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#include "defines.h"

#include "uart.h"

#include "xbee.h"

#include <string.h>

#include <stdio.h>

#pragma udata UART1_BUFFER

static UART_DATA uart_1_data;

#pragma udata

static UART_DATA *uart_1_data_p = &uart_1_data;

void UART1_Init() {

    // Configure the hardware USART device

    // UART1 TX RC6

    // UART1 RX RC7

    UART1_TX_TRIS = 0; // Tx pin set to output

    UART1_RX_TRIS = 1; // Rx pin set to input

    BAUDCON1bits.BRG16 = 0; // 8-bit baud rate generator

    SPBRG1 = 25; // Set UART speed to 115200 baud

    TXSTA1bits.BRGH = 1; // High speed mode

    TXSTA1bits.SYNC = 0; // Async mode

    RCSTA1bits.SPEN = 1; // Serial port enable

    TXSTA1bits.TX9 = 0; // 8 bit transmission

    RCSTA1bits.RX9 = 0; // 8 bit reception

    RCSTA1bits.CREN = 1; // Continuous receive mode

#ifdef _DEBUG // In debug mode we want to have TXEN constantly enabled

    TXSTA1bits.TXEN = 1; // TX is always enabled

    PIE1bits.TX1IE = 0; // Disable TX interrupt

#else

    TXSTA1bits.TXEN = 0; // Enable transmission

    PIE1bits.TX1IE = 1; // Enable TX interrupt

#endif

    PIE1bits.RC1IE = 1; // Enable RX interrupt

    // Initialize the buffer that holds UART messages

    uart_1_data_p->buffer_in_read_ind = 0;

    uart_1_data_p->buffer_in_write_ind = 0;

    uart_1_data_p->buffer_in_len = 0;

    uart_1_data_p->buffer_in_len_tmp = 0;

}

//void uart_2_init() {

//    // Configure the PPS USART ports

//

//    // UART2 RX Pin RP5

//    RPINR16 = PPS_UART2_RX;    // 5 is PPS RP5

//    // UART2 TX Pin RP6

//    PPS_UART2_TX = 6;  // 6 is TX2/CK2 (EUSART2 Asynchronous Transmit/Asynchronous Clock Output)

//

//    Open2USART(USART_TX_INT_OFF &   // Interrupt on TX off

//            USART_RX_INT_ON &      // Interrupt on RX on

//            USART_ASYNCH_MODE &     // Operate in async mode

//            USART_EIGHT_BIT &       // Operate in 8-bit mode

//            USART_CONT_RX &         // Continuously recieve messages

//            USART_BRGH_HIGH, 25);  // Set UART speed to 115200 baud

//}

void UART1_Recv_Interrupt_Handler() {

    unsigned char c;

    if (PIR1bits.RC1IF) { // Check if data receive flag is set

        c = RCREG1;

#ifdef UART1_RX_TO_BUFFER

        // Save received data into buffer

        uart_1_data_p->buffer_in[uart_1_data_p->buffer_in_write_ind] = c;

        if (uart_1_data_p->buffer_in_write_ind == MAXUARTBUF - 1) {

            uart_1_data_p->buffer_in_write_ind = 0;

        } else {

            uart_1_data_p->buffer_in_write_ind++;

        }

        // Store the last MAXUARTBUF values entered

        if (uart_1_data_p->buffer_in_len_tmp < MAXUARTBUF) {

            uart_1_data_p->buffer_in_len_tmp++;

        } else {

            if (uart_1_data_p->buffer_in_read_ind == MAXUARTBUF - 1) {

                uart_1_data_p->buffer_in_read_ind = 0;

            } else {

                uart_1_data_p->buffer_in_read_ind++;

            }

        }

        // Update buffer size upon receiving newline (0x0D)

        if (c == UART1_BREAK_CHAR) {

            uart_1_data_p->buffer_in_len = uart_1_data_p->buffer_in_len_tmp;

            uart_1_data_p->buffer_in_len_tmp = 0;

        }

#endif

#ifdef UART1_RX_TO_XBEE

        XBee_Serial_In(c);

#endif

    }

    if (RCSTA1bits.OERR == 1) {

        // We've overrun the USART and must reset

        RCSTA1bits.CREN = 0; // Reset UART1

        RCSTA1bits.CREN = 1;

        DBG_PRINT_UART("UART1: (ERROR) overrun\r\n");

        TXSTA1bits.TXEN = 0; // Kill anything currently sending

    }

}

//void uart_2_recv_interrupt_handler() {

//    if (DataRdy2USART()) {

////        xbee_read_serial(Read2USART());

//    }

//

//    if (USART2_Status.OVERRUN_ERROR == 1) {

//        // We've overrun the USART and must reset

//        RCSTA2bits.CREN = 0;    // Reset UART2

//        RCSTA2bits.CREN = 1;

//    }

//}

void UART1_Send_Interrupt_Handler() {

    // Put remaining data in TSR for transmit

    if (uart_1_data_p->buffer_out_ind != uart_1_data_p->buffer_out_len) {

        TXREG1 = uart_1_data_p->buffer_out[uart_1_data_p->buffer_out_ind];

        uart_1_data_p->buffer_out_ind++;

