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// ToMainQueueFromLow: Writer is a low priority interrupt, Reader is main()
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// ToMainQueueFromLow: Writer is a low priority interrupt, Reader is main()
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// ToMainQueueFromHigh: Writer is a high priority interrupt, Reader is main()
 10 
// ToMainQueueFromHigh: Writer is a high priority interrupt, Reader is main()
11 
// FromMainQueueToLow: Writer is main(), Reader is a low priority interrupt
 11 
// FromMainQueueToLow: Writer is main(), Reader is a low priority interrupt
12 
// FromMainQueueToHigh: Writer is main(), Reader is a high priority interrupt
 12 
// FromMainQueueToHigh: Writer is main(), Reader is a high priority interrupt
13 
 
 13 
 
14 
//#pragma udata msgqueue1_1
 14 
#pragma udata msgqueue1_1
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//static msg MQ_ToMainFromLow_1;
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static msg MQ_ToMainFromLow_1;
16 
//#pragma udata msgqueue1_2
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#pragma udata msgqueue1_2
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//static msg MQ_ToMainFromLow_2;
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static msg MQ_ToMainFromLow_2;
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 18 
 
19 
#pragma udata msgqueue2_1
 19 
#pragma udata msgqueue2_1
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static msg MQ_ToMainFromHigh_1;
 20 
static msg MQ_ToMainFromHigh_1;
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#pragma udata msgqueue2_2
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#pragma udata msgqueue2_2
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static msg MQ_ToMainFromHigh_2;
 22 
static msg MQ_ToMainFromHigh_2;
23 
#pragma udata msgqueue2_3
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//#pragma udata msgqueue2_3
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static msg MQ_ToMainFromHigh_3;
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//static msg MQ_ToMainFromHigh_3;
25 
 
 25 
 
26 
//#pragma udata msgqueue3_1
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#pragma udata msgqueue3_1
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//static msg MQ_FromMainToLow_1;
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static msg MQ_FromMainToLow_1;
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//#pragma udata msgqueue3_2
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#pragma udata msgqueue3_2
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//static msg MQ_FromMainToLow_2;
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static msg MQ_FromMainToLow_2;
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 30 
 
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#pragma udata msgqueue4_1
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#pragma udata msgqueue4_1
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static msg MQ_FromMainToHigh_1;
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static msg MQ_FromMainToHigh_1;
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#pragma udata msgqueue4_2
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#pragma udata msgqueue4_2
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static msg MQ_FromMainToHigh_2;
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static msg MQ_FromMainToHigh_2;
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#pragma udata msgqueue4_3
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//#pragma udata msgqueue4_3
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static msg MQ_FromMainToHigh_3;
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//static msg MQ_FromMainToHigh_3;
37 
 
 37 
 
38 
#pragma udata
38 
#pragma udata
39 
//static msg_queue MQ_ToMainFromLow;
 39 
static msg_queue MQ_ToMainFromLow;
40 
static msg_queue MQ_ToMainFromHigh;
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static msg_queue MQ_ToMainFromHigh;
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//static msg_queue MQ_FromMainToLow;
 41 
static msg_queue MQ_FromMainToLow;
42 
static msg_queue MQ_FromMainToHigh;
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static msg_queue MQ_FromMainToHigh;
43 
 
 43 
 
44 
static unsigned char MQ_Main_Willing_To_Block;
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static unsigned char MQ_Main_Willing_To_Block;
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 45 
 
46 
void MQ_init_queue(msg_queue *qptr) {
 46 
void MQ_init_queue(msg_queue *qptr) {
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}
 54 
}
55 
 
 55 
 
56 
void MQ_init() {
 56 
void MQ_init() {
57 
    MQ_Main_Willing_To_Block = 0;
 57 
    MQ_Main_Willing_To_Block = 0;
58 
 
 58 
 
59 
//    MQ_ToMainFromLow.queue[0] = &MQ_ToMainFromLow_1;
 59 
    MQ_ToMainFromLow.queue[0] = &MQ_ToMainFromLow_1;
60 
//    MQ_ToMainFromLow.queue[1] = &MQ_ToMainFromLow_2;
 60 
    MQ_ToMainFromLow.queue[1] = &MQ_ToMainFromLow_2;
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 61 
 
62 
    MQ_ToMainFromHigh.queue[0] = &MQ_ToMainFromHigh_1;
 62 
    MQ_ToMainFromHigh.queue[0] = &MQ_ToMainFromHigh_1;
63 
    MQ_ToMainFromHigh.queue[1] = &MQ_ToMainFromHigh_2;
 63 
    MQ_ToMainFromHigh.queue[1] = &MQ_ToMainFromHigh_2;
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    MQ_ToMainFromHigh.queue[2] = &MQ_ToMainFromHigh_3;
 64 
//    MQ_ToMainFromHigh.queue[2] = &MQ_ToMainFromHigh_3;
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 65 
 
66 
//    MQ_FromMainToLow.queue[0] = &MQ_FromMainToLow_1;
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    MQ_FromMainToLow.queue[0] = &MQ_FromMainToLow_1;
67 
//    MQ_FromMainToLow.queue[1] = &MQ_FromMainToLow_2;
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    MQ_FromMainToLow.queue[1] = &MQ_FromMainToLow_2;
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 68 
 
