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#include <xc.h>#include <delays.h>#include <stdio.h>#include <string.h>#include "defines.h"#include "base_INTERRUPTS.h"#include "base_TIMERS.h"#include "base_UART.h"#include "base_I2C.h"#include "base_SPI.h"#include "base_ADC.h"#include "sensor_nfc_PN532.h"#include "sensor_lux_TSL2561.h"#include "sensor_temp_BMP085.h"#include "sensor_gyro_L3G.h"#include "sensor_accel_LSM303.h"#include "sensor_rtc_DS3231.h"#include "display_led_HT16K33.h"#include "display_oled_ssd1306.h"#include "display_oled_ssd1331.h"#include "display_oled_NHD-0216KZW-AB5.h"#include "comm_xbee.h"// <editor-fold defaultstate="collapsed" desc="Configuration Bits">/* --------------------------- Configuration Bits --------------------------- *//* CONFIG1L @ 0x1FFF8 */#pragma config CFGPLLEN = ON // Enable PLL on startup#pragma config PLLDIV = 3 // Set PPL prescaler to 3 (to get 4MHz)#pragma config WDTEN = OFF // Turn off watchdog timer#pragma config STVREN = OFF // Stack overflow/underflow reset disabled#pragma config XINST = OFF // Turn off extended instruction set/* CONFIG1H @ 0x1FFF9 */#pragma config CP0 = OFF // Program memory is not code-protected/* CONFIG2L @ 0x1FFFA */#pragma config CLKOEC = OFF // CLKO output disabled on RA6 pin#pragma config SOSCSEL = LOW // Low Power T1OSC/SOSC circuit selected#pragma config IESO = ON // Internal external oscillator switch over disabled#pragma config OSC = HSPLL // Use external oscillator (101)#pragma config FCMEN = OFF // Fail-safe clock monitor disabled/* CONFIG2H @ 0x1FFFB */#pragma config WDTPS = 1 // Watchdog postscaler of 1:1/* CONFIG3L @ 0x1FFFC */#pragma config RTCOSC = T1OSCREF // RTCC uses T1OSC/T1CKI#pragma config DSBOREN = ON // Deep sleep BOR enabled#pragma config DSWDTPS = M2 // Deep sleep watchdog postscaler of 1:2 (36m)#pragma config DSWDTEN = OFF // Deep sleep watchdog timer disabled#pragma config DSWDTOSC = INTOSCREF // DSWDT clock select uses INTRC/* CONFIG3H @ 0x1FFFD */#pragma config PLLSEL = PLL96 // Use 96MHz PLL 4MHz -> 96MHz / 2 = 48MHz#pragma config ADCSEL = BIT12 // 12-bit ADC#pragma config MSSP7B_EN = MSK7 // 7-bit address masking mode#pragma config IOL1WAY = OFF // IOLOCK bit can be set and cleared as needed/* CONFIG4L @ 0x1FFFE */#pragma config WPCFG = ON // Configuration words page protected/* CONFIG4H @ 0x1FFFF */#pragma config WPEND = PAGE_WPFP // Pages WPFP<6:0> through Configuration Words erase/write protected#pragma config WPDIS = OFF // WPFP<6:0>/WPEND region ignored/* -------------------------------------------------------------------------- */// </editor-fold>#if defined(_TEST_UART)// <editor-fold defaultstate="collapsed" desc="_TEST_UART">int main() {char buffer[100];// Set all ports as digial I/OANCON0 = 0xFF;ANCON1 = 0x1F;UART_DATA uart_data;UART1_Init(&uart_data); // Initialize the UART handler codeInterrupt_Init(); // Initialize the interrupt prioritiesInterrupt_Enable(); // Enable high-priority interrupts and low-priority interruptschar output[] = "\r\nBegin Program\r\n";DBG_PRINT_MAIN(output, strlen(output));while (1) {char length = UART1_Read_Buffer((char *) buffer);if (length != 0) {UART1_WriteS(buffer, length);}Delay10KTCYx(255);Delay10KTCYx(255);}}// </editor-fold>#elif defined(_TEST_I2C_MASTER)// <editor-fold defaultstate="collapsed" desc="_TEST_I2C_MASTER">void main(void) {char length = 0;char result = 0;char buffer[100];char output[64];// Set all ports as digial I/OANCON0 = 0xFF;ANCON1 = 0x1F;UART_DATA uart_data;UART1_Init(&uart_data); // Initialize the UART handler codeI2C_DATA i2c_data;I2C_Init(&i2c_data); // Initialize the I2C handler codeI2C_Configure_Master(I2C_100KHZ);Interrupt_Init(); // Initialize the interrupt prioritiesInterrupt_Enable(); // Enable high-priority interrupts and low-priority interruptssprintf(output, "\r\nBegin Program\r\n");DBG_PRINT_MAIN(output, strlen(output));while (1) {buffer[0] = 0x8;I2C_Master_Send(0x24, 1, buffer);do {result = I2C_Get_Status();} while (!result);sprintf(output, "S: %X ", result);DBG_PRINT_MAIN(output, strlen(output));I2C_Master_Recv(0x24, 2);do {result = I2C_Get_Status();} while (!result);sprintf(output, "S: %X ", result);DBG_PRINT_MAIN(output, strlen(output));length = I2C_Read_Buffer(buffer);sprintf(output, "L: %d D: ", length);DBG_PRINT_MAIN(output, strlen(output));for (char i = 0; i < length; i++) {sprintf(output, "%c ", buffer[i]);DBG_PRINT_MAIN(output, strlen(output));}sprintf(output, "\r\n");DBG_PRINT_MAIN(output, strlen(output));I2C_Master_Restart(0x30, 