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Ignore whitespace Rev 114 → Rev 115

/Classwork/ECE4534 - Embedded Systems/PIC 26J11/main.c
27,12 → 27,6
#pragma config IOL1WAY = OFF // IOLOCK bit can be set and cleared as needed
#endif
 
/* ----- To Do -----
* Verify polling base station over I2C works
* Implement send data to remote on corresponding I2C command
* Verify operation with multiple base stations
* -------------- */
 
/* ----------- IO Pins -----------
* RA0 - LED Display Latch Enable (V1) or Display CLK (V2) (PPS)
* RA1 - LED Display CLK (V1) (PPS) or Display DIN (V2) (PPS)
73,15 → 67,25
int length;
unsigned char msgtype;
unsigned char i = 0;
unsigned char counter = 0;
unsigned char IR_receive_flag = 0;
unsigned int xbee_parent_address = 0;
#ifdef _BASE_STATION
volatile unsigned char IR_receive_flag = 0;
unsigned char i2c_last_req_size = 0;
XBEE_ADDRESS_64 last_recv_address = {0};
XBEE_ADDRESS_16 remote_address_16;
XBEE_ADDRESS_64 remote_address_64;
#endif
#ifdef _REMOTE
unsigned int xbee_parent_address_16 = 0;
enum I2C_STATE i2c_state = I2C_STATE_IDLE;
enum XBEE_STATE xbee_state = XBEE_STATE_WAITING_TO_JOIN;
XBEE_ADDRESS_64 last_recv_address = {0};
XBEE_ADDRESS_16 converter16;
XBEE_ADDRESS_16 parent_address_16;
XBEE_ADDRESS_64 parent_address_64;
#endif
 
// Pointers to allow parsing of xbee data from arbitrary byte array
XBEE_TX_DATA_PACKET_FRAME *frame_tx_data;
XBEE_TX_AT_COMMAND_FRAME *frame_tx_at_command;
// 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;
91,10 → 95,7
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;
XBEE_TX_AT_COMMAND_FRAME *frame_tx_at_command;
 
/* --------------------- Oscillator Configuration --------------------- */
OSCTUNEbits.PLLEN = 1; // Enable 4x PLL
OSCCONbits.IRCF = 0b111; // Set INTOSC postscaler to 8MHz
123,6 → 124,7
interrupt_init(); // Initialize the interrupt priorities
#ifdef _BASE_STATION
i2c_configure_slave(BASE_STATION_ADDRESS);
led_driver_num(BASE_STATION_ADDRESS);
#endif
#ifdef _REMOTE
i2c_configure_master(); // Configure the hardware i2c device as a master
181,30 → 183,58
} else {
msgbuffer[0] = buffer_data.stored_length;
}
DBG_PRINT_MAIN("Main: (I2C Return 0x2) Returning %d bytes\r\n", length);
i2c_last_req_size = msgbuffer[0];
DBG_PRINT_MAIN("Main: (I2C Return 0x2) Returning %d\r\n", msgbuffer[0]);
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);
}
DBG_PRINT_MAIN("Main: (I2C Return 0x4) Returning %d bytes\r\n", length);
MQ_sendmsg_FromMainToHigh(length, MSGTYPE_I2C_REPLY, (void *) msgbuffer);
buffer_read(i2c_last_req_size, msgbuffer);
DBG_PRINT_MAIN("Main: (I2C Return 0x4) Returning %d bytes\r\n", i2c_last_req_size);
MQ_sendmsg_FromMainToHigh(i2c_last_req_size, MSGTYPE_I2C_REPLY, (void *) msgbuffer);
pwm_LED_off(); // Turn off LED if it was on
break;
case 0x6:
// Return status of IR signal input
length = 1;
msgbuffer[0] = IR_receive_flag;
DBG_PRINT_MAIN("Main: Returning IR state %d\r\n", IR_receive_flag);
MQ_sendmsg_FromMainToHigh(length, MSGTYPE_I2C_REPLY, (void *) msgbuffer);
break;
case 0x7:
// Send value to specified remote
 
