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Line 8... Line 8...
8 
#include "xbee.h"
 8 
#include "xbee.h"
9 
#include "led_driver.h"
 9 
#include "led_driver.h"
10 
#include "pwm.h"
 10 
#include "pwm.h"
11 
#include "delays.h"
 11 
#include "delays.h"
12 
#include "pin_interrupts.h"
 12 
#include "pin_interrupts.h"
- 
 
 13 
#include "buffer.h"
13 
 
 14 
 
14 
#pragma config WDTEN = OFF          // Turn off watchdog timer
 15 
#pragma config WDTEN = OFF          // Turn off watchdog timer
15 
#pragma config XINST = OFF          // Turn off extended instruction set
 16 
#pragma config XINST = OFF          // Turn off extended instruction set
16 
#pragma config OSC = HSPLL          // Use external oscillator (101)
 17 
#pragma config OSC = HSPLL          // Use external oscillator (101)
17 
#pragma config PLLDIV = 3           // Set PPL prescaler to 3 (to get 4MHz)
 18 
#pragma config PLLDIV = 3           // Set PPL prescaler to 3 (to get 4MHz)
Line 40... Line 41...
40 
 * RC6 - UART Debug Output
 41 
 * RC6 - UART Debug Output
41 
 * RC7 - UART Debug Input
 42 
 * RC7 - UART Debug Input
42 
 *
 43 
 *
43 
 * RB0 - XBee CTS (PPS)
 44 
 * RB0 - XBee CTS (PPS)
44 
 * RB1 - XBee RTS (PPS)
 45 
 * RB1 - XBee RTS (PPS)
45 
 * RB2 - XBee RX (PPS)
 46 
 * RB2 - XBee Tx (PPS)
46 
 * RB3 - XBee Tx (PPS)
 47 
 * RB3 - XBee Rx (PPS)
47 
 * RB4 - Button Input (Port B Interrupt on Change)
 48 
 * RB4 - Button Input (Port B Interrupt on Change)
48 
 * RB5 - Button Input (Port B Interrupt on Change)
 49 
 * RB5 - Button Input (Port B Interrupt on Change)
49 
 * RB6 - Button Input (Port B Interrupt on Change)
 50 
 * RB6 - Button Input (Port B Interrupt on Change)
50 
 * RB7 - Button Input (Port B Interrupt on Change)
 51 
 * RB7 - Button Input (Port B Interrupt on Change)
51 
 * ---------------------------- */
 52 
 * ---------------------------- */
52 
 
 53 
 
53 
#pragma udata umain_1
 54 
#pragma udata umain_1
54 
static unsigned char msgbuffer[MSGLEN + 1];
 55 
static unsigned char msgbuffer[MSGLEN + 1];
55 
#pragma udata umain_2
 56 
#pragma udata umain_2
56 
static I2C_DATA i2c_i;
 57 
static I2C_DATA i2c_data;
57 
#pragma udata
 58 
#pragma udata
58 
static XBEE_DATA xbee_c;
 59 
static XBEE_DATA xbee_data;
59 
static UART_DATA uart_c;
 60 
static UART_DATA uart_data;
- 
 
 61 
static BUFFER_DATA buffer_data;
60 
 
 62 
 
61 
void main(void) {
 63 
void main(void) {
62 
    char length;
 64 
    char length;
63 
    unsigned char msgtype;
 65 
    unsigned char msgtype;
64 
    unsigned char i = 0;
 66 
    unsigned char i = 0;
65 
    unsigned char last_data_received = 0;
 67 
    unsigned char counter = 0;
66 
    //    unsigned int adc_last_value;    // Holds 12 bit ADC value
 - 
 
