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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; |
| // } |
| } |
| |