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Rev 107 Rev 109
Line 92... Line 92...
92 
    MQ_init(); // Initialize message queues before enabling any interrupts
 92 
    MQ_init(); // Initialize message queues before enabling any interrupts
93 
    led_driver_init(); // Initialize the driver for the LED display
 93 
    led_driver_init(); // Initialize the driver for the LED display
94 
    pwm_init(); // Initialize the PWM output driver
 94 
    pwm_init(); // Initialize the PWM output driver
95 
    timers_init(); // Initialize timers
 95 
    timers_init(); // Initialize timers
96 
    intx_init();
 96 
    intx_init();
97 
    //    port_b_int_init();          // Initialze Port B interrupt handler
 97 
    port_b_int_init(); // Initialze Port B interrupt handler
98 
    interrupt_enable(); // Enable high-priority interrupts and low-priority interrupts
 98 
    interrupt_enable(); // Enable high-priority interrupts and low-priority interrupts
99 
    interrupt_init(); // Initialize the interrupt priorities
 99 
    interrupt_init(); // Initialize the interrupt priorities
100 
 
 100 
 
- 
 
 101 
    // Set all ports as digial I/O
- 
 
 102 
    ANCON0 = 0xFF;
- 
 
 103 
    ANCON1 = 0x1F;
- 
 
 104 
 
101 
    // Configure the hardware i2c device as a slave
 105 
    // Configure the hardware i2c device as a slave
102 
#ifdef _MASTER
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#ifdef _MASTER
103 
    i2c_configure_master();
 107 
    i2c_configure_master();
104 
#endif
 108 
#endif
105 
#ifdef _SLAVE
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#ifdef _SLAVE
106 
    i2c_configure_slave(0x5F);
 110 
    i2c_configure_slave(0x5F);
107 
#endif
 111 
#endif
108
112 
 
109 
    DBG_PRINT_MAIN("\r\nMain: Program Started\r\n");
 113 
    DBG_PRINT_MAIN("\r\nMain: Program Started\r\n");
110 
 
 114 
 
111 
#ifdef _MASTER
 115 
#ifdef _MASTER
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    //     Delay a bit to allow XBees to start up
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    //     Delay a bit to allow XBees to start up
113 
    for (i = 0; i < 20; i++)
 117 
    for (i = 0; i < 20; i++)
Line 141... Line 145...
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        while (i2c_master_busy());
 145 
        while (i2c_master_busy());
142 
 
 146 
 
143 
        // Read 2 bytes back
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        // Read 2 bytes back
144 
        i2c_master_recv(0x5F, 2);
 148 
        i2c_master_recv(0x5F, 2);
145 
        while (i2c_master_busy());
 149 
        while (i2c_master_busy());
146 
        Delay10KTCYx(100);
 150 
//        Delay10KTCYx(100);
147 
    }
 151 
    }
148 
#endif
 152 
#endif
149
153 
 
150 
    // Loop and process recieved messages from interrupts
 154 
    // Loop and process recieved messages from interrupts
151 
    while (1) {
 155 
    while (1) {
152 
        // Call a routine that blocks until either message queues are not empty
 156 
        // Call a routine that blocks until either message queues are not empty
153 
        MQ_wait_on_incoming_msg_queues();
 157 
        MQ_wait_on_incoming_msg_queues();
154 
 