67 
    //    unsigned char adc_last_value_shifted;   // Holds upper 4 bits
 - 
 
68 
 
 68 
 
69 
    // Pointers to allow parsing of xbee data from arbitrary byte array
 69 
    // Pointers to allow parsing of xbee data from arbitrary byte array
70 
    XBEE_RX_AT_COMMAND_RESPONSE_FRAME *frame_at_cmd_response;
 70 
    XBEE_RX_AT_COMMAND_RESPONSE_FRAME *frame_at_cmd_response;
71 
    XBEE_RX_DATA_PACKET_FRAME *frame_data_packet;
 71 
    XBEE_RX_DATA_PACKET_FRAME *frame_data_packet;
72 
    XBEE_RX_DATA_TX_STATUS_FRAME *frame_tx_status;
 72 
    XBEE_RX_DATA_TX_STATUS_FRAME *frame_tx_status;
Line 83... Line 83...
83 
    //    OSCTUNEbits.PLLEN = 1;          // Enable 4x PLL
 83 
    //    OSCTUNEbits.PLLEN = 1;          // Enable 4x PLL
84 
    //    OSCCONbits.IRCF = 0b111;        // Set INTOSC postscaler to 8MHz
 84 
    //    OSCCONbits.IRCF = 0b111;        // Set INTOSC postscaler to 8MHz
85 
    OSCCONbits.SCS = 0b00; // Use 96MHz PLL as primary clock source
 85 
    OSCCONbits.SCS = 0b00; // Use 96MHz PLL as primary clock source
86 
    /* -------------------------------------------------------------------- */
 86 
    /* -------------------------------------------------------------------- */
87 
 
 87 
 
88 
    uart_init(&uart_c); // Initialize the UART handler code
 88 
    uart_init(&uart_data); // Initialize the UART handler code
89 
    xbee_init(&xbee_c); // Initialize the XBee handler code
 89 
    xbee_init(&xbee_data); // Initialize the XBee handler code
90 
    i2c_init(&i2c_i); // Initialize the I2C handler code
 90 
    i2c_init(&i2c_data); // Initialize the I2C handler code
- 
 
 91 
    buffer_init(&buffer_data);
91 
    //    adc_init();                 // Initialize the ADC
 92 
    //    adc_init();                 // Initialize the ADC
92 
    MQ_init(); // Initialize message queues before enabling any interrupts
 93 
    MQ_init(); // Initialize message queues before enabling any interrupts
93 
    led_driver_init(); // Initialize the driver for the LED display
 - 
 
94 
    pwm_init(); // Initialize the PWM output driver
 - 
 
95 
    timers_init(); // Initialize timers
 94 
    timers_init(); // Initialize timers
96 
    intx_init();
 95 
    led_driver_init(); // Initialize the driver for the LED display
97 
    port_b_int_init(); // Initialze Port B interrupt handler
 96 
    port_b_int_init(); // Initialze Port B interrupt handler
- 
 
 97 
 
- 
 
 98 
#ifdef _BASE_STATION
- 
 
 99 
    intx_init();    // IR receiver input
- 
 
 100 
#endif
- 
 
 101 
#ifdef _REMOTE
- 
 
 102 
    pwm_init(); // Initialize the PWM output driver
- 
 
 103 
#endif
98 
    interrupt_enable(); // Enable high-priority interrupts and low-priority interrupts
 104 
    interrupt_enable(); // Enable high-priority interrupts and low-priority interrupts
99 
    interrupt_init(); // Initialize the interrupt priorities
 105 
    interrupt_init(); // Initialize the interrupt priorities
100 
 
 106 
 
101 
    // Set all ports as digial I/O
 107 
    // Set all ports as digial I/O
102 
    ANCON0 = 0xFF;
 108 
    ANCON0 = 0xFF;
103 
    ANCON1 = 0x1F;
 109 
    ANCON1 = 0x1F;
104 
 
 110 
 
105 
    // Configure the hardware i2c device as a slave
 111 
    // Configure the hardware i2c device as a slave
106 
#ifdef _MASTER
 112 
#ifdef _BASE_STATION
107 
    i2c_configure_master();
 113 
    i2c_configure_master();
108 
#endif
 114 
#endif
109 
#ifdef _SLAVE
 115 
#ifdef _REMOTE
110 
    i2c_configure_slave(0x5F);
 116 
    i2c_configure_slave(0x5F);
111 
#endif
 117 
#endif
112 
 
