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Rev 109 Rev 111
Line 17... Line 17...
17 
//       is not enabled.
 17 
//       is not enabled.
18 
 
 18 
 
19 
void interrupt_init() {
 19 
void interrupt_init() {
20 
    // Peripheral interrupts can have their priority set to high or low
 20 
    // Peripheral interrupts can have their priority set to high or low
21 
    // Decide on the priority of the enabled peripheral interrupts (0 is low, 1 is high)
 21 
    // Decide on the priority of the enabled peripheral interrupts (0 is low, 1 is high)
- 
 
 22 
 
- 
 
 23 
    // High priority interrupts
22 
//    INTCON2bits.TMR0IP = 0; // Timer0 interrupt
 24 
    IPR3bits.RC2IP = 1; // USART2 RX interrupt
23 
//    IPR1bits.TMR1IP = 1;    // Timer1 interrupt
 25 
    IPR1bits.SSPIP = 1; // I2C interrupt
- 
 
 26 
 
- 
 
 27 
    // Low priority interrupts
24 
//    IPR1bits.RC1IP = 0;      // USART1 RX interrupt
 28 
    //    IPR1bits.RC1IP = 0;      // USART1 RX interrupt
- 
 
 29 
    INTCON2bits.TMR0IP = 0; // Timer0 interrupt
25 
    IPR3bits.RC2IP = 1;     // USART2 RX interrupt
 30 
    //    IPR1bits.TMR1IP = 0;    // Timer1 interrupt
26 
    IPR1bits.SSPIP = 1;     // I2C interrupt
 31 
    IPR2bits.TMR3IP = 0; // Timer 3 interrupt
27 
//    IPR1bits.ADIP = 0;      // ADC interupt
 32 
    //    IPR1bits.ADIP = 0;      // ADC interupt
28 
//    INTCON2bits.RBIP = 1;   // Port B interrupt
 33 
    INTCON2bits.RBIP = 0;   // Port B interrupt
29 
    INTCON3bits.INT1IP = 1; // INT1 interrupt
 34 
    INTCON3bits.INT1IP = 0; // INT1 interrupt
- 
 
 35
30 
    // I2C interupts must be specifically enabled
 36 
    // Enable I2C interrupt
31 
    PIE1bits.SSPIE = 1;
 37 
    PIE1bits.SSPIE = 1;
- 
 
 38 
    // Enable Port B interrupt
- 
 
 39 
    INTCONbits.RBIE = 1;
32 
}
 40 
}
33 
 
 41 
 
34 
void interrupt_enable() {
 42 
void interrupt_enable() {
35 
    // Peripheral interrupts can have their priority set to high or low.
 43 
    // Peripheral interrupts can have their priority set to high or low.
36 
    // Enable both high-priority interrupts and low-priority interrupts
 44 
    // Enable both high-priority interrupts and low-priority interrupts
37 
    RCONbits.IPEN = 1;
 45 
    RCONbits.IPEN = 1;
38 
    INTCONbits.GIEH = 1;
 46 
    INTCONbits.GIEH = 1;
39 
    INTCONbits.GIEL = 0;
 47 
    INTCONbits.GIEL = 1;
40 
}
 48 
}
41 
 
 49 
 
42 
int interrupt_in_high_interrupt_routine() {
 50 
int interrupt_in_high_interrupt_routine() {
43 
    return (!INTCONbits.GIEH);
 51 
    return (!INTCONbits.GIEH);
44 
}
 52 
}
Line 68... Line 76...
68 
// Set up the interrupt vectors
 76 
// Set up the interrupt vectors
69 
void InterruptHandlerHigh();
 77 
void InterruptHandlerHigh();
70 
void InterruptHandlerLow();
 78 
void InterruptHandlerLow();
71 
 
 79 
 
72 
#pragma code InterruptVectorLow = 0x18
 80 
#pragma code InterruptVectorLow = 0x18
- 
 
 81 
 
73 
void InterruptVectorLow(void) {
 82 
void InterruptVectorLow(void) {
74 
    _asm
 83 
    _asm
75 
    goto InterruptHandlerLow //jump to interrupt routine
 84 
    goto InterruptHandlerLow //jump to interrupt routine
76 
    _endasm
 85 
            _endasm
77 
}
 86 
}
78 
 
 87 
 
79 
#pragma code InterruptVectorHigh = 0x08
 88 
#pragma code InterruptVectorHigh = 0x08
- 
 
 89 
 
80 
void InterruptVectorHigh(void) {
 90 
void InterruptVectorHigh(void) {
81 
    _asm
 91 
    _asm
82 
    goto InterruptHandlerHigh //jump to interrupt routine
 92 
    goto InterruptHandlerHigh //jump to interrupt routine
83 
    _endasm
 93 
            _endasm
84 
}
 94 
}
85 
 