remote_address_64.UPPER_32.char_value[0] = msgbuffer[1];
remote_address_64.UPPER_32.char_value[1] = msgbuffer[2];
remote_address_64.UPPER_32.char_value[2] = msgbuffer[3];
remote_address_64.UPPER_32.char_value[3] = msgbuffer[4];
remote_address_64.LOWER_32.char_value[0] = msgbuffer[5];
remote_address_64.LOWER_32.char_value[1] = msgbuffer[6];
remote_address_64.LOWER_32.char_value[2] = msgbuffer[7];
remote_address_64.LOWER_32.char_value[3] = msgbuffer[8];
remote_address_16.INT_16.char_value[0] = msgbuffer[9];
remote_address_16.INT_16.char_value[1] = msgbuffer[10];
DBG_PRINT_MAIN("Main: Sending %X to (64) %08lX %08lX (16) %04X\r\n",
msgbuffer[11],
remote_address_64.UPPER_32.long_value,
remote_address_64.LOWER_32.long_value,
remote_address_16.INT_16.int_value);
 
frame_tx_data = (void *) msgbuffer;
frame_tx_data->data[0] = msgbuffer[11];
frame_tx_data->frame_type = XBEE_TX_DATA_PACKET;
frame_tx_data->frame_id = 0;
frame_tx_data->destination_64.UPPER_32.long_value = remote_address_64.UPPER_32.long_value;
frame_tx_data->destination_64.LOWER_32.long_value = remote_address_64.LOWER_32.long_value;
ConvertEndian64(&frame_tx_data->destination_64);
frame_tx_data->destination_16.INT_16.int_value = remote_address_16.INT_16.int_value;
ConvertEndian16(&frame_tx_data->destination_16);
frame_tx_data->broadcast_radius = 0;
frame_tx_data->options = 0x01; // Disable ACK
 
length = XBEE_TX_DATA_PACKET_FRAME_SIZE + 1;
xbee_process_transmit_frame((void *) msgbuffer, length);
break;
case 0x8:
break;
case 0x9:
break;
default:
DBG_PRINT_MAIN("Main: (ERROR) Unexpected message type recieved: %d\r\n", msgbuffer[0]);
break;
241,10 → 271,10
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_64.UPPER_32.long_value = parent_address_64.UPPER_32.long_value;
frame_tx_data->destination_64.LOWER_32.long_value = parent_address_64.LOWER_32.long_value;
ConvertEndian64(&frame_tx_data->destination_64);
frame_tx_data->destination_16.INT_16.int_value = xbee_parent_address;
frame_tx_data->destination_16.INT_16.int_value = xbee_parent_address_16;
ConvertEndian16(&frame_tx_data->destination_16);
frame_tx_data->broadcast_radius = 0;
frame_tx_data->options = 0x01; // Disable ACK
263,23 → 293,65
 
/* --- XBee Message Handlers ---------------------------------*/
case MSGTYPE_XBEE_RX_AT_COMMAND_RESPONSE:
DBG_PRINT_MAIN("\r\n");
frame_at_cmd_response = (void *) msgbuffer;
DBG_PRINT_MAIN("Main: XBee AT command response 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[1]);
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("%02X ", frame_data_packet->data[i]);
DBG_PRINT_MAIN("%02X ", frame_at_cmd_response->data[i]);
}
DBG_PRINT_MAIN("\r\n");
#ifdef _REMOTE
// Parse response from 'MP' command
if (frame_at_cmd_response->command[0] == 'M' &&
frame_at_cmd_response->command[1] == 'P') {
converter16.INT_16.char_value[0] = frame_at_cmd_response->data[0];
converter16.INT_16.char_value[1] = frame_at_cmd_response->data[1];
ConvertEndian16(&converter16);
xbee_parent_address = converter16.INT_16.int_value;
parent_address_16.INT_16.char_value[0] = frame_at_cmd_response->data[0];
parent_address_16.INT_16.char_value[1] = frame_at_cmd_response->data[1];
ConvertEndian16(&parent_address_16);
xbee_parent_address_16 = parent_address_16.INT_16.int_value;
 