0xBB, 2);result = I2C_Get_Status();while (!result) {result = I2C_Get_Status();}sprintf(output, "S: %X ", result);DBG_PRINT_MAIN(output, strlen(output));length = I2C_Read_Buffer(buffer);sprintf(output, "L: %d D: ", length);DBG_PRINT_MAIN(output, strlen(output));for (char i = 0; i < length; i++) {sprintf(output, "%c ", buffer[i]);DBG_PRINT_MAIN(output, strlen(output));}sprintf(output, "\r\n");DBG_PRINT_MAIN(output, strlen(output));Delay10KTCYx(255);Delay10KTCYx(255);}}// </editor-fold>#elif defined(_TEST_I2C_SLAVE)// <editor-fold defaultstate="collapsed" desc="_TEST_I2C_SLAVE">void main(void) {char length = 0;char result = 0;char buffer[100];char output[64];// Set all ports as digial I/OANCON0 = 0xFF;ANCON1 = 0x1F;UART_DATA uart_data;UART1_Init(&uart_data); // Initialize the UART handler codeI2C_DATA i2c_data;I2C_Init(&i2c_data); // Initialize the I2C handler codeI2C_Configure_Slave(0x24);Interrupt_Init(); // Initialize the interrupt prioritiesInterrupt_Enable(); // Enable high-priority interrupts and low-priority interruptssprintf(output, "\r\nBegin Program\r\n");DBG_PRINT_MAIN(output, strlen(output));while (1) {result = I2C_Get_Status();while (!result) {result = I2C_Get_Status();}sprintf(output, "S: %X ", result);DBG_PRINT_MAIN(output, strlen(output));length = I2C_Read_Buffer(buffer);sprintf(output, "L: %d D: ", length);DBG_PRINT_MAIN(output, strlen(output));for (char i = 0; i < length; i++) {sprintf(output, "%X ", buffer[i]);DBG_PRINT_MAIN(output, strlen(output));}sprintf(output, "\r\n");DBG_PRINT_MAIN(output, strlen(output));Delay10KTCYx(255);Delay10KTCYx(255);}}// </editor-fold>#elif defined(_TEST_SPI)// <editor-fold defaultstate="collapsed" desc="_TEST_SPI">void main(void) {char length = 0;char result = 0;char buffer[100];char output[64];char test[8] = "ASDF123";// Set all ports as digial I/OANCON0 = 0xFF;ANCON1 = 0x1F;UART_DATA uart_data;UART1_Init(&uart_data); // Initialize the UART handler codeSPI_DATA spi_data;SPI2_Init(&spi_data, SPI2_FOSC_8); // Initialize the SPI moduleInterrupt_Init(); // Initialize the interrupt prioritiesInterrupt_Enable(); // Enable high-priority interrupts and low-priority interruptssprintf(output, "\r\nBegin Program\r\n");DBG_PRINT_MAIN(output, strlen(output));while (1) {SPI2_Write(test, 7);while (result != 7) {length = SPI2_Read_Buffer(buffer);if (length) {result += length;}}result = 0;for (char i = 0; i < result; i++) {sprintf(output, "%X ", buffer[i]);DBG_PRINT_MAIN(output, strlen(output));}sprintf(output, "\r\n");DBG_PRINT_MAIN(output, strlen(output));Delay10KTCYx(255);Delay10KTCYx(255);}}// </editor-fold>#elif defined(_TEST_ADC)// <editor-fold defaultstate="collapsed" desc="_TEST_ADC">void main(void) {unsigned int x, y, z;char buffer[60];// Set all ports as digial I/O except for AN0-AN2 (pins 2-4)ANCON0 = 0xF8;ANCON1 = 0x1F;UART_DATA uart_data;UART1_Init(&uart_data); // Initialize the UART handler codeSPI_DATA spi_data;SPI2_Init(&spi_data, SPI2_FOSC_8); // Initialize the SPI moduleSSD1306_DATA ssd1306_data;SSD1306_Init(&ssd1306_data); // Initialize the SSD1331 OLED display (uses SPI2)ADC_DATA adc_data;ADC_Init(&adc_data, ADC_TAD_20, ADC_FOSC_64_);SSD1306_Begin(SSD1306_SWITCHCAPVCC);Interrupt_Init(); // Initialize the interrupt prioritiesInterrupt_Enable(); // Enable high-priority interrupts and low-priority interruptssprintf(buffer, "\r\nBegin Program\r\n");SSD1306_Write_String(buffer, strlen(buffer));memset(buffer, 0, 60);SSD1306_Clear_Display();SSD1306_Display();while (1) {// ADC read from AN0-AN2 and prints to displayADC_Start(ADC_CHANNEL_AN2);// SSD1306_Fill_Rect(0, 0, SSD1306_LCDWIDTH, 8, SSD1331_BLACK);SSD1306_Set_Cursor(0, 0);while (!ADC_Get_Result(&x));sprintf(buffer, "X: %u", x);SSD1306_Write_String(buffer, strlen(buffer));SSD1306_Display();ADC_Start(ADC_CHANNEL_AN1);// SSD1306_Fill_Rect(0, 8, SSD1306_LCDWIDTH, 8, SSD1331_BLACK);SSD1306_Set_Cursor(0, 8);while (!ADC_Get_Result(&y));sprintf(buffer, "Y: %u", y);SSD1306_Write_String(buffer, strlen(buffer));SSD1306_Display();ADC_Start(ADC_CHANNEL_AN0);// SSD1306_Fill_Rect(0, 16, SSD1306_LCDWIDTH, 8, SSD1331_BLACK);SSD1306_Set_Cursor(0, 16);while (!ADC_Get_Result(&z));sprintf(buffer, "Z: %u", z);SSD1306_Write_String(buffer, strlen(buffer));SSD1306_Display();}}// </editor-fold>#elif defined(_TEST_TIMER1_RTC)// <editor-fold defaultstate="collapsed" desc="_TEST_TIMER1_RTC">void main(void) {// Set all ports as digial I/O except for AN0-AN2 (pins 2-4)ANCON0 = 0xF8;ANCON1 = 0x1F;Timer1_Init();Interrupt_Init(); // Initialize the interrupt prioritiesInterrupt_Enable(); // Enable high-priority interrupts and low-priority interruptsLED_BLUE_TRIS = 0;LED_RED_TRIS = 0;Timer1_Enable();while (1) {}}// </editor-fold>#elif defined(_TEST_NFC)// <editor-fold defaultstate="collapsed" desc="_TEST_NFC">void main(void) {char length = 0;char output[64];// NFC stuffNFC_FIRMWARE_VERSION version;NFC_TargetDataMiFare cardData[2];NFC_TargetDataMiFare cardData_prev[2];// Set all ports as digial I/OANCON0 = 0xFF;ANCON1 = 0x1F;UART_DATA uart_data;UART1_Init(&uart_data); // Initialize the UART handler codeI2C_DATA i2c_data;I2C_Init(&i2c_data); // Initialize the I2C handler codeNFC_DATA nfc_data;NFC_Init(&nfc_data); // Initialize the NFC chip (uses I2C)I2C_Configure_Master(I2C_400KHZ);Interrupt_Init(); // Initialize the interrupt prioritiesInterrupt_Enable(); // Enable high-priority interrupts and low-priority interruptssprintf(output, "\r\nBegin Program\r\n");DBG_PRINT_MAIN(output, strlen(output));version = NFC_Get_Firmware_Version();while (!version.IC) {sprintf(output, "Waiting for NFC board..\r\n");DBG_PRINT_MAIN(output, strlen(output));Delay10KTCYx(3);version = NFC_Get_Firmware_Version();}sprintf(output, "Found chip PN5%X\r\n", version.IC);DBG_PRINT_MAIN(output, strlen(output));sprintf(output, "Firmware ver. %d.%d\r\n", version.Ver, version.Rev);DBG_PRINT_MAIN(output, strlen(output));NFC_SAMConfig();memset(cardData, 0, 24);while (1) {// // This query will hang until the NFC chip replies (card detected)// length = NFC_readPassiveTargetID(cardData);// if (length) {// DBG_PRINT_MAIN("Cards Found: %u\r\n", length);// DBG_PRINT_MAIN("UID Length: %d bytes\r\n", cardData[0].NFCID_LEN);// DBG_PRINT_MAIN("UID: ");// for (i = 0; i < cardData[0].NFCID_LEN; i++) {// DBG_PRINT_MAIN("%02X ", cardData[0].NFCID[i]);// }// DBG_PRINT_MAIN("\r\n");// if (length == 2) {// DBG_PRINT_MAIN("UID Length: %d bytes\r\n", cardData[1].NFCID_LEN);// DBG_PRINT_MAIN("UID: ");// for (i = 0; i < cardData[1].NFCID_LEN; i++) {// DBG_PRINT_MAIN("%02X ", cardData[1].NFCID[i]);// }// DBG_PRINT_MAIN("\r\n");// }// }// // This query will hang until the NFC chip replies (card detected)// length = NFC_readPassiveTargetID(cardData);// if (length) {// DBG_PRINT_MAIN("Cards Found: %u\r\n", length);// DBG_PRINT_MAIN("UID Length: %d bytes\r\n", cardData[0].NFCID_LEN);// DBG_PRINT_MAIN("UID: ");// for (i = 0; i < cardData[0].NFCID_LEN; i++) {// DBG_PRINT_MAIN("%02X ", cardData[0].NFCID[i]);// }// DBG_PRINT_MAIN("\r\n");// if (length == 2) {// DBG_PRINT_MAIN("UID Length: %d bytes\r\n", cardData[1].NFCID_LEN);// DBG_PRINT_MAIN("UID: ");// for (i = 0; i < cardData[1].NFCID_LEN; i++) {// DBG_PRINT_MAIN("%02X ", cardData[1].NFCID[i]);// }// DBG_PRINT_MAIN("\r\n");// }// }// This query will not wait for a detection before respondinglength = NFC_Poll_Targets(1, 1, cardData);if (!length) {memset(cardData_prev, 0, 24);} else if (length == 1) {if (memcmp(&cardData[0].NFCID, &cardData_prev[0].NFCID, cardData[0].NFCID_LEN) == 0) {// Do nothing} else if (memcmp(&cardData[0].NFCID, &cardData_prev[1].NFCID, cardData[0].NFCID_LEN) == 0) {memcpy((char *) &cardData_prev[0], (const char *) &cardData[0], 12);} else {sprintf(output, "UID: ");DBG_PRINT_MAIN(output, strlen(output));for (char i = 0; i < cardData[0].NFCID_LEN; i++) {sprintf(output, "%02X ", cardData[0].NFCID[i]);DBG_PRINT_MAIN(output, strlen(output));}sprintf(output, "\r\n");DBG_PRINT_MAIN(output, strlen(output));memcpy((char *) &cardData_prev[0], (const char *) &cardData[0], 12);}memset(&cardData_prev[1], 0, 12);} else if (length == 2) {if (memcmp(&cardData[0].NFCID, &cardData_prev[0].NFCID, cardData[0].NFCID_LEN) == 0 &&memcmp(&cardData[1].NFCID, &cardData_prev[1].NFCID, cardData[1].NFCID_LEN) == 0) {// Do nothing} else if (memcmp(&cardData[0].NFCID, &cardData_prev[1].NFCID, cardData[0].NFCID_LEN) == 0 &&memcmp(&cardData[1].NFCID, &cardData_prev[0].NFCID, cardData[1].NFCID_LEN) == 0) {memcpy((char *) &cardData_prev[0], (const char *) &cardData[0], 12);memcpy((char *) &cardData_prev[1], (const char *) &cardData[1], 12);} else if (memcmp(&cardData[0].NFCID, &cardData_prev[0].NFCID, cardData[0].NFCID_LEN) == 0) {// First card matchedsprintf(output, "UID2: ");DBG_PRINT_MAIN(output, strlen(output));for (char i = 0; i < cardData[1].NFCID_LEN; i++) {sprintf(output, "%02X ", cardData[1].NFCID[i]);DBG_PRINT_MAIN(output, strlen(output));}sprintf(output, "\r\n");DBG_PRINT_MAIN(output, strlen(output));memcpy(&cardData_prev[1], (const