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#include "maindefs.h"
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#include "msg_queues.h"
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#include <usart.h>
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#include "uart.h"
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#include "xbee.h"
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void uart_init() {
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// Configure the hardware USART device
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// UART1 TX RC6
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// UART1 RX RC7
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Open1USART(USART_TX_INT_OFF & // Interrupt on TX off
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USART_RX_INT_OFF & // Interrupt on RX on
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USART_ASYNCH_MODE & // Operate in async mode
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USART_EIGHT_BIT & // Operate in 8-bit mode
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USART_CONT_RX & // Continuously recieve messages
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USART_BRGH_HIGH, 64); // Set UART speed to 38400 baud
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// UART2 RX Pin RP5
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RPINR16 = 5; // 5 is PPS RP5
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// UART2 TX Pin RP6
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RPOR6 = 5; // 5 is TX2/CK2 (EUSART2 Asynchronous Transmit/Asynchronous Clock Output)
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Open2USART(USART_TX_INT_OFF & // Interrupt on TX off
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USART_RX_INT_ON & // Interrupt on RX on
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USART_ASYNCH_MODE & // Operate in async mode
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USART_EIGHT_BIT & // Operate in 8-bit mode
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USART_CONT_RX & // Continuously recieve messages
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USART_BRGH_HIGH, 64); // Set UART speed to 115200 baud
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}
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void uart_recv_interrupt_handler() {
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if (DataRdy2USART()) {
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xbee_read_serial(Read2USART());
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}
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if (USART2_Status.OVERRUN_ERROR == 1) {
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// We've overrun the USART and must reset
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RCSTA1bits.CREN = 0;
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RCSTA1bits.CREN = 1;
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RCSTA2bits.CREN = 0;
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RCSTA2bits.CREN = 1;
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MQ_sendmsg_ToMainFromHigh(0, MSGTYPE_OVERRUN, (void *) 0);
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}
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}
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