Subversion Repositories Code-Repo

Compare Revisions

Ignore whitespace Rev 110 → Rev 111

/Classwork/ECE4534 - Embedded Systems/PIC 27J13/main.c
10,6 → 10,7
#include "pwm.h"
#include "delays.h"
#include "pin_interrupts.h"
#include "buffer.h"
 
#pragma config WDTEN = OFF // Turn off watchdog timer
#pragma config XINST = OFF // Turn off extended instruction set
42,8 → 43,8
*
* RB0 - XBee CTS (PPS)
* RB1 - XBee RTS (PPS)
* RB2 - XBee RX (PPS)
* RB3 - XBee Tx (PPS)
* RB2 - XBee Tx (PPS)
* RB3 - XBee Rx (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)
53,18 → 54,17
#pragma udata umain_1
static unsigned char msgbuffer[MSGLEN + 1];
#pragma udata umain_2
static I2C_DATA i2c_i;
static I2C_DATA i2c_data;
#pragma udata
static XBEE_DATA xbee_c;
static UART_DATA uart_c;
static XBEE_DATA xbee_data;
static UART_DATA uart_data;
static BUFFER_DATA buffer_data;
 
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
unsigned char counter = 0;
 
// Pointers to allow parsing of xbee data from arbitrary byte array
XBEE_RX_AT_COMMAND_RESPONSE_FRAME *frame_at_cmd_response;
85,16 → 85,22
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
uart_init(&uart_data); // Initialize the UART handler code
xbee_init(&xbee_data); // Initialize the XBee handler code
i2c_init(&i2c_data); // Initialize the I2C handler code
buffer_init(&buffer_data);
// adc_init(); // Initialize the ADC
MQ_init(); // Initialize message queues before enabling any interrupts
timers_init(); // Initialize timers
led_driver_init(); // Initialize the driver for the LED display
port_b_int_init(); // Initialze Port B interrupt handler
 
#ifdef _BASE_STATION
intx_init(); // IR receiver input
#endif
#ifdef _REMOTE
pwm_init(); // Initialize the PWM output driver
timers_init(); // Initialize timers
intx_init();
port_b_int_init(); // Initialze Port B interrupt handler
#endif
interrupt_enable(); // Enable high-priority interrupts and low-priority interrupts
interrupt_init(); // Initialize the interrupt priorities
 
103,54 → 109,15
ANCON1 = 0x1F;
 
// Configure the hardware i2c device as a slave
#ifdef _MASTER
#ifdef _BASE_STATION
i2c_configure_master();
#endif
#ifdef _SLAVE
#ifdef _REMOTE
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
186,12 → 153,23
switch (msgbuffer[0]) {
case 0x2:
length = 1;
msgbuffer[0] = 1; // Size
// Return size of stored data in buffer
if (buffer_data.stored_length > MSGLEN) {
msgbuffer[0] = MSGLEN;
} else {
msgbuffer[0] = buffer_data.stored_length;
}
MQ_sendmsg_FromMainToHigh(length, MSGTYPE_I2C_REPLY, (void *) msgbuffer);
break;
case 0x4:
length = 1;
msgbuffer[0] = last_data_received;
// 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);
}
MQ_sendmsg_FromMainToHigh(length, MSGTYPE_I2C_REPLY, (void *) msgbuffer);
break;
case 0x6:
225,6 → 203,7
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");
245,7 → 224,9
DBG_PRINT_MAIN("%X ", frame_data_packet->data[i]);
}
DBG_PRINT_MAIN("\r\n");
last_data_received = frame_data_packet->data[0];
// Store received data into buffer
buffer_insert(length - XBEE_RX_DATA_PACKET_FRAME_SIZE, frame_data_packet->data);
// Send value of first byte received to LED display
led_driver_num(frame_data_packet->data[0]);
break;
case MSGTYPE_XBEE_RX_DATA_TX_STATUS:
281,12 → 262,37
frame_modem_status = (void *) msgbuffer;
break;
/* -----------------------------------------------------------*/
/* --- Port B Interrupt Handlers -----------------------------*/
};
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) {
/* --- Port B Interrupt Handlers -----------------------------*/
case MSGTYPE_PORTB_4_DOWN:
DBG_PRINT_MAIN("Main: Port B4 Down\r\n");
#ifdef _REMOTE
timer3_enable();
#endif
#ifdef _BASE_STATION
timer0_enable();
#endif
break;
case MSGTYPE_PORTB_4_UP:
DBG_PRINT_MAIN("Main: Port B4 Up\r\n");
#ifdef _REMOTE
timer3_disable();
#endif
#ifdef _BASE_STATION
timer0_disable();
#endif
break;
case MSGTYPE_PORTB_5_DOWN:
DBG_PRINT_MAIN("Main: Port B5 Down\r\n");
307,8 → 313,47
DBG_PRINT_MAIN("Main: Port B7 Up\r\n");
break;
/* -----------------------------------------------------------*/
/* --- Timer Interrupt Handlers ------------------------------*/
case MSGTYPE_TIMER0:
DBG_PRINT_MAIN("Main: Timer 0\r\n");
/* 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] = counter;
counter++;
if (counter == 100)
counter = 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());
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);
//
// adc_start();
// break;
default:
DBG_PRINT_MAIN("Main: (ERROR) Unexpected msg in high queue, length = %d, type = %d\r\n", length, msgtype);
DBG_PRINT_MAIN("Main: (ERROR) Unexpected msg in low queue, length = %d, type = %d\r\n", length, msgtype);
for (i = 0; i < length; i++) {
DBG_PRINT_MAIN("%X ", msgbuffer[i]);
}
317,63 → 362,5
};
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;
// }
}
}