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#include "maindefs.h"

#include "msg_queues.h"

#include "interrupts.h"

#include "uart.h"

#include "i2c.h"

#include "adc.h"

#include "timers.h"

#include "xbee.h"

#include "led_driver.h"

#include "pwm.h"

#include "delays.h"

#include "pin_interrupts.h"

#include "buffer.h"

#pragma config WDTEN = OFF          // Turn off watchdog timer

#pragma config XINST = OFF          // Turn off extended instruction set

#pragma config OSC = HSPLL          // Use external oscillator (101)

#pragma config PLLDIV = 3           // Set PPL prescaler to 3 (to get 4MHz)

#pragma config CFGPLLEN = ON        // Enable PLL on startup

#pragma config PLLSEL = PLL96       // Use 96MHz PLL 4MHz -> 96MHz / 2 = 48MHz

//#pragma config SOSCSEL = HIGH       // High Power T1OSC/SOSC circuit selected

#pragma config ADCSEL = BIT12       // 12-bit ADrC

#pragma config IOL1WAY = OFF        // IOLOCK bit can be set and cleared as needed

/* ----------- IO Pins -----------

 * RA0 - LED Display Latch Enable (PPS)

 * RA1 - LED Display CLK (PPS)

 * RA2 - LED Display DIN (PPS)

 * RA3 - LED Display Output Enable (PPS)

 * RA4 - [CANNOT BE USED (VDDCORE/VCAP)]

 * RA5 - IR Reciever (PPS)

 * RA6 - Oscillator

 * RA7 - Oscillator

 * 

 * RC0 - PWM Output (IR) (PPS, Ports B and C only)

 * RC1 - PWM Output (IR) (PPS, Ports B and C only)

 * RC2 - LED Output (PPS, Ports B and C only)

 * RC3 - I2C SCL

 * RC4 - I2C SDA

 * RC5 - XBee Sleep (PPS)

 * RC6 - UART Debug Output

 * RC7 - UART Debug Input

 *

 * RB0 - XBee CTS (PPS)

 * RB1 - XBee RTS (PPS)

 * RB2 - XBee Tx (PPS)

 * RB3 - XBee Rx (PPS)

 * RB4 - Button Input (Port B Interrupt on Change)

 * RB5 - Button Input (Port B Interrupt on Change)

 * RB6 - Button Input (Port B Interrupt on Change)

 * RB7 - Button Input (Port B Interrupt on Change)

 * ---------------------------- */

#pragma udata umain_1

static unsigned char msgbuffer[MSGLEN + 1];

#pragma udata umain_2

static I2C_DATA i2c_data;

#pragma udata

static XBEE_DATA xbee_data;

static UART_DATA uart_data;

static BUFFER_DATA buffer_data;

void main(void) {

    char length;

    unsigned char msgtype;

    unsigned char i = 0;

    unsigned char counter = 0;

    // Pointers to allow parsing of xbee data from arbitrary byte array

    XBEE_RX_AT_COMMAND_RESPONSE_FRAME *frame_at_cmd_response;

    XBEE_RX_DATA_PACKET_FRAME *frame_data_packet;

    XBEE_RX_DATA_TX_STATUS_FRAME *frame_tx_status;

    XBEE_RX_IO_DATA_SAMPLE_FRAME *frame_io_sample;

    XBEE_RX_EXPLICIT_COMMAND_FRAME *frame_explicit_cmd;

    XBEE_RX_REMOTE_AT_COMMAND_FRAME *frame_remote_at_cmd;

    XBEE_RX_ROUTE_RECORD_FRAME *frame_route_record;

    XBEE_RX_NODE_IDENTIFICATION_INDICATOR_FRAME *frame_node_identification;

    XBEE_RX_MODEM_STATUS_FRAME *frame_modem_status;

    XBEE_TX_DATA_PACKET_FRAME *frame_tx_data;

    /* --------------------- Oscillator Configuration --------------------- */

    //    OSCTUNEbits.PLLEN = 1;          // Enable 4x PLL

    //    OSCCONbits.IRCF = 0b111;        // Set INTOSC postscaler to 8MHz

    OSCCONbits.SCS = 0b00; // Use 96MHz PLL as primary clock source

    /* -------------------------------------------------------------------- */

    uart_init(&uart_data); // Initialize the UART handler code

    xbee_init(&xbee_data); // Initialize the XBee handler code

    i2c_init(&i2c_data); // Initialize the I2C handler code

    buffer_init(&buffer_data);