 118 
 
113 
    DBG_PRINT_MAIN("\r\nMain: Program Started\r\n");
 119 
    DBG_PRINT_MAIN("\r\nMain: Program Started\r\n");
114 
 
 - 
 
115 
#ifdef _MASTER
 - 
 
116 
    //     Delay a bit to allow XBees to start up
 - 
 
117 
    for (i = 0; i < 20; i++)
 - 
 
118 
        Delay10KTCYx(255);
 - 
 
119 
 
 - 
 
120 
    pwm_start();
 - 
 
121 
 
 - 
 
122 
    while (1) {
 - 
 
123 
        /* XBee Demo */
 - 
 
124 
        frame_tx_data = (void *) msgbuffer;
 - 
 
125 
        frame_tx_data->frame_type = XBEE_TX_DATA_PACKET;
 - 
 
126 
        frame_tx_data->frame_id = 0;
 - 
 
127 
        frame_tx_data->destination_64.UPPER_32.long_value = 0x00000000;
 - 
 
128 
        frame_tx_data->destination_64.LOWER_32.long_value = 0x00000000;
 - 
 
129 
        frame_tx_data->destination_16.INT_16.int_value = 0x0000;
 - 
 
130 
        frame_tx_data->broadcast_radius = 0;
 - 
 
131 
        frame_tx_data->options = 0x01; // Disable ACK
 - 
 
132 
        frame_tx_data->data[0] = i;
 - 
 
133 
        i++;
 - 
 
134 
        if (i == 100)
 - 
 
135 
            i = 0;
 - 
 
136 
        length = XBEE_TX_DATA_PACKET_FRAME_SIZE + 1;
 - 
 
137 
        xbee_process_transmit_frame((void *) msgbuffer, length);
 - 
 
138 
        Delay10KTCYx(100);
 - 
 
139 
 
 - 
 
140 
        /* I2C Demo */
 - 
 
141 
        // Write 2 bytes
 - 
 
142 
        msgbuffer[0] = 0x4;
 - 
 
143 
        msgbuffer[1] = 0x2;
 - 
 
144 
        i2c_master_send(0x5F, 2, msgbuffer);
 - 
 
145 
        while (i2c_master_busy());
 - 
 
146 
 
 - 
 
147 
        // Read 2 bytes back
 - 
 
148 
        i2c_master_recv(0x5F, 2);
 - 
 
149 
        while (i2c_master_busy());
 - 
 
150 
//        Delay10KTCYx(100);
 - 
 
151 
    }
 120
152 
#endif
 - 
 
153 
 
 - 
 
154 
    // Loop and process recieved messages from interrupts
 121 
    // Loop and process recieved messages from interrupts
155 
    while (1) {
 122 
    while (1) {
156 
        // Call a routine that blocks until either message queues are not empty
 123 
        // Call a routine that blocks until either message queues are not empty
157 
        MQ_wait_on_incoming_msg_queues();
 124 
        MQ_wait_on_incoming_msg_queues();
158 
 
 125 
 
Line 184... Line 151...
184 
                    DBG_PRINT_MAIN(" Event Count: %d", msgbuffer[length - 1]);
 151 
                    DBG_PRINT_MAIN(" Event Count: %d", msgbuffer[length - 1]);
185 
                    DBG_PRINT_MAIN("\r\n");
 152 
                    DBG_PRINT_MAIN("\r\n");
186 
                    switch (msgbuffer[0]) {
 153 
                    switch (msgbuffer[0]) {
187 
                        case 0x2:
 154 
                        case 0x2:
188 
                            length = 1;
 155 
                            length = 1;
- 
 
 156 
                            // Return size of stored data in buffer
- 
 
 157 
                            if (buffer_data.stored_length > MSGLEN) {
189 
                            msgbuffer[0] = 1; // Size
 158 
                                msgbuffer[0] = MSGLEN;
- 
 