char *) &cardData[1], 12);} else if (memcmp(&cardData[1].NFCID, &cardData_prev[1].NFCID, cardData[1].NFCID_LEN) == 0) {// Second card matchedsprintf(output, "UID1: ");DBG_PRINT_MAIN(output, strlen(output));for (char i = 0; i < cardData[0].NFCID_LEN; i++) {sprintf(output, "%02X ", cardData[0].NFCID[i]);DBG_PRINT_MAIN(output, strlen(output));}sprintf(output, "\r\n");DBG_PRINT_MAIN(output, strlen(output));memcpy((char *) &cardData_prev[0], (const char *) &cardData[0], 12);} else {// No matchsprintf(output, "UID1: ");DBG_PRINT_MAIN(output, strlen(output));for (char i = 0; i < cardData[0].NFCID_LEN; i++) {sprintf(output, "%02X ", cardData[0].NFCID[i]);DBG_PRINT_MAIN(output, strlen(output));}sprintf(output, "\r\n");DBG_PRINT_MAIN(output, strlen(output));memcpy((char *) &cardData_prev[0], (const char *) &cardData[0], 12);sprintf(output, "UID2: ");DBG_PRINT_MAIN(output, strlen(output));for (char i = 0; i < cardData[1].NFCID_LEN; i++) {sprintf(output, "%02X ", cardData[1].NFCID[i]);DBG_PRINT_MAIN(output, strlen(output));}sprintf(output, "\r\n");DBG_PRINT_MAIN(output, strlen(output));memcpy((char *) &cardData_prev[1], (const char *) &cardData[1], 12);}}}}// </editor-fold>#elif defined(_TEST_LUX)// <editor-fold defaultstate="collapsed" desc="_TEST_LUX">void main(void) {char output[64];// Set all ports as digial I/O except for AN0-AN2 (pins 2-4)ANCON0 = 0xF8;ANCON1 = 0x1F;UART_DATA uart_data;UART1_Init(&uart_data);I2C_DATA i2c_data;I2C_Init(&i2c_data);TSL2561_DATA lux_data;LUX_Init(&lux_data, TSL2561_ADDR_FLOAT);I2C_Configure_Master(I2C_100KHZ);Interrupt_Init(); // Initialize the interrupt prioritiesInterrupt_Enable(); // Enable high-priority interrupts and low-priority interruptsLUX_Begin();// You can change the gain on the fly, to adapt to brighter/dimmer light situations// LUX_Set_Gain(TSL2561_GAIN_0X); // set no gain (for bright situtations)LUX_Set_Gain(TSL2561_GAIN_16X); // set 16x gain (for dim situations)// Changing the integration time gives you a longer time over which to sense light// longer timelines are slower, but are good in very low light situtations!// LUX_Set_Timing(TSL2561_INTEGRATIONTIME_13MS); // shortest integration time (bright light)LUX_Set_Timing(TSL2561_INTEGRATIONTIME_101MS); // medium integration time (medium light)// LUX_Set_Timing(TSL2561_INTEGRATIONTIME_402MS); // longest integration time (dim light)sprintf(output, "\r\nBegin Program\r\n");DBG_PRINT_MAIN(output, strlen(output));while (1) {unsigned long lum = LUX_Get_Full_Luminosity();unsigned int ir = lum >> 16;unsigned int full = lum & 0xFFFF;sprintf(output, "IR: %d\r\n", ir);DBG_PRINT_MAIN(output, strlen(output));sprintf(output, "Visible: %d\r\n", full - ir);DBG_PRINT_MAIN(output, strlen(output));sprintf(output, "Full: %d\r\n", full);DBG_PRINT_MAIN(output, strlen(output));sprintf(output, "Lux: %ld\r\n\r\n", LUX_Calculate_Lux(full, ir));DBG_PRINT_MAIN(output, strlen(output));Delay10KTCYx(255);Delay10KTCYx(255);Delay10KTCYx(255);Delay10KTCYx(255);}}// </editor-fold>#elif defined(_TEST_BMP)// <editor-fold defaultstate="collapsed" desc="_TEST_BMP">void main(void) {char output[64];// Set all ports as digial I/O except for AN0-AN2 (pins 2-4)ANCON0 = 0xF8;ANCON1 = 0x1F;UART_DATA uart_data;UART1_Init(&uart_data);I2C_DATA i2c_data;I2C_Init(&i2c_data);BMP085_DATA bmp_data;BMP_Init(&bmp_data);I2C_Configure_Master(I2C_400KHZ);Interrupt_Init(); // Initialize the interrupt prioritiesInterrupt_Enable(); // Enable high-priority interrupts and low-priority interruptsBMP_Begin(BMP085_ULTRAHIGHRES);BMP_Read_Temperature();BMP_Read_Pressure();BMP_Read_Altitude(101592);while (1) {sprintf(output, "Temp: %f *C\r\n", BMP_Read_Temperature());DBG_PRINT_MAIN(output, strlen(output));sprintf(output, "Pressure: %ld Pa\r\n", BMP_Read_Pressure());DBG_PRINT_MAIN(output, strlen(output));sprintf(output, "Altitude: %f meters\r\n", BMP_Read_Altitude(101592));DBG_PRINT_MAIN(output, strlen(output));Delay10KTCYx(255);Delay10KTCYx(255);Delay10KTCYx(255);Delay10KTCYx(255);}}// </editor-fold>#elif defined(_TEST_GYRO)// <editor-fold defaultstate="collapsed" desc="_TEST_GYRO">void main(void) {char output[64];// Set all ports as digial I/O except for AN0-AN2 (pins 2-4)ANCON0 = 0xF8;ANCON1 = 0x1F;UART_DATA uart_data;UART1_Init(&uart_data);I2C_DATA i2c_data;I2C_Init(&i2c_data);L3G_DATA gyro_data;L3G_Init(&gyro_data, L3GD20_DEVICE, L3G_SA0_HIGH);I2C_Configure_Master(I2C_100KHZ);Interrupt_Init(); // Initialize the interrupt