    //    adc_init();                 // Initialize the ADC

    MQ_init(); // Initialize message queues before enabling any interrupts

    timers_init(); // Initialize timers

    led_driver_init(); // Initialize the driver for the LED display

    port_b_int_init(); // Initialze Port B interrupt handler

#ifdef _BASE_STATION

    intx_init();    // IR receiver input

#endif

#ifdef _REMOTE

    pwm_init(); // Initialize the PWM output driver

#endif

    interrupt_enable(); // Enable high-priority interrupts and low-priority interrupts

    interrupt_init(); // Initialize the interrupt priorities

    // Set all ports as digial I/O

    ANCON0 = 0xFF;

    ANCON1 = 0x1F;

    // Configure the hardware i2c device as a slave

#ifdef _BASE_STATION

    i2c_configure_master();

#endif

#ifdef _REMOTE

    i2c_configure_slave(0x5F);

#endif

    DBG_PRINT_MAIN("\r\nMain: Program Started\r\n");

    // Loop and process recieved messages from interrupts

    while (1) {

        // Call a routine that blocks until either message queues are not empty

        MQ_wait_on_incoming_msg_queues();

        // Process high priority message queue

        length = MQ_recvmsg_ToMainFromHigh(MSGLEN, &msgtype, (void *) msgbuffer);

        if (length < 0) {

            // No message, check the error code to see if it is concern

            if (length != MSG_QUEUE_EMPTY) {

                DBG_PRINT_MAIN("Main: (ERROR) Bad high priority receive, code = %d\r\n", length);

            }

        } else {

            switch (msgtype) {

                    /* --- I2C Message Handlers ----------------------------------*/

                case MSGTYPE_OVERRUN:

                    DBG_PRINT_MAIN("Main: (ERROR) UART overrun detected, type = %d\r\n", msgtype);

                    break;

                case MSGTYPE_I2C_DBG:

                    DBG_PRINT_MAIN("Main: I2C Dbg Data Recieved: ");

                    for (i = 0; i < length; i++) {

                        DBG_PRINT_MAIN("%X ", msgbuffer[i]);

                    }

                    DBG_PRINT_MAIN("\r\n");

                    break;

                case MSGTYPE_I2C_DATA:

                    DBG_PRINT_MAIN("Main: I2C Data Recieved: ");

                    for (i = 0; i < length - 1; i++) {

                        DBG_PRINT_MAIN("%X ", msgbuffer[i]);

                    }

                    DBG_PRINT_MAIN(" Event Count: %d", msgbuffer[length - 1]);

                    DBG_PRINT_MAIN("\r\n");

                    switch (msgbuffer[0]) {

                        case 0x2:

                            length = 1;

                            // Return size of stored data in buffer

                            if (buffer_data.stored_length > MSGLEN) {

                                msgbuffer[0] = MSGLEN;

                            } else {

                                msgbuffer[0] = buffer_data.stored_length;

                            }

                            MQ_sendmsg_FromMainToHigh(length, MSGTYPE_I2C_REPLY, (void *) msgbuffer);

                            break;

                        case 0x4:

                            // Return data stored in buffer

                            if (buffer_data.stored_length > MSGLEN) {

                                length = MSGLEN;

                                buffer_read(MSGLEN, msgbuffer);

                            } else {

                                length = buffer_data.stored_length;

                                buffer_read(buffer_data.stored_length, msgbuffer);

                            }

                            MQ_sendmsg_FromMainToHigh(length, MSGTYPE_I2C_REPLY, (void *) msgbuffer);

                            break;

                        case 0x6:

                            break;

                        case 0x7:

                            break;

                        case 0x8:

                            break;

                        case 0x9:

                            break;

                        default:

                            DBG_PRINT_MAIN("Main: (ERROR) Unexpected message type recieved: %d\r\n", msgbuffer[0]);

                            break;

                    };

                    break;

                case MSGTYPE_I2C_MASTER_SEND_COMPLETE:

                    DBG_PRINT_MAIN("Main: I2C Master Send Complete\r\n");

                    break;

                case MSGTYPE_I2C_MASTER_SEND_FAILED:

                    DBG_PRINT_MAIN("Main: (ERROR) I2C Master Send Failed\r\n");

                    break;

                case MSGTYPE_I2C_MASTER_RECV_COMPLETE:

                    DBG_PRINT_MAIN("Main: I2C Master Receive Complete\r\n");

                    DBG_PRINT_MAIN("Data: ");

                    for (i = 0; i < length; i++) {

                        DBG_PRINT_MAIN("%X ", msgbuffer[i]);

                    }

                    DBG_PRINT_MAIN("\r\n");

                    break;

                case MSGTYPE_I2C_MASTER_RECV_FAILED:

                    DBG_PRINT_MAIN("Main: (ERROR) I2C Master Receive Failed\r\n");

                    break;

                    /* -----------------------------------------------------------*/

                    /* --- XBee Message Handlers ---------------------------------*/

                case MSGTYPE_XBEE_RX_AT_COMMAND_RESPONSE:

                    DBG_PRINT_MAIN("Main: XBee AT command frame\r\n");

                    frame_at_cmd_response = (void *) msgbuffer;

                    DBG_PRINT_MAIN("Command: %c%c\r\n", frame_at_cmd_response->command[0], frame_at_cmd_response->command[0]);

                    DBG_PRINT_MAIN("Status: %d\r\n", frame_at_cmd_response->command_status);

                    DBG_PRINT_MAIN("Data: ");

                    for (i = 0; i < length - XBEE_RX_AT_COMMAND_RESPONSE_FRAME_SIZE; i++) {

                        DBG_PRINT_MAIN("%X ", frame_data_packet->data[i]);

                    }

                    DBG_PRINT_MAIN("\r\n");

                    break;

                case MSGTYPE_XBEE_RX_DATA_PACKET:

                    DBG_PRINT_MAIN("Main: XBee data packet frame\r\n");

                    frame_data_packet = (void *) msgbuffer;

                    DBG_PRINT_MAIN("Data: ");

                    for (i = 0; i < length - XBEE_RX_DATA_PACKET_FRAME_SIZE; i++) {

                        DBG_PRINT_MAIN("%X ", frame_data_packet->data[i]);

                    }

                    DBG_PRINT_MAIN("\r\n");

                    // Store received data into buffer

                    buffer_insert(length - XBEE_RX_DATA_PACKET_FRAME_SIZE, frame_data_packet->data);

                    // Send value of first byte received to LED display

                    led_driver_num(frame_data_packet->data[0]);

                    break;

                case MSGTYPE_XBEE_RX_DATA_TX_STATUS:

                    DBG_PRINT_MAIN("Main: XBee TX status frame\r\n");

                    frame_tx_status = (void *) msgbuffer;

                    DBG_PRINT_MAIN("Destination: %X\r\n", frame_tx_status->destination_16);

                    DBG_PRINT_MAIN("Transmit Retry Count: %X\r\n", frame_tx_status->transmit_retry_count);

                    DBG_PRINT_MAIN("Delivery Status: %X\r\n", frame_tx_status->delivery_status);

                    DBG_PRINT_MAIN("Discovery Status: %X\r\n", frame_tx_status->discovery_status);

                    break;

                case MSGTYPE_XBEE_RX_IO_DATA_SAMPLE:

                    DBG_PRINT_MAIN("Main: XBee IO data sample frame\r\n");

                    frame_io_sample = (void *) msgbuffer;

                    break;

                case MSGTYPE_XBEE_RX_EXPLICIT_COMMAND:

                    DBG_PRINT_MAIN("Main: XBee explicit command frame\r\n");

                    frame_explicit_cmd = (void *) msgbuffer;

                    break;

                case MSGTYPE_XBEE_RX_REMOTE_AT_COMMAND_RESPONSE:

                    DBG_PRINT_MAIN("Main: XBee remote AT command response frame\r\n");

                    frame_remote_at_cmd = (void *) msgbuffer;

                    break;

                case MSGTYPE_XBEE_RX_ROUTE_RECORD:

                    DBG_PRINT_MAIN("Main: XBee route record frame\r\n");

                    frame_route_record = (void *) msgbuffer;

                    break;

                case MSGTYPE_XBEE_RX_NODE_IDENTIFICATION:

                    DBG_PRINT_MAIN("Main: XBee node identification frame\r\n");

                    frame_node_identification = (void *) msgbuffer;

                    break;

                case MSGTYPE_XBEE_RX_FRAME_MODEM_STATUS:

                    DBG_PRINT_MAIN("Main: XBee modem status frame\r\n");

                    frame_modem_status = (void *) msgbuffer;

                    break;