DBG_PRINT_MAIN("Main: XBee parent address (16): %04X\r\n", xbee_parent_address_16);
// Set broadcast radius to 1
frame_tx_at_command = (void *) msgbuffer;
frame_tx_at_command->frame_type = XBEE_TX_AT_COMMAND;
frame_tx_at_command->frame_id = 1;
frame_tx_at_command->command[0] = 'B';
frame_tx_at_command->command[1] = 'H';
frame_tx_at_command->data[0] = 1;
length = XBEE_TX_AT_COMMAND_FRAME_SIZE + 1;
xbee_process_transmit_frame((void *) msgbuffer, length);
 
// Query for parent node info
frame_tx_at_command = (void *) msgbuffer;
frame_tx_at_command->frame_type = XBEE_TX_AT_COMMAND;
frame_tx_at_command->frame_id = 1;
frame_tx_at_command->command[0] = 'N';
frame_tx_at_command->command[1] = 'D';
length = XBEE_TX_AT_COMMAND_FRAME_SIZE;
xbee_process_transmit_frame((void *) msgbuffer, length);
}
// Parse response from 'ND' command
else if (frame_at_cmd_response->command[0] == 'N' &&
frame_at_cmd_response->command[1] == 'D') {
parent_address_64.UPPER_32.char_value[0] = frame_at_cmd_response->data[2];
parent_address_64.UPPER_32.char_value[1] = frame_at_cmd_response->data[3];
parent_address_64.UPPER_32.char_value[2] = frame_at_cmd_response->data[4];
parent_address_64.UPPER_32.char_value[3] = frame_at_cmd_response->data[5];
parent_address_64.LOWER_32.char_value[0] = frame_at_cmd_response->data[6];
parent_address_64.LOWER_32.char_value[1] = frame_at_cmd_response->data[7];
parent_address_64.LOWER_32.char_value[2] = frame_at_cmd_response->data[8];
parent_address_64.LOWER_32.char_value[3] = frame_at_cmd_response->data[9];
ConvertEndian64(&parent_address_64);
 
DBG_PRINT_MAIN("Main: XBee parent address (64): %08lX %08lX\r\n",
parent_address_64.UPPER_32.long_value,
parent_address_64.LOWER_32.long_value);
xbee_state = XBEE_STATE_JOINED_NETWORK;
// Turn off LED after XBee has joined network
pwm_LED_off();
}
#endif
break;
302,12 → 374,13
DBG_PRINT_MAIN("\r\n");
#ifdef _BASE_STATION
 