    } else {

        while (!TXSTA1bits.TRMT); // Wait for last byte to finish sending

        TXSTA1bits.TXEN = 0; // End transmission and disable TX interrupt

        uart_1_data_p->buffer_out_ind = 0;

        uart_1_data_p->buffer_out_len = 0;

    }

}

void UART1_WriteS(const rom char *fmt, ...) {

#ifdef _DEBUG

    unsigned char i;

    va_list args;

    va_start(args, fmt);

    vsprintf((char *) uart_1_data_p->buffer_out, fmt, args);

    va_end(args);

    uart_1_data_p->buffer_out_len = strlen((char *) uart_1_data_p->buffer_out);

    uart_1_data_p->buffer_out_ind = 1;

    for (i = 0; i < uart_1_data_p->buffer_out_len; i++) {

        TXREG1 = uart_1_data_p->buffer_out[i];

        Nop();

        while (!PIR1bits.TX1IF); // Wait for byte to be transmitted

    }

#else

    va_list args;

    while (TXSTA1bits.TXEN); // Wait for previous message to finish sending

    va_start(args, fmt);

    vsprintf((char *) uart_1_data_p->buffer_out, fmt, args);

    va_end(args);

    uart_1_data_p->buffer_out_len = strlen((char *) uart_1_data_p->buffer_out);

    uart_1_data_p->buffer_out_ind = 1;

    TXREG1 = uart_1_data_p->buffer_out[0]; // Put first byte in TSR

    TXSTA1bits.TXEN = 1; // Begin transmission

#endif

}

void UART1_WriteF(float f, unsigned char m) {

    long whole = 0;

    unsigned long decimal = 0;

    unsigned int multiplier = 1;

    unsigned char i;

    for (i = 0; i < m; i++)

        multiplier *= 10;

    whole = (long)((float)f);

    decimal = (long)((float)f*multiplier) - whole*multiplier;

    // Round up if necessary

    if ((long)((float)f*multiplier*10) % 10 >= 5)

        decimal += 1;

#ifdef _DEBUG

    sprintf((char *) uart_1_data_p->buffer_out, "%ld.%ld", whole, decimal);

    uart_1_data_p->buffer_out_len = strlen((char *) uart_1_data_p->buffer_out);

    uart_1_data_p->buffer_out_ind = 1;

    for (i = 0; i < uart_1_data_p->buffer_out_len; i++) {

        TXREG1 = uart_1_data_p->buffer_out[i];

        Nop();

        while (!PIR1bits.TX1IF); // Wait for byte to be transmitted

    }

#else

    while (TXSTA1bits.TXEN); // Wait for previous message to finish sending

    sprintf((char *) uart_1_data_p->buffer_out, "%ld.%ld", whole, decimal);

    uart_1_data_p->buffer_out_len = strlen((char *) uart_1_data_p->buffer_out);

    uart_1_data_p->buffer_out_ind = 1;

    TXREG1 = uart_1_data_p->buffer_out[0]; // Put first byte in TSR

    TXSTA1bits.TXEN = 1; // Begin transmission

#endif

}

void UART1_WriteB(const char *msg, unsigned char length) {

    unsigned char i;

#ifdef _DEBUG

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

        TXREG1 = msg[i];

        Nop();

        while (!PIR1bits.TX1IF); // Wait for byte to be transmitted

    }

#else

    while (TXSTA1bits.TXEN); // Wait for previous message to finish sending

    uart_1_data_p->buffer_out_len = length;

    uart_1_data_p->buffer_out_ind = 1;

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

        uart_1_data_p->buffer_out[i] = msg[i];

    }

    TXREG1 = uart_1_data_p->buffer_out[0]; // Put first byte in TSR

    TXSTA1bits.TXEN = 1; // Begin transmission

#endif

}

void UART1_WriteC(const unsigned char c) {

#ifdef _DEBUG

    TXREG1 = c;

    Nop();

    while (!PIR1bits.TX1IF);

#else

    while (TXSTA1bits.TXEN);

    uart_1_data_p->buffer_out_len = 1;

    uart_1_data_p->buffer_out_ind = 1;

    TXREG1 = c;

    TXSTA1bits.TXEN = 1;

#endif

}

unsigned char UART1_Buffer_Len() {

    return uart_1_data_p->buffer_in_len;

}

/* Reader interface to the UART buffer, returns the number of bytes read */

unsigned char UART1_Read_Buffer(unsigned char *buffer) {

    unsigned char i = 0;

    while (uart_1_data_p->buffer_in_len != 0) {

        buffer[i] = uart_1_data_p->buffer_in[uart_1_data_p->buffer_in_read_ind];

        i++;

        if (uart_1_data_p->buffer_in_read_ind == MAXUARTBUF - 1) {

            uart_1_data_p->buffer_in_read_ind = 0;

        } else {

            uart_1_data_p->buffer_in_read_ind++;

        }

        uart_1_data_p->buffer_in_len--;

    }

    return i;

}