                    /* -----------------------------------------------------------*/

            };

            continue;

        }

        // Process low priority queue

        length = MQ_recvmsg_ToMainFromLow(MSGLEN, &msgtype, (void *) msgbuffer);

        if (length < 0) {

            // No message, check the error code to see if it is concern

            if (length != MSG_QUEUE_EMPTY) {

                DBG_PRINT_MAIN("Main: (ERROR) Bad low priority receive, code = %d\r\n", length);

            }

        } else {

            switch (msgtype) {

                /* --- Port B Interrupt Handlers -----------------------------*/

                case MSGTYPE_PORTB_4_DOWN:

                    DBG_PRINT_MAIN("Main: Port B4 Down\r\n");

#ifdef _REMOTE

                    timer3_enable();

#endif

#ifdef _BASE_STATION

                    timer0_enable();

#endif

                    break;

                case MSGTYPE_PORTB_4_UP:

                    DBG_PRINT_MAIN("Main: Port B4 Up\r\n");

#ifdef _REMOTE

                    timer3_disable();

#endif

#ifdef _BASE_STATION

                    timer0_disable();

#endif

                    break;

                case MSGTYPE_PORTB_5_DOWN:

                    DBG_PRINT_MAIN("Main: Port B5 Down\r\n");

                    break;

                case MSGTYPE_PORTB_5_UP:

                    DBG_PRINT_MAIN("Main: Port B5 Up\r\n");

                    break;

                case MSGTYPE_PORTB_6_DOWN:

                    DBG_PRINT_MAIN("Main: Port B6 Down\r\n");

                    break;

                case MSGTYPE_PORTB_6_UP:

                    DBG_PRINT_MAIN("Main: Port B6 Up\r\n");

                    break;

                case MSGTYPE_PORTB_7_DOWN:

                    DBG_PRINT_MAIN("Main: Port B7 Down\r\n");

                    break;

                case MSGTYPE_PORTB_7_UP:

                    DBG_PRINT_MAIN("Main: Port B7 Up\r\n");

                    break;

                    /* -----------------------------------------------------------*/

                    /* --- Timer Interrupt Handlers ------------------------------*/

                case MSGTYPE_TIMER0:

                    DBG_PRINT_MAIN("Main: Timer 0\r\n");

                    /* XBee Demo */

                    frame_tx_data = (void *) msgbuffer;

                    frame_tx_data->frame_type = XBEE_TX_DATA_PACKET;

                    frame_tx_data->frame_id = 0;

                    frame_tx_data->destination_64.UPPER_32.long_value = 0x00000000;

                    frame_tx_data->destination_64.LOWER_32.long_value = 0x00000000;

                    frame_tx_data->destination_16.INT_16.int_value = 0x0000;

                    frame_tx_data->broadcast_radius = 0;

                    frame_tx_data->options = 0x01; // Disable ACK

                    frame_tx_data->data[0] = counter;

                    counter++;

                    if (counter == 100)

                        counter = 0;

                    length = XBEE_TX_DATA_PACKET_FRAME_SIZE + 1;

                    xbee_process_transmit_frame((void *) msgbuffer, length);

                    Delay10KTCYx(100);

//                    /* I2C Demo */

//                    // Write 2 bytes

//                    msgbuffer[0] = 0x4;

//                    msgbuffer[1] = 0x2;

//                    i2c_master_send(0x5F, 2, msgbuffer);

//                    while (i2c_master_busy());

//

//                    // Read 2 bytes back

//                    i2c_master_recv(0x5F, 2);

//                    while (i2c_master_busy());

                    break;

//                case MSGTYPE_ADC_NEWVALUE:

//                    // Get the value in the ADC

//                    adc_last_value = *((unsigned int*) msgbuffer);

//                    adc_last_value_shifted = adc_last_value >> 4;

//                    DBG_PRINT_MAIN("Main: ADC Value = %d\r\n", adc_last_value);

//

//                    adc_start();

//                    break;

                default:

                    DBG_PRINT_MAIN("Main: (ERROR) Unexpected msg in low queue, length = %d, type = %d\r\n", length, msgtype);

                    for (i = 0; i < length; i++) {

                        DBG_PRINT_MAIN("%X ", msgbuffer[i]);

                    }

                    DBG_PRINT_MAIN("\r\n");

                    break;

            };

            continue;

        }

    }

}