| 100,6 → 100,7 |
|---|
| OSCTUNEbits.PLLEN = 1; // Enable 4x PLL |
| OSCCONbits.IRCF = 0b111; // Set INTOSC postscaler to 8MHz |
| OSCCONbits.SCS = 0b00; // Use PLL as primary clock source |
| OSCCONbits.IDLEN = 1; // Set CPU to IDLE on sleep instruction |
| /* -------------------------------------------------------------------- */ |
| |
| // Set all ports as digial I/O |
| 192,7 → 193,6 |
|---|
| 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 |
| 392,7 → 392,7 |
|---|
| } |
| |
| // Send value of first byte received to LED display |
| led_driver_num(frame_data_packet->data[0]); |
| // led_driver_num(frame_data_packet->data[0]); |
| #endif |
| #ifdef _REMOTE |
| led_driver_num(frame_data_packet->data[0]); |
| 505,16 → 505,6 |
|---|
| } |
| } 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"); |
| 652,11 → 642,18 |
|---|
| #endif |
| break; |
| /* -----------------------------------------------------------*/ |
| case MSGTYPE_INT1: |
| #ifdef _BASE_STATION |
| wake(); |
| IR_receive_flag = 1; |
| 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"); |
| #ifdef _BASE_STATION |
| pwm_LED_off(); |
| IR_receive_flag = 0; // Reset IR receive flag |
| INTCON3bits.INT1IE = 1; // Turn on INT1 interrupt |
| #endif |
| 665,27 → 662,6 |
|---|
| case MSGTYPE_TIMER1: |
| DBG_PRINT_MAIN("Main: Timer 1 Interrupt\r\n"); |
| #ifdef _REMOTE |
| // /* 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; |
| // ConvertEndian64(&frame_tx_data->destination_64); |
| // frame_tx_data->destination_16.INT_16.int_value = xbee_parent_address; |
| // ConvertEndian16(&frame_tx_data->destination_16); |
| // frame_tx_data->broadcast_radius = 1; |
| // frame_tx_data->options = 0x01; // Disable ACK |
| // frame_tx_data->data[0] = counter; |
| // |
| // led_driver_num(counter); |
| // counter++; |
| // if (counter == 100) |
| // counter = 0; |
| // |
| // length = XBEE_TX_DATA_PACKET_FRAME_SIZE + 1; |
| // xbee_process_transmit_frame((void *) msgbuffer, length); |
| |
| /* Read values from accelerometer and gyroscope */ |
| if (i2c_state == I2C_STATE_READ_GYRO) { |
| imu_read_acc(); |
| 702,9 → 678,9 |
|---|
| 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 |
| // IR_receive_flag = 0; |
| // pwm_LED_off(); |
| // INTCON3bits.INT1IE = 1; // Turn on INT1 interrupt |
| #endif |
| break; |
| // case MSGTYPE_ADC_NEWVALUE: |