 158 
 
Line 180... Line 184...
180 
                    DBG_PRINT_MAIN(" Event Count: %d", msgbuffer[length - 1]);
 184 
                    DBG_PRINT_MAIN(" Event Count: %d", msgbuffer[length - 1]);
181 
                    DBG_PRINT_MAIN("\r\n");
 185 
                    DBG_PRINT_MAIN("\r\n");
182 
                    switch (msgbuffer[0]) {
 186 
                    switch (msgbuffer[0]) {
183 
                        case 0x2:
 187 
                        case 0x2:
184 
                            length = 1;
 188 
                            length = 1;
185 
                            msgbuffer[0] = 1;   // Size
 189 
                            msgbuffer[0] = 1; // Size
186 
                            MQ_sendmsg_FromMainToHigh(length, MSGTYPE_I2C_REPLY, (void *) msgbuffer);
 190 
                            MQ_sendmsg_FromMainToHigh(length, MSGTYPE_I2C_REPLY, (void *) msgbuffer);
187 
                            break;
 191 
                            break;
188 
                        case 0x4:
 192 
                        case 0x4:
189 
                            length = 1;
 193 
                            length = 1;
190 
                            msgbuffer[0] = last_data_received;
 194 
                            msgbuffer[0] = last_data_received;
Line 277... Line 281...
277 
                    frame_modem_status = (void *) msgbuffer;
 281 
                    frame_modem_status = (void *) msgbuffer;
278 
                    break;
 282 
                    break;
279 
                    /* -----------------------------------------------------------*/
 283 
                    /* -----------------------------------------------------------*/
280 
                    /* --- Port B Interrupt Handlers -----------------------------*/
 284 
                    /* --- Port B Interrupt Handlers -----------------------------*/
281 
                case MSGTYPE_PORTB_4_DOWN:
 285 
                case MSGTYPE_PORTB_4_DOWN:
282 
 
 - 
 
- 
 
 286 
                    DBG_PRINT_MAIN("Main: Port B4 Down\r\n");
283 
                    break;
 287 
                    break;
284 
                case MSGTYPE_PORTB_4_UP:
 288 
                case MSGTYPE_PORTB_4_UP:
285 
 
 - 
 
- 
 
 289 
                    DBG_PRINT_MAIN("Main: Port B4 Up\r\n");
286 
                    break;
 290 
                    break;
287 
                case MSGTYPE_PORTB_5_DOWN:
 291 
                case MSGTYPE_PORTB_5_DOWN:
288 
 
 - 
 
- 
 
 292 
                    DBG_PRINT_MAIN("Main: Port B5 Down\r\n");
289 
                    break;
 293 
                    break;
290 
                case MSGTYPE_PORTB_5_UP:
 294 
                case MSGTYPE_PORTB_5_UP:
291 
 
 - 
 
- 
 
 295 
                    DBG_PRINT_MAIN("Main: Port B5 Up\r\n");
292 
                    break;
 296 
                    break;
293 
                case MSGTYPE_PORTB_6_DOWN:
 297 
                case MSGTYPE_PORTB_6_DOWN:
294 
 
 - 
 
- 
 
 298 
                    DBG_PRINT_MAIN("Main: Port B6 Down\r\n");
295 
                    break;
 299 
                    break;
296 
                case MSGTYPE_PORTB_6_UP:
 300 
                case MSGTYPE_PORTB_6_UP:
297 
 
 - 
 
- 
 
 301 
                    DBG_PRINT_MAIN("Main: Port B6 Up\r\n");
298 
                    break;
 302 
                    break;
299 
                case MSGTYPE_PORTB_7_DOWN:
 303 
                case MSGTYPE_PORTB_7_DOWN:
300 
 
 - 
 
- 
 
 304 
                    DBG_PRINT_MAIN("Main: Port B7 Down\r\n");
301 
                    break;
 305 
                    break;
302 
                case MSGTYPE_PORTB_7_UP:
 306 
                case MSGTYPE_PORTB_7_UP:
303 
 
 - 
 
- 
 
 307 
                    DBG_PRINT_MAIN("Main: Port B7 Up\r\n");
304 
                    break;
 308 
                    break;
305 
                    /* -----------------------------------------------------------*/
 309 
                    /* -----------------------------------------------------------*/
306 
                default:
 310 
                default:
307 
                    DBG_PRINT_MAIN("Main: (ERROR) Unexpected msg in high queue, length = %d, type = %d\r\n", length, msgtype);
 311 
                    DBG_PRINT_MAIN("Main: (ERROR) Unexpected msg in high queue, length = %d, type = %d\r\n", length, msgtype);
308 
                    for (i = 0; i < length; i++) {
 312 
                    for (i = 0; i < length; i++) {