DBG_PRINT_MAIN("Buffer Free Space: %d\r\n", buffer_free_space());
if (frame_data_packet->source_64.LOWER_32.long_value != last_recv_address.LOWER_32.long_value ||
frame_data_packet->source_64.UPPER_32.long_value != last_recv_address.UPPER_32.long_value) {
// Receive data from new remote
// Save remote's 64 and 16 bit addresses
buffer_insert_one(RETURNID_NEW_REMOTE_SRC);
buffer_insert(4, frame_data_packet->source_64.UPPER_32.char_value);
buffer_insert(4, frame_data_packet->source_64.LOWER_32.char_value);
buffer_insert(2, frame_data_packet->source_16.INT_16.char_value);
// Save data
buffer_insert(length - XBEE_RX_DATA_PACKET_FRAME_SIZE, frame_data_packet->data);
// Save address of sender
321,6 → 394,9
// Send value of first byte received to LED display
led_driver_num(frame_data_packet->data[0]);
#endif
#ifdef _REMOTE
led_driver_num(frame_data_packet->data[0]);
#endif
sleep();
break;
case MSGTYPE_XBEE_RX_DATA_TX_STATUS:
365,8 → 441,12
frame_node_identification->remote_64.LOWER_32.long_value
);
DBG_PRINT_MAIN("Remote 16: %04X\r\n", frame_node_identification->remote_16.INT_16.int_value);
DBG_PRINT_MAIN("Remote 16: %04X\r\n", frame_node_identification->parent_16.INT_16.int_value);
DBG_PRINT_MAIN("Parent 16: %04X\r\n", frame_node_identification->parent_16.INT_16.int_value);
DBG_PRINT_MAIN("Receive Options: %02X\r\n", frame_node_identification->recieve_options);
buffer_insert_one(RETURNID_NEW_REMOTE_CON);
buffer_insert(4, frame_node_identification->remote_64.UPPER_32.char_value);
buffer_insert(4, frame_node_identification->remote_64.LOWER_32.char_value);
buffer_insert(2, frame_node_identification->remote_16.INT_16.char_value);
break;
case MSGTYPE_XBEE_RX_FRAME_MODEM_STATUS:
DBG_PRINT_MAIN("Main: XBee modem status frame\r\n");
375,7 → 455,9
switch(frame_modem_status->status) {
case 0:
DBG_PRINT_MAIN("Hardware Reset");
#ifdef _REMOTE
xbee_state = XBEE_STATE_WAITING_TO_JOIN;
#endif
break;
case 1:
DBG_PRINT_MAIN("Watchdog Timer Reset");
382,9 → 464,6
break;
case 2:
DBG_PRINT_MAIN("Joined Network");
#ifdef _BASE_STATION
xbee_state = XBEE_STATE_JOINED_NETWORK;
#endif
#ifdef _REMOTE
// Query for parent's address
frame_tx_at_command = (void *) msgbuffer;
392,14 → 471,13
frame_tx_at_command->frame_id = 1;
frame_tx_at_command->command[0] = 'M';
frame_tx_at_command->command[1] = 'P';
// length = XBEE_TX_AT_COMMAND_FRAME_SIZE;
xbee_process_transmit_frame((void *) msgbuffer, 4);
// Turn off LED after XBee has joined network
pwm_LED_off();
length = XBEE_TX_AT_COMMAND_FRAME_SIZE;
xbee_process_transmit_frame((void *) msgbuffer, length);
#endif
break;
case 3:
DBG_PRINT_MAIN("Disassociated");
pwm_LED_on();
break;
case 6:
DBG_PRINT_MAIN("Coordinator Started");
415,7 → 493,7
break;
/* -----------------------------------------------------------*/
};
continue;
// continue;
}
 
