| 0,0 → 1,375 |
|---|
| #include "maindefs.h" |
| #include "msg_queues.h" |
| #include "interrupts.h" |
| #include "uart.h" |
| #include "i2c.h" |
| #include "adc.h" |
| #include "timers.h" |
| #include "xbee.h" |
| #include "led_driver.h" |
| #include "pwm.h" |
| #include "delays.h" |
| #include "pin_interrupts.h" |
| |
| #pragma config WDTEN = OFF // Turn off watchdog timer |
| #pragma config XINST = OFF // Turn off extended instruction set |
| #pragma config OSC = HSPLL // Use external oscillator (101) |
| #pragma config PLLDIV = 3 // Set PPL prescaler to 3 (to get 4MHz) |
| #pragma config CFGPLLEN = ON // Enable PLL on startup |
| #pragma config PLLSEL = PLL96 // Use 96MHz PLL 4MHz -> 96MHz / 2 = 48MHz |
| //#pragma config SOSCSEL = HIGH // High Power T1OSC/SOSC circuit selected |
| #pragma config ADCSEL = BIT12 // 12-bit ADrC |
| #pragma config IOL1WAY = OFF // IOLOCK bit can be set and cleared as needed |
| |
| /* ----------- IO Pins ----------- |
| * RA0 - LED Display Latch Enable (PPS) |
| * RA1 - LED Display CLK (PPS) |
| * RA2 - LED Display DIN (PPS) |
| * RA3 - LED Display Output Enable (PPS) |
| * RA4 - [CANNOT BE USED (VDDCORE/VCAP)] |
| * RA5 - IR Reciever (PPS) |
| * RA6 - Oscillator |
| * RA7 - Oscillator |
| * |
| * RC0 - PWM Output (IR) (PPS, Ports B and C only) |
| * RC1 - PWM Output (IR) (PPS, Ports B and C only) |
| * RC2 - LED Output (PPS, Ports B and C only) |
| * RC3 - I2C SCL |
| * RC4 - I2C SDA |
| * RC5 - XBee Sleep (PPS) |
| * RC6 - UART Debug Output |
| * RC7 - UART Debug Input |
| * |
| * RB0 - XBee CTS (PPS) |
| * RB1 - XBee RTS (PPS) |
| * RB2 - XBee RX (PPS) |
| * RB3 - XBee Tx (PPS) |
| * RB4 - Button Input (Port B Interrupt on Change) |
| * RB5 - Button Input (Port B Interrupt on Change) |
| * RB6 - Button Input (Port B Interrupt on Change) |
| * RB7 - Button Input (Port B Interrupt on Change) |
| * ---------------------------- */ |
| |
| #pragma udata umain_1 |
| static unsigned char msgbuffer[MSGLEN + 1]; |
| #pragma udata umain_2 |
| static I2C_DATA i2c_i; |
| #pragma udata |
| static XBEE_DATA xbee_c; |
| static UART_DATA uart_c; |
| |
| void main(void) { |
| char length; |
| unsigned char msgtype; |
| unsigned char i = 0; |
| unsigned char last_data_received = 0; |
| // unsigned int adc_last_value; // Holds 12 bit ADC value |
| // unsigned char adc_last_value_shifted; // Holds upper 4 bits |
| |
| // 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; |
| XBEE_RX_IO_DATA_SAMPLE_FRAME *frame_io_sample; |
| XBEE_RX_EXPLICIT_COMMAND_FRAME *frame_explicit_cmd; |
| XBEE_RX_REMOTE_AT_COMMAND_FRAME *frame_remote_at_cmd; |
| 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; |
| |
| /* --------------------- Oscillator Configuration --------------------- */ |
| // OSCTUNEbits.PLLEN = 1; // Enable 4x PLL |
| // OSCCONbits.IRCF = 0b111; // Set INTOSC postscaler to 8MHz |
| OSCCONbits.SCS = 0b00; // Use 96MHz PLL as primary clock source |
| /* -------------------------------------------------------------------- */ |
| |