69 
    MQ_FromMainToHigh.queue[0] = &MQ_FromMainToHigh_1;
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    MQ_FromMainToHigh.queue[0] = &MQ_FromMainToHigh_1;
70 
    MQ_FromMainToHigh.queue[1] = &MQ_FromMainToHigh_2;
 70 
    MQ_FromMainToHigh.queue[1] = &MQ_FromMainToHigh_2;
71 
    MQ_FromMainToHigh.queue[2] = &MQ_FromMainToHigh_3;
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//    MQ_FromMainToHigh.queue[2] = &MQ_FromMainToHigh_3;
72 
 
 72 
 
73 
//    MQ_init_queue(&MQ_ToMainFromLow);
 73 
    MQ_init_queue(&MQ_ToMainFromLow);
74 
    MQ_init_queue(&MQ_ToMainFromHigh);
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    MQ_init_queue(&MQ_ToMainFromHigh);
75 
//    MQ_init_queue(&MQ_FromMainToLow);
 75 
    MQ_init_queue(&MQ_FromMainToLow);
76 
    MQ_init_queue(&MQ_FromMainToHigh);
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    MQ_init_queue(&MQ_FromMainToHigh);
77 
}
 77 
}
78 
 
 78 
 
79 
signed char MQ_send_msg(msg_queue *qptr,unsigned char length,unsigned char msgtype, void *data) {
 79 
signed char MQ_send_msg(msg_queue *qptr,unsigned char length,unsigned char msgtype, void *data) {
80 
    unsigned char slot;
 80 
    unsigned char slot;
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    _asm
 189 
    _asm
190 
    sleep
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    sleep
191 
    _endasm
 191 
    _endasm
192 
}
 192 
}
193 
 
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194 
///* Message Queue 1 - Low Interrupt -> Main */
 194 
/* Message Queue 1 - Low Interrupt -> Main */
195 
//signed char MQ_sendmsg_ToMainFromLow(unsigned char length, unsigned char msgtype, void *data) {
 195 
signed char MQ_sendmsg_ToMainFromLow(unsigned char length, unsigned char msgtype, void *data) {
196 
//#ifdef DEBUG
 196 
#ifdef DEBUG
197 
//    if (!interrupt_in_low_interrupt_routine()) {
 197 
    if (!interrupt_in_low_interrupt_routine()) {
198 
//        return (MSG_NOT_IN_LOW);
 198 
        return (MSG_NOT_IN_LOW);
199 
//    }
 199 
    }
200 
//#endif
 200 
#endif
201 
//    return (MQ_send_msg(&MQ_ToMainFromLow, length, msgtype, data));
 201 
    return (MQ_send_msg(&MQ_ToMainFromLow, length, msgtype, data));
202 
//}
 202 
}
203 
//
 203 
 
204 
//signed char MQ_recvmsg_ToMainFromLow(unsigned char maxlength, unsigned char *msgtype, void *data) {
 204 
signed char MQ_recvmsg_ToMainFromLow(unsigned char maxlength, unsigned char *msgtype, void *data) {
205 
//#ifdef DEBUG
 205 
#ifdef DEBUG
206 
//    if (!interrupt_in_main_routine()) {
 206 
    if (!interrupt_in_main_routine()) {
207 
//        return (MSG_NOT_IN_MAIN);
 207 
        return (MSG_NOT_IN_MAIN);
208 
//    }
 208 
    }
209 
//#endif
 209 
#endif
210 
//    return (MQ_recv_msg(&MQ_ToMainFromLow, maxlength, msgtype, data));
 210 
    return (MQ_recv_msg(&MQ_ToMainFromLow, maxlength, msgtype, data));
211 
//}
 211 
}
212 
//
 212 
 
213 
//unsigned char MQ_peek_ToMainFromLow() {
 213 
unsigned char MQ_peek_ToMainFromLow() {
214 
//    return (MQ_peek_msg(&MQ_ToMainFromLow));
 214 
    return (MQ_peek_msg(&MQ_ToMainFromLow));
215 
//}
 215 
}
216 
 
 216 
 
217 
/* Message Queue 2 - High Interrupt -> Main */
 217 
/* Message Queue 2 - High Interrupt -> Main */
218 
signed char MQ_sendmsg_ToMainFromHigh(unsigned char length, unsigned char msgtype, void *data) {
 218 
signed char MQ_sendmsg_ToMainFromHigh(unsigned char length, unsigned char msgtype, void *data) {
219 
#ifdef DEBUG
 219 
#ifdef DEBUG
220 
    if (!interrupt_in_high_interrupt_routine()) {
 220 
    if (!interrupt_in_high_interrupt_routine()) {
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 235 
 
236 
unsigned char MQ_peek_ToMainFromHigh() {
 236 
unsigned char MQ_peek_ToMainFromHigh() {
237 
    return (MQ_peek_msg(&MQ_ToMainFromHigh));
 237 
    return (MQ_peek_msg(&MQ_ToMainFromHigh));
238 
}
 238 
}
239 
 
