Subversion Repositories Code-Repo

#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)

//    INTCON2bits.TMR0IP = 0; // Timer0 interrupt

//    IPR1bits.TMR1IP = 1;    // Timer1 interrupt

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

    IPR3bits.RC2IP = 1;     // USART2 RX interrupt

    IPR1bits.SSPIP = 1;     // I2C interrupt

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

//    INTCON2bits.RBIP = 1;   // Port B interrupt

    INTCON3bits.INT1IP = 1; // INT1 interrupt

    // I2C interupts must be specifically enabled

    PIE1bits.SSPIE = 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 = 0;

}

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 I2C interrupt

    if (PIR1bits.SSPIF) {

        // Nofity the xbee to stop sending serial data

        xbee_set_RTS(1);

        // Clear the interrupt flag

        PIR1bits.SSPIF = 0;

        // Call the handler

        i2c_interrupt_handler();

        // Notify xbee to resume sending serial data

        xbee_set_RTS(0);

    }

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

    if (PIR3bits.RC2IF) {

        // Call the interrupt handler

        uart_recv_interrupt_handler();

        // Clear the interrupt flag

        PIR3bits.RC2IF = 0;

    }

#ifdef _MASTER

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

    if (INTCON3bits.INT1IF) {

        INTCON3bits.INT1IF = 0;

        int1_interrupt_handler();

    }

#endif

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

//    if (PIR1bits.TMR1IF) {

//        // Clear the interrupt flag

//        PIR1bits.TMR1IF = 0;

//

//        // Call the interrupt handler

//        timer1_interrupt_handler();

//    }

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

//    if (INTCONbits.RBIF) {

//        port_b_int_interrupt_handler();

//

//        INTCONbits.RBIF = 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 timer 0

//    if (INTCONbits.TMR0IF) {

//        // Clear this interrupt flag

//        INTCONbits.TMR0IF = 0;

//

//        // Call the handler

//        timer0_interrupt_handler();

//    }

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

//    if (PIR1bits.RC1IF) {

//        // Clear the interrupt flag

//        PIR1bits.RC1IF = 0;

//

//        // Call the interrupt handler

//        uart_recv_interrupt_handler();

//    }

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

//    if (PIR1bits.ADIF) {

//        // Clear the interrupt flag

//        PIR1bits.ADIF = 0;

//

//        // Call the interrupt handler

//        adc_interrupt_handler();

//    }

}