// Process low priority queue
427,6 → 505,16
}
} else {
switch (msgtype) {
case MSGTYPE_INT1:
#ifdef _BASE_STATION
wake();
IR_receive_flag = 1;
pwm_LED_on();
// timer2_enable(); // Enable timer 2 to turn off LED
sleep();
// DBG_PRINT_MAIN("Main: INT1 Interrupt\r\n");
#endif
break;
/* --- Port B Interrupt Handlers -----------------------------*/
case MSGTYPE_PORTB_4_DOWN:
DBG_PRINT_MAIN("Main: Port B4 Down\r\n");
449,10 → 537,10
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_64.UPPER_32.long_value = parent_address_64.UPPER_32.long_value;
frame_tx_data->destination_64.LOWER_32.long_value = parent_address_64.LOWER_32.long_value;
ConvertEndian64(&frame_tx_data->destination_64);
frame_tx_data->destination_16.INT_16.int_value = xbee_parent_address;
frame_tx_data->destination_16.INT_16.int_value = xbee_parent_address_16;
ConvertEndian16(&frame_tx_data->destination_16);
frame_tx_data->broadcast_radius = 0;
frame_tx_data->options = 0x01; // Disable ACK
476,10 → 564,10
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_64.UPPER_32.long_value = parent_address_64.UPPER_32.long_value;
frame_tx_data->destination_64.LOWER_32.long_value = parent_address_64.LOWER_32.long_value;
ConvertEndian64(&frame_tx_data->destination_64);
frame_tx_data->destination_16.INT_16.int_value = xbee_parent_address;
frame_tx_data->destination_16.INT_16.int_value = xbee_parent_address_16;
ConvertEndian16(&frame_tx_data->destination_16);
frame_tx_data->broadcast_radius = 0;
frame_tx_data->options = 0x01; // Disable ACK
507,14 → 595,14
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_64.UPPER_32.long_value = parent_address_64.UPPER_32.long_value;
frame_tx_data->destination_64.LOWER_32.long_value = parent_address_64.LOWER_32.long_value;
ConvertEndian64(&frame_tx_data->destination_64);
frame_tx_data->destination_16.INT_16.int_value = xbee_parent_address;
frame_tx_data->destination_16.INT_16.int_value = xbee_parent_address_16;
ConvertEndian16(&frame_tx_data->destination_16);
frame_tx_data->broadcast_radius = 0;
frame_tx_data->options = 0x01; // Disable ACK
frame_tx_data->data[0] = RETURNID_BTN1;
frame_tx_data->data[0] = RETURNID_BTN2;
 
length = XBEE_TX_DATA_PACKET_FRAME_SIZE + 1;
xbee_process_transmit_frame((void *) msgbuffer, length);
537,17 → 625,17
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_64.UPPER_32.long_value = parent_address_64.UPPER_32.long_value;
frame_tx_data->destination_64.LOWER_32.long_value = parent_address_64.LOWER_32.long_value;
ConvertEndian64(&frame_tx_data->destination_64);
frame_tx_data->destination_16.INT_16.int_value = xbee_parent_address;
frame_tx_data->destination_16.INT_16.int_value = xbee_parent_address_16;
ConvertEndian16(&frame_tx_data->destination_16);
frame_tx_data->broadcast_radius = 0;
frame_tx_data->options = 0x01; // Disable ACK
frame_tx_data->data[0] = RETURNID_BTN2;
frame_tx_data->data[0] = RETURNID_BTN1;
 
length = XBEE_TX_DATA_PACKET_FRAME_SIZE + 1;
xbee_process_transmit_frame((void *) msgbuffer, length);
xbee_process_transmit_frame((void *) msgbuffer, length);;
}
#endif
break;
559,21 → 647,13
}
#endif
break;
case MSGTYPE_INT1:
#ifdef _BASE_STATION
IR_receive_flag = 1;
pwm_LED_toggle();
Delay10KTCYx(1);
pwm_LED_toggle();
sleep();
// DBG_PRINT_MAIN("Main: INT1 Interrupt\r\n");
#endif
break;
/* -----------------------------------------------------------*/
/* --- Timer Interrupt Handlers ------------------------------*/
case MSGTYPE_TIMER0:
DBG_PRINT_MAIN("Main: Timer 0 Interrupt\r\n");
IR_receive_flag = 0;
pwm_LED_off();
IR_receive_flag = 0; // Reset IR receive flag
INTCON3bits.INT1IE = 1; // Turn on INT1 interrupt
sleep_enable();
break;
case MSGTYPE_TIMER1:
613,6 → 693,14
}
#endif
break;
case MSGTYPE_TIMER2:
DBG_PRINT_MAIN("Main: Timer 2 Interrupt\r\n");
#ifdef _BASE_STATION
IR_receive_flag = 0;
pwm_LED_off();
INTCON3bits.INT1IE = 1; // Turn on INT1 interrupt
#endif
break;
// case MSGTYPE_ADC_NEWVALUE:
// // Get the value in the ADC
// adc_last_value = *((unsigned int*) msgbuffer);