 95 
 
86 
//----------------------------------------------------------------------------
 96 
//----------------------------------------------------------------------------
87 
// High priority interrupt routine
 97 
// High priority interrupt routine
88 
// this parcels out interrupts to individual handlers
 98 
// this parcels out interrupts to individual handlers
89 
 
 99 
 
90 
#pragma code
 100 
#pragma code
91 
#pragma interrupt InterruptHandlerHigh
 101 
#pragma interrupt InterruptHandlerHigh
- 
 
 102 
 
92 
void InterruptHandlerHigh() {
 103 
void InterruptHandlerHigh() {
93 
    // We need to check the interrupt flag of each enabled high-priority interrupt to
 104 
    // We need to check the interrupt flag of each enabled high-priority interrupt to
94 
    //  see which device generated this interrupt.  Then we can call the correct handler.
 105 
    //  see which device generated this interrupt.  Then we can call the correct handler.
95
- 
 
96 
    // Check to see if we have an I2C interrupt
 - 
 
97 
    if (PIR1bits.SSPIF) {
 - 
 
98 
        // Nofity the xbee to stop sending serial data
 - 
 
99 
        xbee_set_RTS(1);
 - 
 
100
- 
 
101 
        // Call the handler
 - 
 
102 
        i2c_interrupt_handler();
 - 
 
103 
 
 - 
 
104 
        // Clear the interrupt flag
 - 
 
105 
        PIR1bits.SSPIF = 0;
 - 
 
106 
 
 - 
 
107 
        // Notify xbee to resume sending serial data
 - 
 
108 
        xbee_set_RTS(0);
 - 
 
109 
    }
 - 
 
110 
 
 106 
 
111 
    // Check to see if we have an interrupt on USART2 RX
 107 
    // Check to see if we have an interrupt on USART2 RX
112 
    if (PIR3bits.RC2IF) {
 108 
    if (PIR3bits.RC2IF) {
- 
 
 109 
        DBG_PRINT_INT("INT: UART2 RX\r\n");
113 
        // Call the interrupt handler
 110 
        // Call the interrupt handler
114 
        uart_recv_interrupt_handler();
 111 
        uart_recv_interrupt_handler();
115 
 
 112 
 
116 
        // Clear the interrupt flag
 113 
        // Clear the interrupt flag
117 
        PIR3bits.RC2IF = 0;
 114 
        PIR3bits.RC2IF = 0;
118 
    }
 115 
    }
119 
 
 116 
 
120 
#ifdef _MASTER
 - 
 
121 
    // Check to see if we have an interrupt on INT1
 117 
//    // Nofity the xbee to stop sending serial data
122 
    if (INTCON3bits.INT1IF) {
 - 
 
123 
        int1_interrupt_handler();
 118 
//    xbee_set_RTS(1);
124 
 
 - 
 
125 
        INTCON3bits.INT1IF = 0;
 - 
 
126 
    }
 - 
 
127 
#endif
 - 
 
128 
 
 119 
 
129 
    // Check to see if we have an interrupt on any port B inputs <4:7>
 120 
    // Check to see if we have an I2C interrupt
130 
    if (INTCONbits.RBIF) {
 121 
    if (PIR1bits.SSPIF) {
- 
 
 122 
        DBG_PRINT_INT("INT: I2C\r\n");
- 
 
 123 
        // Call the handler
131 
        port_b_int_interrupt_handler();
 124 
        i2c_interrupt_handler();
132 
 
 125 
 
- 
 
 126 
        // Clear the interrupt flag
133 
        INTCONbits.RBIF = 0;
 127 
        PIR1bits.SSPIF = 0;
134 
    }
 128 
    }
135
- 
 
136 
//    // Check to see if we have an interrupt on timer 1
 - 
 
137 
//    if (PIR1bits.TMR1IF) {
 - 
 
138 
//        // Clear the interrupt flag
 - 
 
139 
//        PIR1bits.TMR1IF = 0;
 - 
 
140 
//
 129 
 
141 
//        // Call the interrupt handler
 130 
//     //Notify xbee to resume sending serial data
142 
//        timer1_interrupt_handler();
 131 
//    xbee_set_RTS(0);
143 
//    }
 - 
 
144 
 
 132 
 
145 
    // The *last* thing I do here is check to see if we can
 133 
    // The *last* thing I do here is check to see if we can
146 
    // allow the processor to go to sleep
 134 
    // allow the processor to go to sleep
147 
    // This code *DEPENDS* on the code in messages.c being
 135 
    // This code *DEPENDS* on the code in messages.c being
148 
    // initialized using "init_queues()" -- if you aren't using
 136 
    // initialized using "init_queues()" -- if you aren't using
149 
    // this, then you shouldn't have this call here
 137 
    // this, then you shouldn't have this call here
150 
//    MQ_sleep_high_interrupt_if_okay();
 138 
    //    MQ_sleep_high_interrupt_if_okay();
151 
}
 139 
}
152 
 