 159 
                            } else {
- 
 
 160 
                                msgbuffer[0] = buffer_data.stored_length;
- 
 
 161 
                            }
190 
                            MQ_sendmsg_FromMainToHigh(length, MSGTYPE_I2C_REPLY, (void *) msgbuffer);
 162 
                            MQ_sendmsg_FromMainToHigh(length, MSGTYPE_I2C_REPLY, (void *) msgbuffer);
191 
                            break;
 163 
                            break;
192 
                        case 0x4:
 164 
                        case 0x4:
- 
 
 165 
                            // Return data stored in buffer
- 
 
 166 
                            if (buffer_data.stored_length > MSGLEN) {
193 
                            length = 1;
 167 
                                length = MSGLEN;
- 
 
 168 
                                buffer_read(MSGLEN, msgbuffer);
- 
 
 169 
                            } else {
194 
                            msgbuffer[0] = last_data_received;
 170 
                                length = buffer_data.stored_length;
- 
 
 171 
                                buffer_read(buffer_data.stored_length, msgbuffer);
- 
 
 172 
                            }
195 
                            MQ_sendmsg_FromMainToHigh(length, MSGTYPE_I2C_REPLY, (void *) msgbuffer);
 173 
                            MQ_sendmsg_FromMainToHigh(length, MSGTYPE_I2C_REPLY, (void *) msgbuffer);
196 
                            break;
 174 
                            break;
197 
                        case 0x6:
 175 
                        case 0x6:
198 
                            break;
 176 
                            break;
199 
                        case 0x7:
 177 
                        case 0x7:
Line 223... Line 201...
223 
                    break;
 201 
                    break;
224 
                case MSGTYPE_I2C_MASTER_RECV_FAILED:
 202 
                case MSGTYPE_I2C_MASTER_RECV_FAILED:
225 
                    DBG_PRINT_MAIN("Main: (ERROR) I2C Master Receive Failed\r\n");
 203 
                    DBG_PRINT_MAIN("Main: (ERROR) I2C Master Receive Failed\r\n");
226 
                    break;
 204 
                    break;
227 
                    /* -----------------------------------------------------------*/
 205 
                    /* -----------------------------------------------------------*/
- 
 
 206 
 
228 
                    /* --- XBee Message Handlers ---------------------------------*/
 207 
                    /* --- XBee Message Handlers ---------------------------------*/
229 
                case MSGTYPE_XBEE_RX_AT_COMMAND_RESPONSE:
 208 
                case MSGTYPE_XBEE_RX_AT_COMMAND_RESPONSE:
230 
                    DBG_PRINT_MAIN("Main: XBee AT command frame\r\n");
 209 
                    DBG_PRINT_MAIN("Main: XBee AT command frame\r\n");
231 
                    frame_at_cmd_response = (void *) msgbuffer;
 210 
                    frame_at_cmd_response = (void *) msgbuffer;
232 
                    DBG_PRINT_MAIN("Command: %c%c\r\n", frame_at_cmd_response->command[0], frame_at_cmd_response->command[0]);
 211 
                    DBG_PRINT_MAIN("Command: %c%c\r\n", frame_at_cmd_response->command[0], frame_at_cmd_response->command[0]);
Line 243... Line 222...
243 
                    DBG_PRINT_MAIN("Data: ");
 222 
                    DBG_PRINT_MAIN("Data: ");
244 
                    for (i = 0; i < length - XBEE_RX_DATA_PACKET_FRAME_SIZE; i++) {
 223 
                    for (i = 0; i < length - XBEE_RX_DATA_PACKET_FRAME_SIZE; i++) {
245 
                        DBG_PRINT_MAIN("%X ", frame_data_packet->data[i]);
 224 
                        DBG_PRINT_MAIN("%X ", frame_data_packet->data[i]);
246 
                    }
 225 
                    }
247 
                    DBG_PRINT_MAIN("\r\n");
 226 
                    DBG_PRINT_MAIN("\r\n");
248 
                    last_data_received = frame_data_packet->data[0];
 227 
                    // Store received data into buffer
- 
 
 228 
                    buffer_insert(length - XBEE_RX_DATA_PACKET_FRAME_SIZE, frame_data_packet->data);
- 
 