| uart_init(&uart_c); // Initialize the UART handler code |
| xbee_init(&xbee_c); // Initialize the XBee handler code |
| i2c_init(&i2c_i); // Initialize the I2C handler code |
| // adc_init(); // Initialize the ADC |
| MQ_init(); // Initialize message queues before enabling any interrupts |
| led_driver_init(); // Initialize the driver for the LED display |
| pwm_init(); // Initialize the PWM output driver |
| timers_init(); // Initialize timers |
| intx_init(); |
| // port_b_int_init(); // Initialze Port B interrupt handler |
| interrupt_enable(); // Enable high-priority interrupts and low-priority interrupts |
| interrupt_init(); // Initialize the interrupt priorities |
| |
| // Configure the hardware i2c device as a slave |
| #ifdef _MASTER |
| i2c_configure_master(); |
| #endif |
| #ifdef _SLAVE |
| i2c_configure_slave(0x5F); |
| #endif |
| |
| DBG_PRINT_MAIN("\r\nMain: Program Started\r\n"); |
| |
| #ifdef _MASTER |
| // Delay a bit to allow XBees to start up |
| for (i = 0; i < 20; i++) |
| Delay10KTCYx(255); |
| |
| pwm_start(); |
| |
| while (1) { |
| /* 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; |
| frame_tx_data->destination_16.INT_16.int_value = 0x0000; |
| frame_tx_data->broadcast_radius = 0; |
| frame_tx_data->options = 0x01; // Disable ACK |
| frame_tx_data->data[0] = i; |
| i++; |
| if (i == 100) |
| i = 0; |
| length = XBEE_TX_DATA_PACKET_FRAME_SIZE + 1; |
| xbee_process_transmit_frame((void *) msgbuffer, length); |
| Delay10KTCYx(100); |
| |
| /* I2C Demo */ |
| // Write 2 bytes |
| msgbuffer[0] = 0x4; |
| msgbuffer[1] = 0x2; |
| i2c_master_send(0x5F, 2, msgbuffer); |
| while (i2c_master_busy()); |
| |
| // Read 2 bytes back |
| i2c_master_recv(0x5F, 2); |
| while (i2c_master_busy()); |
| Delay10KTCYx(100); |
| } |
| #endif |
| |
| // Loop and process recieved messages from interrupts |
| while (1) { |
| // Call a routine that blocks until either message queues are not empty |
| MQ_wait_on_incoming_msg_queues(); |
| |
| // Process high priority message queue |
| length = MQ_recvmsg_ToMainFromHigh(MSGLEN, &msgtype, (void *) msgbuffer); |
| if (length < 0) { |
| // No message, check the error code to see if it is concern |
| if (length != MSG_QUEUE_EMPTY) { |
| DBG_PRINT_MAIN("Main: (ERROR) Bad high priority receive, code = %d\r\n", length); |
| } |
| } else { |
| switch (msgtype) { |
| /* --- I2C Message Handlers ----------------------------------*/ |
| case MSGTYPE_OVERRUN: |
| DBG_PRINT_MAIN("Main: (ERROR) UART overrun detected, type = %d\r\n", msgtype); |
| break; |
| case MSGTYPE_I2C_DBG: |
| DBG_PRINT_MAIN("Main: I2C Dbg Data Recieved: "); |
| for (i = 0; i < length; i++) { |
| DBG_PRINT_MAIN("%X ", msgbuffer[i]); |
| } |
| DBG_PRINT_MAIN("\r\n"); |
| break; |
| case MSGTYPE_I2C_DATA: |
| DBG_PRINT_MAIN("Main: I2C Data Recieved: "); |
| for (i = 0; i < length - 1; i++) { |
| DBG_PRINT_MAIN("%X ", msgbuffer[i]); |
| } |
| DBG_PRINT_MAIN(" Event Count: %d", msgbuffer[length - 1]); |
| DBG_PRINT_MAIN("\r\n"); |
| switch (msgbuffer[0]) { |