 140 
 
153 
//----------------------------------------------------------------------------
 141 
//----------------------------------------------------------------------------
154 
// Low priority interrupt routine
 142 
// Low priority interrupt routine
155 
// this parcels out interrupts to individual handlers
 143 
// this parcels out interrupts to individual handlers
156 
#pragma code
 144 
#pragma code
157 
#pragma interruptlow InterruptHandlerLow
 145 
#pragma interruptlow InterruptHandlerLow
158 
// This works the same way as the "High" interrupt handler
 146 
// This works the same way as the "High" interrupt handler
- 
 
 147 
 
159 
void InterruptHandlerLow() {
 148 
void InterruptHandlerLow() {
- 
 
 149 
    // Check to see if we have an interrupt on INT1
- 
 
 150 
    if (INTCON3bits.INT1IF) {
- 
 
 151 
        DBG_PRINT_INT("INT: INT1\r\n");
- 
 
 152 
        int1_interrupt_handler();
160 
 
 153 
 
161 
//    // Check to see if we have an interrupt on timer 0
 - 
 
162 
//    if (INTCONbits.TMR0IF) {
 - 
 
163 
//        // Clear this interrupt flag
 - 
 
164 
//        INTCONbits.TMR0IF = 0;
 154 
        INTCON3bits.INT1IF = 0;
165 
//
 - 
 
166 
//        // Call the handler
 - 
 
167 
//        timer0_interrupt_handler();
 - 
 
168 
//    }
 155 
    }
169 
 
 156 
 
- 
 
 157 
    // Check to see if we have an interrupt on any port B inputs <4:7>
- 
 
 158 
    if (INTCONbits.RBIF) {
- 
 
 159 
        DBG_PRINT_INT("INT: Port B\r\n");
- 
 
 160 
        port_b_int_interrupt_handler();
- 
 
 161 
 
- 
 
 162 
        INTCONbits.RBIF = 0;
- 
 
 163 
    }
- 
 
 164
170 
//    // Check to see if we have an interrupt on USART1 RX
 165 
    // Check to see if we have an interrupt on timer 0
171 
//    if (PIR1bits.RC1IF) {
 166 
    if (INTCONbits.TMR0IF) {
- 
 
 167 
        DBG_PRINT_INT("INT: Timer 0\r\n");
- 
 
 168 
        // Call the handler
- 
 
 169 
        timer0_interrupt_handler();
- 
 
 170 
 
172 
//        // Clear the interrupt flag
 171 
        // Clear this interrupt flag
173 
//        PIR1bits.RC1IF = 0;
 172 
        INTCONbits.TMR0IF = 0;
- 
 
 173 
    }
174 
//
 174 
 
- 
 
 175 
//    // Check to see if we have an interrupt on timer 1
- 
 
 176 
//    if (PIR1bits.TMR1IF) {
175 
//        // Call the interrupt handler
 177 
//        // Call the interrupt handler
176 
//        uart_recv_interrupt_handler();
 178 
//        timer1_interrupt_handler();
- 
 
 179 
//
- 
 
 180 
//        // Clear the interrupt flag
- 
 
 181 
//        PIR1bits.TMR1IF = 0;
177 
//    }
 182 
//    }
- 
 
 183 
 
- 
 
 184 
    // Check to see if we have an interrupt on timer 3
- 
 
 185 
    if (PIR2bits.TMR3IF) {
- 
 
 186 
        DBG_PRINT_INT("INT: Timer 3\r\n");
- 
 
 187 
        timer3_interrupt_handler();
- 
 
 188 
 
- 
 
 189 
        PIR2bits.TMR3IF = 0;
- 
 
 190 
    }
178
191
179 
//    // Check to see if we have an interrupt on ADC
 192 
//        // Check to see if we have an interrupt on USART1 RX
180 
//    if (PIR1bits.ADIF) {
 193 
//        if (PIR1bits.RC1IF) {
181 
//        // Clear the interrupt flag
 194 
//            // Call the interrupt handler
182 
//        PIR1bits.ADIF = 0;
 195 
//            uart_recv_interrupt_handler();
183 
//
 196 
//
- 
 
 197 
//            // Clear the interrupt flag
- 
 
 198 
//            PIR1bits.RC1IF = 0;
- 
 
 199 
//        }
- 
 
 200 
 
- 
 
 201 
//        // Check to see if we have an interrupt on ADC
- 
 
 202 
//        if (PIR1bits.ADIF) {
184 
//        // Call the interrupt handler
 203 
//            // Call the interrupt handler
185 
//        adc_interrupt_handler();
 204 
//            adc_interrupt_handler();
- 
 
 205 
//
- 
 
 206 
//            // Clear the interrupt flag
- 
 
 207 
//            PIR1bits.ADIF = 0;
186 
//    }
 208 
//        }
187 
}
 209 
}
188 
 
 210