 229 
                    // Send value of first byte received to LED display
249 
                    led_driver_num(frame_data_packet->data[0]);
 230 
                    led_driver_num(frame_data_packet->data[0]);
250 
                    break;
 231 
                    break;
251 
                case MSGTYPE_XBEE_RX_DATA_TX_STATUS:
 232 
                case MSGTYPE_XBEE_RX_DATA_TX_STATUS:
252 
                    DBG_PRINT_MAIN("Main: XBee TX status frame\r\n");
 233 
                    DBG_PRINT_MAIN("Main: XBee TX status frame\r\n");
253 
                    frame_tx_status = (void *) msgbuffer;
 234 
                    frame_tx_status = (void *) msgbuffer;
Line 279... Line 260...
279 
                case MSGTYPE_XBEE_RX_FRAME_MODEM_STATUS:
 260 
                case MSGTYPE_XBEE_RX_FRAME_MODEM_STATUS:
280 
                    DBG_PRINT_MAIN("Main: XBee modem status frame\r\n");
 261 
                    DBG_PRINT_MAIN("Main: XBee modem status frame\r\n");
281 
                    frame_modem_status = (void *) msgbuffer;
 262 
                    frame_modem_status = (void *) msgbuffer;
282 
                    break;
 263 
                    break;
283 
                    /* -----------------------------------------------------------*/
 264 
                    /* -----------------------------------------------------------*/
- 
 
 265 
            };
- 
 
 266 
            continue;
- 
 
 267 
        }
- 
 
 268 
 
- 
 
 269 
        // Process low priority queue
- 
 
 270 
        length = MQ_recvmsg_ToMainFromLow(MSGLEN, &msgtype, (void *) msgbuffer);
- 
 
 271 
        if (length < 0) {
- 
 
 272 
            // No message, check the error code to see if it is concern
- 
 
 273 
            if (length != MSG_QUEUE_EMPTY) {
- 
 
 274 
                DBG_PRINT_MAIN("Main: (ERROR) Bad low priority receive, code = %d\r\n", length);
- 
 
 275 
            }
- 
 
 276 
        } else {
- 
 
 277 
            switch (msgtype) {
284 
                    /* --- Port B Interrupt Handlers -----------------------------*/
 278 
                /* --- Port B Interrupt Handlers -----------------------------*/
285 
                case MSGTYPE_PORTB_4_DOWN:
 279 
                case MSGTYPE_PORTB_4_DOWN:
286 
                    DBG_PRINT_MAIN("Main: Port B4 Down\r\n");
 280 
                    DBG_PRINT_MAIN("Main: Port B4 Down\r\n");
- 
 
 281 
#ifdef _REMOTE
- 
 
 282 
                    timer3_enable();
- 
 
 283 
#endif
- 
 
 284 
#ifdef _BASE_STATION
- 
 
 285 
                    timer0_enable();
- 
 
 286 
#endif
287 
                    break;
 287 
                    break;
288 
                case MSGTYPE_PORTB_4_UP:
 288 
                case MSGTYPE_PORTB_4_UP:
289 
                    DBG_PRINT_MAIN("Main: Port B4 Up\r\n");
 289 
                    DBG_PRINT_MAIN("Main: Port B4 Up\r\n");
- 
 
 290 
#ifdef _REMOTE
- 
 
 291 
                    timer3_disable();
- 
 
 292 
#endif
- 
 
 293 
#ifdef _BASE_STATION
- 
 
 294 
                    timer0_disable();
- 
 
 295 
#endif
290 
                    break;
 296 
                    break;
291 
                case MSGTYPE_PORTB_5_DOWN:
 297 
                case MSGTYPE_PORTB_5_DOWN:
292 
                    DBG_PRINT_MAIN("Main: Port B5 Down\r\n");
 298 
                    DBG_PRINT_MAIN("Main: Port B5 Down\r\n");
293 
                    break;
 299 
                    break;
294 
                case MSGTYPE_PORTB_5_UP:
 300 
                case MSGTYPE_PORTB_5_UP:
Line 305... Line 311...
305 
                    break;
 311 
                    break;
306 
                case MSGTYPE_PORTB_7_UP:
 312 
                case MSGTYPE_PORTB_7_UP:
307 
                    DBG_PRINT_MAIN("Main: Port B7 Up\r\n");
 313 
                    DBG_PRINT_MAIN("Main: Port B7 Up\r\n");
308 
                    break;
 314 
                    break;
309 
                    /* -----------------------------------------------------------*/
 315 
                    /* -----------------------------------------------------------*/
- 
 