| case 0x2: |
| length = 1; |
| msgbuffer[0] = 1; // Size |
| MQ_sendmsg_FromMainToHigh(length, MSGTYPE_I2C_REPLY, (void *) msgbuffer); |
| break; |
| case 0x4: |
| length = 1; |
| msgbuffer[0] = last_data_received; |
| MQ_sendmsg_FromMainToHigh(length, MSGTYPE_I2C_REPLY, (void *) msgbuffer); |
| break; |
| case 0x6: |
| break; |
| case 0x7: |
| break; |
| case 0x8: |
| break; |
| case 0x9: |
| break; |
| default: |
| DBG_PRINT_MAIN("Main: (ERROR) Unexpected message type recieved: %d\r\n", msgbuffer[0]); |
| break; |
| }; |
| break; |
| case MSGTYPE_I2C_MASTER_SEND_COMPLETE: |
| DBG_PRINT_MAIN("Main: I2C Master Send Complete\r\n"); |
| break; |
| case MSGTYPE_I2C_MASTER_SEND_FAILED: |
| DBG_PRINT_MAIN("Main: (ERROR) I2C Master Send Failed\r\n"); |
| break; |
| case MSGTYPE_I2C_MASTER_RECV_COMPLETE: |
| DBG_PRINT_MAIN("Main: I2C Master Receive Complete\r\n"); |
| DBG_PRINT_MAIN("Data: "); |
| for (i = 0; i < length; i++) { |
| DBG_PRINT_MAIN("%X ", msgbuffer[i]); |
| } |
| DBG_PRINT_MAIN("\r\n"); |
| break; |
| case MSGTYPE_I2C_MASTER_RECV_FAILED: |
| DBG_PRINT_MAIN("Main: (ERROR) I2C Master Receive Failed\r\n"); |
| break; |
| /* -----------------------------------------------------------*/ |
| /* --- XBee Message Handlers ---------------------------------*/ |
| case MSGTYPE_XBEE_RX_AT_COMMAND_RESPONSE: |
| DBG_PRINT_MAIN("Main: XBee AT command 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[0]); |
| 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("%X ", frame_data_packet->data[i]); |
| } |
| DBG_PRINT_MAIN("\r\n"); |
| break; |
| case MSGTYPE_XBEE_RX_DATA_PACKET: |
| DBG_PRINT_MAIN("Main: XBee data packet frame\r\n"); |
| frame_data_packet = (void *) msgbuffer; |
| DBG_PRINT_MAIN("Data: "); |
| for (i = 0; i < length - XBEE_RX_DATA_PACKET_FRAME_SIZE; i++) { |
| DBG_PRINT_MAIN("%X ", frame_data_packet->data[i]); |
| } |
| DBG_PRINT_MAIN("\r\n"); |
| last_data_received = frame_data_packet->data[0]; |
| led_driver_num(frame_data_packet->data[0]); |
| break; |
| case MSGTYPE_XBEE_RX_DATA_TX_STATUS: |
| DBG_PRINT_MAIN("Main: XBee TX status frame\r\n"); |
| frame_tx_status = (void *) msgbuffer; |
| DBG_PRINT_MAIN("Destination: %X\r\n", frame_tx_status->destination_16); |
| DBG_PRINT_MAIN("Transmit Retry Count: %X\r\n", frame_tx_status->transmit_retry_count); |
| DBG_PRINT_MAIN("Delivery Status: %X\r\n", frame_tx_status->delivery_status); |
| DBG_PRINT_MAIN("Discovery Status: %X\r\n", frame_tx_status->discovery_status); |
| break; |
| case MSGTYPE_XBEE_RX_IO_DATA_SAMPLE: |
| DBG_PRINT_MAIN("Main: XBee IO data sample frame\r\n"); |
| frame_io_sample = (void *) msgbuffer; |
| break; |
| case MSGTYPE_XBEE_RX_EXPLICIT_COMMAND: |
| DBG_PRINT_MAIN("Main: XBee explicit command frame\r\n"); |
| frame_explicit_cmd = (void *) msgbuffer; |
| break; |
| case MSGTYPE_XBEE_RX_REMOTE_AT_COMMAND_RESPONSE: |
| DBG_PRINT_MAIN("Main: XBee remote AT command response frame\r\n"); |
| frame_remote_at_cmd = (void *) msgbuffer; |
| break; |
