| 0,0 → 1,45 |
|---|
| #include "maindefs.h" |
| #include "msg_queues.h" |
| #include <usart.h> |
| #include "uart.h" |
| #include "xbee.h" |
| |
| void uart_init() { |
| // Configure the hardware USART device |
| |
| // UART1 TX RC6 |
| // UART1 RX RC7 |
| Open1USART(USART_TX_INT_OFF & // Interrupt on TX off |
| USART_RX_INT_OFF & // 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, 64); // Set UART speed to 38400 baud |
| |
| // UART2 RX Pin RP5 |
| RPINR16 = 5; // 5 is PPS RP5 |
| // UART2 TX Pin RP6 |
| RPOR6 = 5; // 5 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, 64); // Set UART speed to 115200 baud |
| } |
| |
| void uart_recv_interrupt_handler() { |
| if (DataRdy2USART()) { |
| xbee_read_serial(Read2USART()); |
| } |
| |
| if (USART2_Status.OVERRUN_ERROR == 1) { |
| // We've overrun the USART and must reset |
| RCSTA1bits.CREN = 0; |
| RCSTA1bits.CREN = 1; |
| RCSTA2bits.CREN = 0; |
| RCSTA2bits.CREN = 1; |
| MQ_sendmsg_ToMainFromHigh(0, MSGTYPE_OVERRUN, (void *) 0); |
| } |
| } |