prioritiesInterrupt_Enable(); // Enable high-priority interrupts and low-priority interruptssprintf(output, "\r\nBegin Program\r\n");DBG_PRINT_MAIN(output, strlen(output));L3G_Begin();int x,y,z;while (1) {L3G_Read(&x, &y, &z);sprintf(output, "X: %d Y: %d Z: %d\r\n", x, y, z);DBG_PRINT_MAIN(output, strlen(output));Delay10KTCYx(100);}}// </editor-fold>#elif defined(_TEST_ACCEL)// <editor-fold defaultstate="collapsed" desc="_TEST_ACCEL">void main(void) {char output[64];// Set all ports as digial I/O except for AN0-AN2 (pins 2-4)ANCON0 = 0xF8;ANCON1 = 0x1F;UART_DATA uart_data;UART1_Init(&uart_data);I2C_DATA i2c_data;I2C_Init(&i2c_data);LSM303_DATA acc_data;LSM303_Init(&acc_data, LSM303DLHC_DEVICE, ACC_ADDRESS_SA0_A_LOW);I2C_Configure_Master(I2C_100KHZ);Interrupt_Init(); // Initialize the interrupt prioritiesInterrupt_Enable(); // Enable high-priority interrupts and low-priority interruptssprintf(output, "\r\nBegin Program\r\n");DBG_PRINT_MAIN(output, strlen(output));LSM303_Begin();int a_x, a_y, a_z, m_x, m_y, m_z;while (1) {LSM303_Read_Acc(&a_x, &a_y, &a_z);LSM303_Read_Mag(&m_x, &m_y, &m_z);sprintf(output, "A - X: %d Y: %d Z: %d\r\n", a_x, a_y, a_z);DBG_PRINT_MAIN(output, strlen(output));sprintf(output, "M - X: %d Y: %d Z: %d\r\n", m_x, m_y, m_z);DBG_PRINT_MAIN(output, strlen(output));Delay10KTCYx(100);}}// </editor-fold>#elif defined(_TEST_RTC)// <editor-fold defaultstate="collapsed" desc="_TEST_RTC">void main(void) {char output[64];// Set all ports as digial I/O except for AN0-AN2 (pins 2-4)ANCON0 = 0xF8;ANCON1 = 0x1F;UART_DATA uart_data;UART1_Init(&uart_data);I2C_DATA i2c_data;I2C_Init(&i2c_data);I2C_Configure_Master(I2C_100KHZ);Interrupt_Init(); // Initialize the interrupt prioritiesInterrupt_Enable(); // Enable high-priority interrupts and low-priority interruptssprintf(output, "\r\nBegin Program\r\n");DBG_PRINT_MAIN(output, strlen(output));DS3231_Begin();// Sec, Min, Hour, DOW, Day, Month, Year, Mil Time, AM/PM// DS3231_Set_Time(30, 44, 12, 5, 4, 1, 13, 0, 0);char sec, min, hour, day, date, month, year, h_mil, h_am_pm;while (1) {DS3231_Get_Time(&sec, &min, &hour, &day, &date, &month, &year, &h_mil, &h_am_pm);sprintf(output, "%02d:%02d:%02d %s %s - %d/%d/%d (%d)\r\n", hour, min, sec, (h_am_pm) ? "PM" : "AM",(h_mil) ? "24H" : "12H", month, date, year, day);DBG_PRINT_MAIN(output, strlen(output));Delay10KTCYx(255);Delay10KTCYx(255);Delay10KTCYx(255);Delay10KTCYx(255);Delay10KTCYx(255);Delay10KTCYx(255);}}// </editor-fold>#elif defined(_TEST_LED_BACKPACK)// <editor-fold defaultstate="collapsed" desc="_TEST_LED_BACKPACK">void main(void) {unsigned int counter = 0;char output[64];// Set all ports as digial I/OANCON0 = 0xFF;ANCON1 = 0x1F;UART_DATA uart_data;UART1_Init(&uart_data); // Initialize the UART handler codeI2C_DATA i2c_data;I2C_Init(&i2c_data); // Initialize the I2C handler codeLED_DATA led_data;LED_Init(&led_data); // Initialize the LED backpack (uses I2C);I2C_Configure_Master(I2C_400KHZ);Interrupt_Init(); // Initialize the interrupt prioritiesInterrupt_Enable(); // Enable high-priority interrupts and low-priority interruptssprintf(output, "\r\nBegin Program\r\n");DBG_PRINT_MAIN(output, strlen(output));LED_Start();LED_Write_Digit_Num(0, 1, 1);LED_Write_Digit_Num(1, 2, 0);LED_Write_Digit_Num(2, 3, 0);LED_Write_Digit_Num(3, 4, 0);LED_Write_Display();for (char i = 0; i < 15; i++) {LED_Set_Brightness(15 - i);Delay10KTCYx(100);}for (char i = 0; i < 15; i++) {LED_Set_Brightness(i);Delay10KTCYx(100);}LED_Blink_Rate(HT16K33_BLINK_OFF);while (1) {LED_Write_Num(counter);counter++;if (counter > 9999)counter = 0;// Delay10KTCYx(255);}}// </editor-fold>#elif defined(_TEST_SSD1306_OLED)// <editor-fold defaultstate="collapsed" desc="_TEST_SDS1306_OLED">void main(void) {char output[64];// Set all ports as digial I/OANCON0 = 0xFF;ANCON1 = 0x1F;UART_DATA uart_data;UART1_Init(&uart_data); // Initialize the UART handler codeSPI_DATA spi_data;SPI2_Init(&spi_data, SPI2_FOSC_4); // Initialize the SPI moduleSSD1306_DATA ssd1306_data;SSD1306_Init(&ssd1306_data); // Initialize the OLED codeInterrupt_Init(); // Initialize the interrupt prioritiesInterrupt_Enable(); // Enable high-priority interrupts and low-priority interruptssprintf(output, "\r\nBegin Program\r\n");DBG_PRINT_MAIN(output, strlen(output));SSD1306_Begin(SSD1306_SWITCHCAPVCC);SSD1306_Display(); // Show splashscreenwhile (1) {Delay10KTCYx(255);Delay10KTCYx(255);SSD1306_Clear_Display();SSD1306_Test_DrawLine();SSD1306_Display();Delay10KTCYx(255);Delay10KTCYx(255);SSD1306_Clear_Display();SSD1306_Test_DrawRect();SSD1306_Display();Delay10KTCYx(255);Delay10KTCYx(255);SSD1306_Clear_Display();SSD1306_Test_FillRect();SSD1306_Display();Delay10KTCYx(255);Delay10KTCYx(255);SSD1306_Clear_Display();SSD1306_Test_DrawCircle();SSD1306_Display();Delay10KTCYx(255);Delay10KTCYx(255);SSD1306_Clear_Display();SSD1306_Fill_Circle(SSD1306_LCDWIDTH / 2, SSD1306_LCDHEIGHT / 2, 10, SSD1306_WHITE);SSD1306_Display();Delay10KTCYx(255);Delay10KTCYx(255);SSD1306_Clear_Display();SSD1306_Test_DrawRoundRect();SSD1306_Display();Delay10KTCYx(255);Delay10KTCYx(255);SSD1306_Clear_Display();SSD1306_Test_FillRoundRect();SSD1306_Display();Delay10KTCYx(255);Delay10KTCYx(255);SSD1306_Clear_Display();SSD1306_Test_DrawTriangle();SSD1306_Display();Delay10KTCYx(255);Delay10KTCYx(255);SSD1306_Clear_Display();SSD1306_Test_FillTriangle();SSD1306_Display();Delay10KTCYx(255);Delay10KTCYx(255);SSD1306_Clear_Display();SSD1306_Test_DrawChar();SSD1306_Display();Delay10KTCYx(255);Delay10KTCYx(255);SSD1306_Clear_Display();SSD1306_Set_Text_Size(1);SSD1306_Set_Text_Color(SSD1306_WHITE);SSD1306_Set_Cursor(0, 0);sprintf(output, "Hello World!\n");SSD1306_Write_String(output, strlen(output));// SSD1306_Set_Text_Color_BG(BLACK, WHITE);unsigned int i = 65535;sprintf(output, "%u %d\n", i, i);SSD1306_Write_String(output, strlen(output));// SSD1306_Set_Text_Size(2);// SSD1306_Set_Text_Color(WHITE);unsigned long l = 0xDEADBEEF;sprintf(output, "0x%lX", (long) l);SSD1306_Write_String(output, strlen(output));SSD1306_Display();// SSD1306_Clear_Display();// SSD1306_Set_Rotation(0);// SSD1306_Set_Text_Size(1);// SSD1306_Set_Text_Color(SSD1306_WHITE);// SSD1306_Set_Cursor(0, 0);// SSD1306_Write_String("%u", i);// i++;// SSD1306_Display();}}// </editor-fold>#elif defined(_TEST_SSD1331_OLED)// <editor-fold defaultstate="collapsed" desc="_TEST_SSD1331_OLED">void main(void) {char output[128];// Set all ports as digial I/OANCON0 = 0xFF;ANCON1 = 0x1F;UART_DATA uart_data;UART1_Init(&uart_data); // Initialize the UART handler codeSPI_DATA spi_data;SPI2_Init(&spi_data, SPI2_FOSC_64); // Initialize the SPI moduleSSD1331_DATA ssd1331_data;SSD1331_Init(&ssd1331_data); // Initialize the OLED codeInterrupt_Init(); // Initialize the interrupt prioritiesInterrupt_Enable(); // Enable high-priority interrupts and low-priority interruptssprintf(output, "\r\nBegin Program\r\n");DBG_PRINT_MAIN(output, strlen(output));SSD1331_Begin();while (1) {Delay10KTCYx(255);Delay10KTCYx(255);SSD1331_Set_Rotation(0);SSD1331_Test_Pattern();Delay10KTCYx(255);Delay10KTCYx(255);SSD1331_Clear_Display();SSD1331_Set_Rotation(0);SSD1331_Set_Cursor(0, 0);sprintf(output, "Lorem ipsum dolor sit amet, consectetur adipiscing elit. Curabit adipiscing ante sed nibh tincidunt feugiat.");SSD1331_Write_String(output, strlen(output));// Delay10KTCYx(255);// Delay10KTCYx(255);// SSD1331_Clear_Display();// SSD1331_Set_Rotation(3);// SSD1331_Set_Cursor(0, 0);// SSD1331_Write_String("Lorem ipsum dolor sit amet, consectetur adipiscing elit. Curabitur adipiscing ante sed nibh tincidunt feugiat. Maecenas enim massa");Delay10KTCYx(255);Delay10KTCYx(255);SSD1331_Set_Rotation(0);SSD1331_Test_DrawLines(SSD1331_YELLOW);Delay10KTCYx(255);Delay10KTCYx(255);SSD1331_Set_Rotation(3);SSD1331_Test_DrawLines(SSD1331_BLUE);Delay10KTCYx(255);Delay10KTCYx(255);SSD1331_Set_Rotation(0);SSD1331_Test_DrawRect(SSD1331_GREEN);Delay10KTCYx(255);Delay10KTCYx(255);SSD1331_Set_Rotation(1);SSD1331_Test_DrawRect(SSD1331_RED);Delay10KTCYx(255);Delay10KTCYx(255);SSD1331_Set_Rotation(2);SSD1331_Test_DrawRect(SSD1331_BLUE);Delay10KTCYx(255);Delay10KTCYx(255);SSD1331_Set_Rotation(3);SSD1331_Test_DrawRect(SSD1331_YELLOW);Delay10KTCYx(255);Delay10KTCYx(255);SSD1331_Set_Rotation(0);SSD1331_Test_FillRect(SSD1331_YELLOW, SSD1331_MAGENTA);Delay10KTCYx(255);Delay10KTCYx(255);SSD1331_Set_Rotation(3);SSD1331_Test_FillRect(SSD1331_BLUE, SSD1331_GREEN);Delay10KTCYx(255);Delay10KTCYx(255);SSD1331_Set_Rotation(0);SSD1331_Clear_Display();SSD1331_Test_FillCircle(10, SSD1331_BLUE);SSD1331_Test_DrawCircle(10, SSD1331_WHITE);Delay10KTCYx(255);Delay10KTCYx(255);SSD1331_Set_Rotation(3);SSD1331_Clear_Display();SSD1331_Test_FillCircle(10, SSD1331_MAGENTA);SSD1331_Test_DrawCircle(10, SSD1331_YELLOW);Delay10KTCYx(255);Delay10KTCYx(255);SSD1331_Set_Rotation(0);SSD1331_Test_DrawTria();Delay10KTCYx(255);Delay10KTCYx(255);SSD1331_Set_Rotation(3);SSD1331_Test_DrawTria();Delay10KTCYx(255);Delay10KTCYx(255);SSD1331_Set_Rotation(0);SSD1331_Test_DrawRoundRect();Delay10KTCYx(255);Delay10KTCYx(255);SSD1331_Set_Rotation(3);SSD1331_Test_DrawRoundRect();// SSD1331_Clear_Display();// SSD1331_Set_Rotation(3);// SSD1331_Set_Cursor(0,0);// SSD1331_Set_Text_Color_BG(SSD1331_WHITE, SSD1331_BLACK);// SSD1331_Write_String("%u", i);// i++;}}// </editor-fold>#elif