0,0 → 1,244 |
#include "defines.h" |
#include "uart.h" |
#include "xbee.h" |
#include <string.h> |
#include <stdio.h> |
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#pragma udata UART1_BUFFER |
static UART_DATA uart_1_data; |
#pragma udata |
static UART_DATA *uart_1_data_p = &uart_1_data; |
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void UART1_Init() { |
// Configure the hardware USART device |
// UART1 TX RC6 |
// UART1 RX RC7 |
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UART1_TX_TRIS = 0; // Tx pin set to output |
UART1_RX_TRIS = 1; // Rx pin set to input |
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BAUDCON1bits.BRG16 = 0; // 8-bit baud rate generator |
SPBRG1 = 25; // Set UART speed to 115200 baud |
TXSTA1bits.BRGH = 1; // High speed mode |
TXSTA1bits.SYNC = 0; // Async mode |
RCSTA1bits.SPEN = 1; // Serial port enable |
TXSTA1bits.TX9 = 0; // 8 bit transmission |
RCSTA1bits.RX9 = 0; // 8 bit reception |
RCSTA1bits.CREN = 1; // Continuous receive mode |
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#ifdef _DEBUG // In debug mode we want to have TXEN constantly enabled |
TXSTA1bits.TXEN = 1; // TX is always enabled |
PIE1bits.TX1IE = 0; // Disable TX interrupt |
#else |
TXSTA1bits.TXEN = 0; // Enable transmission |
PIE1bits.TX1IE = 1; // Enable TX interrupt |
#endif |
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PIE1bits.RC1IE = 1; // Enable RX interrupt |
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// Initialize the buffer that holds UART messages |
uart_1_data_p->buffer_in_read_ind = 0; |
uart_1_data_p->buffer_in_write_ind = 0; |
uart_1_data_p->buffer_in_len = 0; |
uart_1_data_p->buffer_in_len_tmp = 0; |
} |
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//void uart_2_init() { |
// // Configure the PPS USART ports |
// |
// // UART2 RX Pin RP5 |
// RPINR16 = PPS_UART2_RX; // 5 is PPS RP5 |
// // UART2 TX Pin RP6 |
// PPS_UART2_TX = 6; // 6 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, 25); // Set UART speed to 115200 baud |
//} |
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void UART1_Recv_Interrupt_Handler() { |
unsigned char c; |
if (PIR1bits.RC1IF) { // Check if data receive flag is set |
c = RCREG1; |
#ifdef UART1_RX_TO_BUFFER |
// Save received data into buffer |
uart_1_data_p->buffer_in[uart_1_data_p->buffer_in_write_ind] = c; |
if (uart_1_data_p->buffer_in_write_ind == MAXUARTBUF - 1) { |
uart_1_data_p->buffer_in_write_ind = 0; |
} else { |
uart_1_data_p->buffer_in_write_ind++; |
} |
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// Store the last MAXUARTBUF values entered |
if (uart_1_data_p->buffer_in_len_tmp < MAXUARTBUF) { |
uart_1_data_p->buffer_in_len_tmp++; |
} else { |
if (uart_1_data_p->buffer_in_read_ind == MAXUARTBUF - 1) { |
uart_1_data_p->buffer_in_read_ind = 0; |
} else { |
uart_1_data_p->buffer_in_read_ind++; |
} |
} |
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// Update buffer size upon receiving newline (0x0D) |
if (c == UART1_BREAK_CHAR) { |
uart_1_data_p->buffer_in_len = uart_1_data_p->buffer_in_len_tmp; |
uart_1_data_p->buffer_in_len_tmp = 0; |
} |
#endif |
#ifdef UART1_RX_TO_XBEE |
XBee_Serial_In(c); |
#endif |
} |
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if (RCSTA1bits.OERR == 1) { |
// We've overrun the USART and must reset |
RCSTA1bits.CREN = 0; // Reset UART1 |
RCSTA1bits.CREN = 1; |
DBG_PRINT_UART("UART1: (ERROR) overrun\r\n"); |
TXSTA1bits.TXEN = 0; // Kill anything currently sending |
} |
} |
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//void uart_2_recv_interrupt_handler() { |
// if (DataRdy2USART()) { |
//// xbee_read_serial(Read2USART()); |
// } |
// |
// if (USART2_Status.OVERRUN_ERROR == 1) { |
// // We've overrun the USART and must reset |
// RCSTA2bits.CREN = 0; // Reset UART2 |
// RCSTA2bits.CREN = 1; |
// } |
//} |
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void UART1_Send_Interrupt_Handler() { |
// Put remaining data in TSR for transmit |
if (uart_1_data_p->buffer_out_ind != uart_1_data_p->buffer_out_len) { |
TXREG1 = uart_1_data_p->buffer_out[uart_1_data_p->buffer_out_ind]; |
uart_1_data_p->buffer_out_ind++; |
} else { |
