_active() {

    return (!INTCONbits.GIEL);

}

int interrupt_in_low_interrupt_routine() {

    if (INTCONbits.GIEL == 1) {

        return (0);

    } else if (interrupt_in_high_interrupt_routine()) {

        return (0);

    } else {

        return (1);

    }

}

int interrupt_in_main_routine() {

    if ((!interrupt_in_low_interrupt_routine()) && (!interrupt_in_high_interrupt_routine())) {

        return (1);

    } else {

        return (0);

    }

}

// Set up the interrupt vectors

void InterruptHandlerHigh();

void InterruptHandlerLow();

#pragma code InterruptVectorLow = 0x18

void InterruptVectorLow(void) {

    _asm

    goto InterruptHandlerLow //jump to interrupt routine

            _endasm

}

#pragma code InterruptVectorHigh = 0x08

void InterruptVectorHigh(void) {

    _asm

    goto InterruptHandlerHigh //jump to interrupt routine

            _endasm

}

//----------------------------------------------------------------------------

// High priority interrupt routine

// this parcels out interrupts to individual handlers

#pragma code

#pragma interrupt InterruptHandlerHigh

void InterruptHandlerHigh() {

    // We need to check the interrupt flag of each enabled high-priority interrupt to

    //  see which device generated this interrupt.  Then we can call the correct handler.

    // Check to see if we have an interrupt on USART2 RX

    if (PIR3bits.RC2IF) {

        DBG_PRINT_INT("INT: UART2 RX\r\n");

        // Call the interrupt handler

        uart_recv_interrupt_handler();

        // Clear the interrupt flag

        PIR3bits.RC2IF = 0;

    }

//    // Nofity the xbee to stop sending serial data

//    xbee_set_RTS(1);

    // Check to see if we have an I2C interrupt

    if (PIR1bits.SSPIF) {

        DBG_PRINT_INT("INT: I2C\r\n");

        // Call the handler

        i2c_interrupt_handler();

        // Clear the interrupt flag

        PIR1bits.SSPIF = 0;

    }

//     //Notify xbee to resume sending serial data

//    xbee_set_RTS(0);

    // The *last* thing I do here is check to see if we can

    // allow the processor to go to sleep

    // This code *DEPENDS* on the code in messages.c being

    // initialized using "init_queues()" -- if you aren't using

    // this, then you shouldn't have this call here

    //    MQ_sleep_high_interrupt_if_okay();

}

//----------------------------------------------------------------------------

// Low priority interrupt routine

// this parcels out interrupts to individual handlers

#pragma code

#pragma interruptlow InterruptHandlerLow

// This works the same way as the "High" interrupt handler

void InterruptHandlerLow() {

    // Check to see if we have an interrupt on INT1

    if (INTCON3bits.INT1IF) {

        DBG_PRINT_INT("INT: INT1\r\n");

        int1_interrupt_handler();

        INTCON3bits.INT1IF = 0;

    }

    // Check to see if we have an interrupt on any port B inputs <4:7>

    if (INTCONbits.RBIF) {

        DBG_PRINT_INT("INT: Port B\r\n");

        port_b_int_interrupt_handler();

        INTCONbits.RBIF = 0;

    }

    // Check to see if we have an interrupt on timer 0

    if (INTCONbits.TMR0IF) {

        DBG_PRINT_INT("INT: Timer 0\r\n");

        // Call the handler

        timer0_interrupt_handler();

        // Clear this interrupt flag

        INTCONbits.TMR0IF = 0;

    }

    // Check to see if we have an interrupt on timer 1

    if (PIR1bits.TMR1IF) {

        // Call the interrupt handler

        timer1_interrupt_handler();

        // Clear the interrupt flag

        PIR1bits.TMR1IF = 0;

    }

    // Check to see if we have an interrupt on timer 3

    if (PIR2bits.TMR3IF) {

        DBG_PRINT_INT("INT: Timer 3\r\n");

        timer3_interrupt_handler();

        PIR2bits.TMR3IF = 0;

    }

//        // Check to see if we have an interrupt on USART1 RX

//        if (PIR1bits.RC1IF) {

//            // Call the interrupt handler

//            uart_recv_interrupt_handler();

//

//            // Clear the interrupt flag

//            PIR1bits.RC1IF = 0;

//        }

//        // Check to see if we have an interrupt on ADC

//        if (PIR1bits.ADIF) {

//            // Call the interrupt handler

//            adc_interrupt_handler();

//

//            // Clear the interrupt flag

//            PIR1bits.ADIF = 0;

//        }

}