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#include "uart.h"
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#include "uart.h"
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#include "xbee.h"
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#include "xbee.h"
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void uart_init() {
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void uart_init() {
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    // Configure the hardware USART device
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    // Configure the hardware USART device
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#ifdef _BASE_STATION
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    // UART1 TX RC6
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    // UART1 RX RC7
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    Open1USART(USART_TX_INT_OFF &   // Interrupt on TX off
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            USART_RX_INT_OFF &      // Interrupt on RX on
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            USART_ASYNCH_MODE &     // Operate in async mode
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            USART_EIGHT_BIT &       // Operate in 8-bit mode
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            USART_CONT_RX &         // Continuously recieve messages
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            USART_BRGH_HIGH, 51);  // Set UART speed to 38400 baud (32MHz)
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    // UART2 RX Pin RP5
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    RPINR16 = 5;    // 5 is PPS RP5
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    // UART2 TX Pin RP6
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    RPOR6 = 5;  // 5 is TX2/CK2 (EUSART2 Asynchronous Transmit/Asynchronous Clock Output)
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    Open2USART(USART_TX_INT_OFF &   // Interrupt on TX off
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            USART_RX_INT_ON &      // Interrupt on RX on
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            USART_ASYNCH_MODE &     // Operate in async mode
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            USART_EIGHT_BIT &       // Operate in 8-bit mode
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            USART_CONT_RX &         // Continuously recieve messages
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            USART_BRGH_HIGH, 51);  // Set UART speed to 38400 baud (32MHz)
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#endif
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#ifdef _REMOTE
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    // UART1 TX RC6
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    // UART1 TX RC6
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    // UART1 RX RC7
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    // UART1 RX RC7
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    Open1USART(USART_TX_INT_OFF &   // Interrupt on TX off
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    Open1USART(USART_TX_INT_OFF &   // Interrupt on TX off
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            USART_RX_INT_OFF &      // Interrupt on RX on
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            USART_RX_INT_OFF &      // Interrupt on RX on
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            USART_ASYNCH_MODE &     // Operate in async mode
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            USART_ASYNCH_MODE &     // Operate in async mode
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    Open2USART(USART_TX_INT_OFF &   // Interrupt on TX off
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    Open2USART(USART_TX_INT_OFF &   // Interrupt on TX off
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            USART_RX_INT_ON &      // Interrupt on RX on
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            USART_RX_INT_ON &      // Interrupt on RX on
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            USART_ASYNCH_MODE &     // Operate in async mode
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            USART_ASYNCH_MODE &     // Operate in async mode
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            USART_EIGHT_BIT &       // Operate in 8-bit mode
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            USART_EIGHT_BIT &       // Operate in 8-bit mode
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            USART_CONT_RX &         // Continuously recieve messages
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            USART_CONT_RX &         // Continuously recieve messages
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            USART_BRGH_HIGH, 64);  // Set UART speed to 115200 baud
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            USART_BRGH_HIGH, 64);  // Set UART speed to 38400 baud
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#endif
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}
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}
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void uart_recv_interrupt_handler() {
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void uart_recv_interrupt_handler() {
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    if (DataRdy2USART()) {
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    if (DataRdy2USART()) {
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        xbee_read_serial(Read2USART());
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        xbee_read_serial(Read2USART());