 316 
                    /* --- Timer Interrupt Handlers ------------------------------*/
- 
 
 317 
                case MSGTYPE_TIMER0:
- 
 
 318 
                    DBG_PRINT_MAIN("Main: Timer 0\r\n");
- 
 
 319 
                    /* XBee Demo */
- 
 
 320 
                    frame_tx_data = (void *) msgbuffer;
- 
 
 321 
                    frame_tx_data->frame_type = XBEE_TX_DATA_PACKET;
- 
 
 322 
                    frame_tx_data->frame_id = 0;
- 
 
 323 
                    frame_tx_data->destination_64.UPPER_32.long_value = 0x00000000;
- 
 
 324 
                    frame_tx_data->destination_64.LOWER_32.long_value = 0x00000000;
- 
 
 325 
                    frame_tx_data->destination_16.INT_16.int_value = 0x0000;
- 
 
 326 
                    frame_tx_data->broadcast_radius = 0;
- 
 
 327 
                    frame_tx_data->options = 0x01; // Disable ACK
- 
 
 328 
                    frame_tx_data->data[0] = counter;
- 
 
 329 
                    counter++;
- 
 
 330 
                    if (counter == 100)
- 
 
 331 
                        counter = 0;
- 
 
 332 
                    length = XBEE_TX_DATA_PACKET_FRAME_SIZE + 1;
- 
 
 333 
                    xbee_process_transmit_frame((void *) msgbuffer, length);
- 
 
 334 
                    Delay10KTCYx(100);
- 
 
 335 
 
- 
 
 336 
//                    /* I2C Demo */
- 
 
 337 
//                    // Write 2 bytes
- 
 
 338 
//                    msgbuffer[0] = 0x4;
- 
 
 339 
//                    msgbuffer[1] = 0x2;
- 
 
 340 
//                    i2c_master_send(0x5F, 2, msgbuffer);
- 
 
 341 
//                    while (i2c_master_busy());
- 
 
 342 
//
- 
 
 343 
//                    // Read 2 bytes back
- 
 
 344 
//                    i2c_master_recv(0x5F, 2);
- 
 
 345 
//                    while (i2c_master_busy());
- 
 
 346 
                    break;
- 
 
 347 
//                case MSGTYPE_ADC_NEWVALUE:
- 
 
 348 
//                    // Get the value in the ADC
- 
 
 349 
//                    adc_last_value = *((unsigned int*) msgbuffer);
- 
 
 350 
//                    adc_last_value_shifted = adc_last_value >> 4;
- 
 
 351 
//                    DBG_PRINT_MAIN("Main: ADC Value = %d\r\n", adc_last_value);
- 
 
 352 
//
- 
 
 353 
//                    adc_start();
- 
 
 354 
//                    break;
310 
                default:
 355 
                default:
311 
                    DBG_PRINT_MAIN("Main: (ERROR) Unexpected msg in high queue, length = %d, type = %d\r\n", length, msgtype);
 356 
                    DBG_PRINT_MAIN("Main: (ERROR) Unexpected msg in low queue, length = %d, type = %d\r\n", length, msgtype);
312 
                    for (i = 0; i < length; i++) {
 357 
                    for (i = 0; i < length; i++) {
313 
                        DBG_PRINT_MAIN("%X ", msgbuffer[i]);
 358 
                        DBG_PRINT_MAIN("%X ", msgbuffer[i]);
314 
                    }
 359 
                    }
315 
                    DBG_PRINT_MAIN("\r\n");
 360 
                    DBG_PRINT_MAIN("\r\n");
316 
                    break;
 361 
                    break;
317 
            };
 362 
            };
318 
            continue;
 363 
            continue;
319 
        }
 364 
        }
320 
 