| case MSGTYPE_XBEE_RX_ROUTE_RECORD: |
| DBG_PRINT_MAIN("Main: XBee route record frame\r\n"); |
| frame_route_record = (void *) msgbuffer; |
| break; |
| case MSGTYPE_XBEE_RX_NODE_IDENTIFICATION: |
| DBG_PRINT_MAIN("Main: XBee node identification frame\r\n"); |
| frame_node_identification = (void *) msgbuffer; |
| break; |
| case MSGTYPE_XBEE_RX_FRAME_MODEM_STATUS: |
| DBG_PRINT_MAIN("Main: XBee modem status frame\r\n"); |
| frame_modem_status = (void *) msgbuffer; |
| break; |
| /* -----------------------------------------------------------*/ |
| /* --- Port B Interrupt Handlers -----------------------------*/ |
| case MSGTYPE_PORTB_4_DOWN: |
| |
| break; |
| case MSGTYPE_PORTB_4_UP: |
| |
| break; |
| case MSGTYPE_PORTB_5_DOWN: |
| |
| break; |
| case MSGTYPE_PORTB_5_UP: |
| |
| break; |
| case MSGTYPE_PORTB_6_DOWN: |
| |
| break; |
| case MSGTYPE_PORTB_6_UP: |
| |
| break; |
| case MSGTYPE_PORTB_7_DOWN: |
| |
| break; |
| case MSGTYPE_PORTB_7_UP: |
| |
| break; |
| /* -----------------------------------------------------------*/ |
| default: |
| DBG_PRINT_MAIN("Main: (ERROR) Unexpected msg in high queue, length = %d, type = %d\r\n", length, msgtype); |
| for (i = 0; i < length; i++) { |
| DBG_PRINT_MAIN("%X ", msgbuffer[i]); |
| } |
| DBG_PRINT_MAIN("\r\n"); |
| break; |
| }; |
| continue; |
| } |
| |
| // // Process low priority queue |
| // length = MQ_recvmsg_ToMainFromLow(MSGLEN, &msgtype, (void *) msgbuffer); |
| // if (length < 0) { |
| // // No message, check the error code to see if it is concern |
| // if (length != MSG_QUEUE_EMPTY) { |
| // DBG_PRINT_MAIN("Main: (ERROR) Bad low priority receive, code = %d\r\n", length); |
| // } |
| // } else { |
| // switch (msgtype) { |
| // case MSGTYPE_TIMER0: |
| // DBG_PRINT_MAIN("Timer 0 Triggered\r\n"); |
| // // Write 2 bytes |
| // msgbuffer[0] = 0x4; |
| // msgbuffer[1] = 0x3; |
| // i2c_master_send(0x5F, 2, msgbuffer); |
| // while (i2c_master_busy()); |
| // |
| // // Read 3 bytes |
| // i2c_master_recv(0x5F, 3); |
| // while (i2c_master_busy()); |
| // |
| // break; |
| // break; |
| // case MSGTYPE_ADC_NEWVALUE: |
| // // Get the value in the ADC |
| // adc_last_value = *((unsigned int*)msgbuffer); |
| // adc_last_value_shifted = adc_last_value >> 4; |
| // DBG_PRINT_MAIN("Main: ADC Value = %d\r\n", adc_last_value); |
| // |
| // 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_16.INT_16.int_value = 0x0000; |
| // frame_tx_data->broadcast_radius = 0; |
| // frame_tx_data->options = 0x01; // Disable ACK |
| // |
| // frame_tx_data->data[0] = adc_last_value_shifted; |
| // |
| // length = XBEE_TX_DATA_PACKET_FRAME_SIZE + 1; |
| // |
| // xbee_process_transmit_frame((void *) msgbuffer, length); |
| // |
| // Delay10KTCYx(255); |
| // Delay10KTCYx(255); |
| // Delay10KTCYx(255); |
| // Delay10KTCYx(255); |
| // |
| // adc_start(); |
| // break; |
| // default: |
| // DBG_PRINT_MAIN("Main: (ERROR) Unexpected msg in low queue, type = %d\r\n", msgtype); |
| // break; |
| // }; |
| // continue; |
| // } |
| } |
| } |