 239 
 
240 
///* Message Queue 3 - Main -> Low Interrupt */
 240 
/* Message Queue 3 - Main -> Low Interrupt */
241 
//signed char MQ_sendmsg_FromMainToLow(unsigned char length, unsigned char msgtype, void *data) {
 241 
signed char MQ_sendmsg_FromMainToLow(unsigned char length, unsigned char msgtype, void *data) {
242 
//#ifdef DEBUG
 242 
#ifdef DEBUG
243 
//    if (!interrupt_in_main_routine()) {
 243 
    if (!interrupt_in_main_routine()) {
244 
//        return (MSG_NOT_IN_MAIN);
 244 
        return (MSG_NOT_IN_MAIN);
245 
//    }
 245 
    }
246 
//#endif
 246 
#endif
247 
//    return (MQ_send_msg(&MQ_FromMainToLow, length, msgtype, data));
 247 
    return (MQ_send_msg(&MQ_FromMainToLow, length, msgtype, data));
248 
//}
 248 
}
249 
//
 249 
 
250 
//signed char MQ_recvmsg_FromMainToLow(unsigned char maxlength, unsigned char *msgtype, void *data) {
 250 
signed char MQ_recvmsg_FromMainToLow(unsigned char maxlength, unsigned char *msgtype, void *data) {
251 
//#ifdef DEBUG
 251 
#ifdef DEBUG
252 
//    if (!interrupt_in_low_interrupt_routine()) {
 252 
    if (!interrupt_in_low_interrupt_routine()) {
253 
//        return (MSG_NOT_IN_LOW);
 253 
        return (MSG_NOT_IN_LOW);
254 
//    }
 254 
    }
255 
//#endif
 255 
#endif
256 
//    return (MQ_recv_msg(&MQ_FromMainToLow, maxlength, msgtype, data));
 256 
    return (MQ_recv_msg(&MQ_FromMainToLow, maxlength, msgtype, data));
257 
//}
 257 
}
258 
//
 258 
 
259 
//unsigned char MQ_peek_FromMainToLow() {
 259 
unsigned char MQ_peek_FromMainToLow() {
260 
//    return (MQ_peek_msg(&MQ_FromMainToLow));
 260 
    return (MQ_peek_msg(&MQ_FromMainToLow));
261 
//}
 261 
}
262 
 
 262 
 
263 
/* Message Queue 4 - Main -> High Interrupt */
 263 
/* Message Queue 4 - Main -> High Interrupt */
264 
signed char MQ_sendmsg_FromMainToHigh(unsigned char length, unsigned char msgtype, void *data) {
 264 
signed char MQ_sendmsg_FromMainToHigh(unsigned char length, unsigned char msgtype, void *data) {
265 
#ifdef DEBUG
 265 
#ifdef DEBUG
266 
    if (!interrupt_in_main_routine()) {
 266 
    if (!interrupt_in_main_routine()) {
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 305 
 
306 
    // Check the message queues to make sure that they're empty
 306 
    // Check the message queues to make sure that they're empty
307 
    if (MQ_check_msg_queue_unread(&MQ_ToMainFromHigh)) {
 307 
    if (MQ_check_msg_queue_unread(&MQ_ToMainFromHigh)) {
308 
        return;
 308 
        return;
309 
    }
 309 
    }
310 
//    if (MQ_check_msg_queue_unread(&MQ_ToMainFromLow)) {
 310 
    if (MQ_check_msg_queue_unread(&MQ_ToMainFromLow)) {
311 
//        return;
 311 
        return;
312 
//    }
 312 
    }
313 
 
 313 
 
314 
    // If everything checks out, go to sleep
 314 
    // If everything checks out, go to sleep
315 
    MQ_enter_sleep_mode();
 315 
    MQ_enter_sleep_mode();
316 
}
 316 
}
317 
 
 317 
 
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327 
        // If any incoming message queues are not empty, break out of wait
 327 
        // If any incoming message queues are not empty, break out of wait
328 
        if (MQ_check_msg_queue_unread(&MQ_ToMainFromHigh)) {
 328 
        if (MQ_check_msg_queue_unread(&MQ_ToMainFromHigh)) {
329 
            MQ_Main_Willing_To_Block = 0;
 329 
            MQ_Main_Willing_To_Block = 0;
330 
            return;
 330 
            return;
331 
        }
 331 
        }
332 
//        if (MQ_check_msg_queue_unread(&MQ_ToMainFromLow)) {
 332 
        if (MQ_check_msg_queue_unread(&MQ_ToMainFromLow)) {
333 
//            MQ_Main_Willing_To_Block = 0;
 333 
            MQ_Main_Willing_To_Block = 0;
334 
//            return;
 334 
            return;
335 
//        }
 335 
        }
336 
        // Sleep for a period of time before checking again
 336 
        // Sleep for a period of time before checking again
337 
        Delay1KTCYx(10);
 337 
        Delay1KTCYx(10);
338 
    }
 338 
    }
339 
}
 339 
}
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