 - 
 
321 
        //        // Process low priority queue
 - 
 
322 
        //        length = MQ_recvmsg_ToMainFromLow(MSGLEN, &msgtype, (void *) msgbuffer);
 - 
 
323 
        //        if (length < 0) {
 - 
 
324 
        //            // No message, check the error code to see if it is concern
 - 
 
325 
        //            if (length != MSG_QUEUE_EMPTY) {
 - 
 
326 
        //                DBG_PRINT_MAIN("Main: (ERROR) Bad low priority receive, code = %d\r\n", length);
 - 
 
327 
        //            }
 - 
 
328 
        //        } else {
 - 
 
329 
        //            switch (msgtype) {
 - 
 
330 
        //                case MSGTYPE_TIMER0:
 - 
 
331 
        //                    DBG_PRINT_MAIN("Timer 0 Triggered\r\n");
 - 
 
332 
        //                    // Write 2 bytes
 - 
 
333 
        //                    msgbuffer[0] = 0x4;
 - 
 
334 
        //                    msgbuffer[1] = 0x3;
 - 
 
335 
        //                    i2c_master_send(0x5F, 2, msgbuffer);
 - 
 
336 
        //                    while (i2c_master_busy());
 - 
 
337 
        //
 - 
 
338 
        //                    // Read 3 bytes
 - 
 
339 
        //                    i2c_master_recv(0x5F, 3);
 - 
 
340 
        //                    while (i2c_master_busy());
 - 
 
341 
        //
 - 
 
342 
        //                    break;
 - 
 
343 
        //                break;
 - 
 
344 
        //                case MSGTYPE_ADC_NEWVALUE:
 - 
 
345 
        //                    // Get the value in the ADC
 - 
 
346 
        //                    adc_last_value = *((unsigned int*)msgbuffer);
 - 
 
347 
        //                    adc_last_value_shifted = adc_last_value >> 4;
 - 
 
348 
        //                    DBG_PRINT_MAIN("Main: ADC Value = %d\r\n", adc_last_value);
 - 
 
349 
        //
 - 
 
350 
        //                    frame_tx_data = (void *) msgbuffer;
 - 
 
351 
        //                    frame_tx_data->frame_type = XBEE_TX_DATA_PACKET;
 - 
 
352 
        //                    frame_tx_data->frame_id = 0;
 - 
 
353 
        //                    frame_tx_data->destination_64.UPPER_32.long_value = 0x00000000;
 - 
 
354 
        //                    frame_tx_data->destination_64.LOWER_32.long_value = 0x00000000;
 - 
 
355 
        //                    frame_tx_data->destination_16.INT_16.int_value = 0x0000;
 - 
 
356 
        //                    frame_tx_data->broadcast_radius = 0;
 - 
 
357 
        //                    frame_tx_data->options = 0x01;  // Disable ACK
 - 
 
358 
        //
 - 
 
359 
        //                    frame_tx_data->data[0] = adc_last_value_shifted;
 - 
 
360 
        //
 - 
 
361 
        //                    length = XBEE_TX_DATA_PACKET_FRAME_SIZE + 1;
 - 
 
362 
        //
 - 
 
363 
        //                    xbee_process_transmit_frame((void *) msgbuffer, length);
 - 
 
364 
        //
 - 
 
365 
        //                    Delay10KTCYx(255);
 - 
 
366 
        //                    Delay10KTCYx(255);
 - 
 
367 
        //                    Delay10KTCYx(255);
 - 
 
368 
        //                    Delay10KTCYx(255);
 - 
 
369 
        //
 - 
 
370 
        //                    adc_start();
 - 
 
371 
        //                    break;
 - 
 
372 
        //                default:
 - 
 
373 
        //                    DBG_PRINT_MAIN("Main: (ERROR) Unexpected msg in low queue, type = %d\r\n", msgtype);
 - 
 
374 
        //                    break;
 - 
 
375 
        //            };
 - 
 
376 
        //            continue;
 - 
 
377 
        //        }
 - 
 
378 
    }
 365 
    }
379 
}
 366 
}
380 

            367