defined(_TEST_OLED_CHAR)// <editor-fold defaultstate="collapsed" desc="_TEST_OLED_CHAR">void main(void) {char output[64];// Set all ports as digial I/O except for AN0-AN2 (pins 2-4)ANCON0 = 0xFF;ANCON1 = 0x1F;// UART1_Init();OLED_CHAR_DATA oled_data;NHD_Init(&oled_data);Interrupt_Init(); // Initialize the interrupt prioritiesInterrupt_Enable(); // Enable high-priority interrupts and low-priority interruptsNHD_Begin(16, 2);sprintf(output, "Lorem ipsum dolor sit amet, consectetur adipisicing elit, sed do");NHD_Write_String(output, strlen(output));NHD_Set_Cursor(0,1);sprintf(output, "eiusmod tempor incididunt ut labore et dolore magna aliqua. Ut e");NHD_Write_String(output, strlen(output));while (1) {Delay10KTCYx(150);NHD_Scroll_Display_Left();}}// </editor-fold>#elif defined(_TEST_NFC_TO_SSD1306_OLED)// <editor-fold defaultstate="collapsed" desc="_TEST_NFC_TO_SSD1306_OLED">void main(void) {char output[64];// NFC stuffNFC_FIRMWARE_VERSION version;NFC_TargetDataMiFare cardData[2];NFC_TargetDataMiFare cardData_prev[2];// Set all ports as digial I/O except for AN0-AN2 (pins 2-4)ANCON0 = 0xF8;ANCON1 = 0x1F;UART_DATA uart_data;UART1_Init(&uart_data);I2C_DATA i2c_data;I2C_Init(&i2c_data);NFC_DATA nfc_data;NFC_Init(&nfc_data);SPI_DATA spi_data;SPI2_Init(&spi_data, SPI2_FOSC_4);SSD1306_DATA ssd1306_data;SSD1306_Init(&ssd1306_data);I2C_Configure_Master(I2C_400KHZ);Interrupt_Init(); // Initialize the interrupt prioritiesInterrupt_Enable(); // Enable high-priority interrupts and low-priority interruptssprintf(output, "\r\nBegin Program\r\n");DBG_PRINT_MAIN(output, strlen(output));SSD1306_Begin(SSD1306_SWITCHCAPVCC);memset(cardData, 0, 24);memset(cardData_prev, 0, 24);SSD1306_Clear_Display();SSD1306_Set_Rotation(0);SSD1306_Set_Cursor(0, 0);version = NFC_Get_Firmware_Version();while (!version.IC) {sprintf(output, "Waiting for NFC board..\n");SSD1306_Write_String(output, strlen(output));SSD1306_Display();Delay10KTCYx(255);version = NFC_Get_Firmware_Version();}sprintf(output, "PN5%X Ver. %d.%d\n", version.IC, version.Ver, version.Rev);SSD1306_Write_String(output, strlen(output));SSD1306_Display();NFC_SAMConfig();while (1) {// This query will not wait for a detection before respondingchar length = NFC_Poll_Targets(1, 1, cardData);if (!length) {memset(cardData_prev, 0, 24);} else if (length == 1) {if (memcmp(&cardData[0].NFCID, &cardData_prev[0].NFCID, cardData[0].NFCID_LEN) == 0) {// Do nothing} else if (memcmp(&cardData[0].NFCID, &cardData_prev[1].NFCID, cardData[0].NFCID_LEN) == 0) {memcpy((char *) &cardData_prev[0], (const char *) &cardData[0], 12);} else {sprintf(output, "UID: %02X %02X %02X %02X\n", cardData[0].NFCID[0], cardData[0].NFCID[1], cardData[0].NFCID[2], cardData[0].NFCID[3]);SSD1306_Write_String(output, strlen(output));SSD1306_Display();memcpy((char *) &cardData_prev[0], (const char *) &cardData[0], 12);}memset(&cardData_prev[1], 0, 12);} else if (length == 2) {if (memcmp(&cardData[0].NFCID, &cardData_prev[0].NFCID, cardData[0].NFCID_LEN) == 0 &&memcmp(&cardData[1].NFCID, &cardData_prev[1].NFCID, cardData[1].NFCID_LEN) == 0) {// Do nothing} else if (memcmp(&cardData[0].NFCID, &cardData_prev[1].NFCID, cardData[0].NFCID_LEN) == 0 &&memcmp(&cardData[1].NFCID, &cardData_prev[0].NFCID, cardData[1].NFCID_LEN) == 0) {memcpy((char *) &cardData_prev[0], (const char *) &cardData[0], 12);memcpy((char *) &cardData_prev[1], (const char *) &cardData[1], 12);} else if (memcmp(&cardData[0].NFCID, &cardData_prev[0].NFCID, cardData[0].NFCID_LEN) == 0) {// First card matchedsprintf(output, "UID: %02X %02X %02X %02X\n", cardData[1].NFCID[0], cardData[1].NFCID[1], cardData[1].NFCID[2], cardData[1].NFCID[3]);SSD1306_Write_String(output, strlen(output));SSD1306_Display();memcpy(&cardData_prev[1], (const char *) &cardData[1], 12);} else if (memcmp(&cardData[1].NFCID, &cardData_prev[1].NFCID, cardData[1].NFCID_LEN) == 0) {// Second card matchedsprintf(output, "UID: %02X %02X %02X %02X\n", cardData[0].NFCID[0], cardData[0].NFCID[1], cardData[0].NFCID[2], cardData[0].NFCID[3]);SSD1306_Write_String(output, strlen(output));SSD1306_Display();memcpy((char *) &cardData_prev[0], (const char *) &cardData[0], 