while (!TXSTA1bits.TRMT); // Wait for last byte to finish sending |
TXSTA1bits.TXEN = 0; // End transmission and disable TX interrupt |
uart_1_data_p->buffer_out_ind = 0; |
uart_1_data_p->buffer_out_len = 0; |
} |
} |
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void UART1_WriteS(const rom char *fmt, ...) { |
#ifdef _DEBUG |
unsigned char i; |
va_list args; |
va_start(args, fmt); |
vsprintf((char *) uart_1_data_p->buffer_out, fmt, args); |
va_end(args); |
uart_1_data_p->buffer_out_len = strlen((char *) uart_1_data_p->buffer_out); |
uart_1_data_p->buffer_out_ind = 1; |
for (i = 0; i < uart_1_data_p->buffer_out_len; i++) { |
TXREG1 = uart_1_data_p->buffer_out[i]; |
Nop(); |
while (!PIR1bits.TX1IF); // Wait for byte to be transmitted |
} |
#else |
va_list args; |
while (TXSTA1bits.TXEN); // Wait for previous message to finish sending |
va_start(args, fmt); |
vsprintf((char *) uart_1_data_p->buffer_out, fmt, args); |
va_end(args); |
uart_1_data_p->buffer_out_len = strlen((char *) uart_1_data_p->buffer_out); |
uart_1_data_p->buffer_out_ind = 1; |
TXREG1 = uart_1_data_p->buffer_out[0]; // Put first byte in TSR |
TXSTA1bits.TXEN = 1; // Begin transmission |
#endif |
} |
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void UART1_WriteF(float f, unsigned char m) { |
long whole = 0; |
unsigned long decimal = 0; |
unsigned int multiplier = 1; |
unsigned char i; |
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for (i = 0; i < m; i++) |
multiplier *= 10; |
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whole = (long)((float)f); |
decimal = (long)((float)f*multiplier) - whole*multiplier; |
// Round up if necessary |
if ((long)((float)f*multiplier*10) % 10 >= 5) |
decimal += 1; |
#ifdef _DEBUG |
sprintf((char *) uart_1_data_p->buffer_out, "%ld.%ld", whole, decimal); |
uart_1_data_p->buffer_out_len = strlen((char *) uart_1_data_p->buffer_out); |
uart_1_data_p->buffer_out_ind = 1; |
for (i = 0; i < uart_1_data_p->buffer_out_len; i++) { |
TXREG1 = uart_1_data_p->buffer_out[i]; |
Nop(); |
while (!PIR1bits.TX1IF); // Wait for byte to be transmitted |
} |
#else |
while (TXSTA1bits.TXEN); // Wait for previous message to finish sending |
sprintf((char *) uart_1_data_p->buffer_out, "%ld.%ld", whole, decimal); |
uart_1_data_p->buffer_out_len = strlen((char *) uart_1_data_p->buffer_out); |
uart_1_data_p->buffer_out_ind = 1; |
TXREG1 = uart_1_data_p->buffer_out[0]; // Put first byte in TSR |
TXSTA1bits.TXEN = 1; // Begin transmission |
#endif |
} |
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void UART1_WriteB(const char *msg, unsigned char length) { |
unsigned char i; |
#ifdef _DEBUG |
for (i = 0; i < length; i++) { |
TXREG1 = msg[i]; |
Nop(); |
while (!PIR1bits.TX1IF); // Wait for byte to be transmitted |
} |
#else |
while (TXSTA1bits.TXEN); // Wait for previous message to finish sending |
uart_1_data_p->buffer_out_len = length; |
uart_1_data_p->buffer_out_ind = 1; |
for (i = 0; i < length; i++) { |
uart_1_data_p->buffer_out[i] = msg[i]; |
} |
TXREG1 = uart_1_data_p->buffer_out[0]; // Put first byte in TSR |
TXSTA1bits.TXEN = 1; // Begin transmission |
#endif |
} |
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void UART1_WriteC(const unsigned char c) { |
#ifdef _DEBUG |
TXREG1 = c; |
Nop(); |
while (!PIR1bits.TX1IF); |
#else |
while (TXSTA1bits.TXEN); |
uart_1_data_p->buffer_out_len = 1; |
uart_1_data_p->buffer_out_ind = 1; |
TXREG1 = c; |
TXSTA1bits.TXEN = 1; |
#endif |
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} |
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unsigned char UART1_Buffer_Len() { |
return uart_1_data_p->buffer_in_len; |
} |
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/* Reader interface to the UART buffer, returns the number of bytes read */ |
unsigned char UART1_Read_Buffer(unsigned char *buffer) { |
unsigned char i = 0; |
while (uart_1_data_p->buffer_in_len != 0) { |
buffer[i] = uart_1_data_p->buffer_in[uart_1_data_p->buffer_in_read_ind]; |
i++; |
if (uart_1_data_p->buffer_in_read_ind == MAXUARTBUF - 1) { |
uart_1_data_p->buffer_in_read_ind = 0; |
} else { |
uart_1_data_p->buffer_in_read_ind++; |
} |
uart_1_data_p->buffer_in_len--; |
} |
return i; |
} |