12);} else {// No matchsprintf(output, "UID: %02X %02X %02X %02X\n", cardData[0].NFCID[0], cardData[0].NFCID[1], cardData[0].NFCID[2], cardData[0].NFCID[3]);SSD1306_Write_String(output, strlen(output));SSD1306_Display();memcpy((char *) &cardData_prev[0], (const char *) &cardData[0], 12);sprintf(output, "UID: %02X %02X %02X %02X\n", cardData[1].NFCID[0], cardData[1].NFCID[1], cardData[1].NFCID[2], cardData[1].NFCID[3]);SSD1306_Write_String(output, strlen(output));SSD1306_Display();memcpy((char *) &cardData_prev[1], (const char *) &cardData[1], 12);}}}}// </editor-fold>#elif defined(_TEST_LUX_TO_CHAR_OLED)// <editor-fold defaultstate="collapsed" desc="_TEST_LUX_TO_CHAR_OLED">void main(void) {char output[64];// Set all ports as digial I/O except for AN0-AN2 (pins 2-4)ANCON0 = 0xF8;ANCON1 = 0x1F;I2C_DATA i2c_data;I2C_Init(&i2c_data);OLED_CHAR_DATA oled_data;NHD_Init(&oled_data);TSL2561_DATA lux_data;LUX_Init(&lux_data, TSL2561_ADDR_FLOAT);I2C_Configure_Master(I2C_400KHZ);Interrupt_Init(); // Initialize the interrupt prioritiesInterrupt_Enable(); // Enable high-priority interrupts and low-priority interruptsNHD_Begin(16, 2);// You can change the gain on the fly, to adapt to brighter/dimmer light situationsLUX_Set_Gain(TSL2561_GAIN_0X); // set no gain (for bright situtations)// LUX_Set_Gain(TSL2561_GAIN_16X); // set 16x gain (for dim situations)// Changing the integration time gives you a longer time over which to sense light// longer timelines are slower, but are good in very low light situtations!// LUX_Set_Timing(TSL2561_INTEGRATIONTIME_13MS); // shortest integration time (bright light)LUX_Set_Timing(TSL2561_INTEGRATIONTIME_101MS); // medium integration time (medium light)// LUX_Set_Timing(TSL2561_INTEGRATIONTIME_402MS); // longest integration time (dim light)while (1) {unsigned long lum = LUX_Get_Full_Luminosity();unsigned int ir = lum >> 16;unsigned int full = lum & 0xFFFF;NHD_Set_Cursor(0, 0);sprintf(output, "I: %d ", ir);NHD_Write_String(output, strlen(output));sprintf(output, "V: %d ", full - ir);NHD_Write_String(output, strlen(output));NHD_Set_Cursor(0, 1);sprintf(output, "Lux: %ld ", LUX_Calculate_Lux(full, ir));NHD_Write_String(output, strlen(output));// Delay10KTCYx(100);}}// </editor-fold>#elif defined(_TEST_RTC_TO_LED_BACKPACK_CHAR_OLED)// <editor-fold defaultstate="collapsed" desc="_TEST_RTC_TO_LED_BACKPACK_CHAR_OLED">void main(void) {char output[64];// Set all ports as digial I/OANCON0 = 0xFF;ANCON1 = 0x1F;I2C_DATA i2c_data;I2C_Init(&i2c_data);LED_DATA led_data;LED_Init(&led_data);OLED_CHAR_DATA oled_data;NHD_Init(&oled_data);I2C_Configure_Master(I2C_400KHZ);Interrupt_Init(); // Initialize the interrupt prioritiesInterrupt_Enable(); // Enable high-priority interrupts and low-priority interruptsLED_Start();LED_Draw_Colon(1);NHD_Begin(16, 2);DS3231_Begin();char sec, min, hour, day, date, month, year, h_mil, h_am_pm;int time;while (1) {DS3231_Get_Time(&sec, &min, &hour, &day, &date, &month, &year, &h_mil, &h_am_pm);time = hour * 100 + min;LED_Write_Num(time);NHD_Set_Cursor(0, 0);sprintf(output, "%02d:%02d:%02d %s", hour, min, sec, h_am_pm ? "PM" : "AM");NHD_Write_String(output, strlen(output));NHD_Set_Cursor(12, 0);switch (day) {case 1:sprintf(output, "*MON");break;case 2:sprintf(output, "*TUE");break;case 3:sprintf(output, "*WED");break;case 4:sprintf(output, "*THU");break;case 5:sprintf(output, "*FRI");break;case 6:sprintf(output, "*SAT");break;case 7:sprintf(output, "*SUN");break;}NHD_Write_String(output, strlen(output));NHD_Set_Cursor(0, 1);switch (month) {case 1:sprintf(output, "January");break;case 2:sprintf(output, "February");break;case 3:sprintf(output, "March");break;case 4:sprintf(output, "April");break;case 5:sprintf(output, "May");break;case 6:sprintf(output, "June");break;case 7:sprintf(output, "July");break;case 8:sprintf(output, "August");break;case 9:sprintf(output, "September");break;case 10:sprintf(output, "October");break;case 11:sprintf(output, "November");break;case 12:sprintf(output, "December");break;}NHD_Write_String(output, strlen(output));sprintf(output, " %d 20%d", date, year);NHD_Write_String(output, strlen(output));Delay10KTCYx(100);}}// </editor-fold>#elif defined(_TEST_XBEE)// <editor-fold defaultstate="collapsed" desc="_TEST_XBEE">void main(void) {char buffer[100];XBEE_RX_AT_COMMAND_RESPONSE_FRAME *rx_at_cmd_response_frame;XBEE_RX_DATA_PACKET_FRAME *rx_data_frame;XBEE_RX_DATA_TX_STATUS_FRAME *rx_tx_status_frame;XBEE_RX_REMOTE_AT_COMMAND_FRAME *rx_remote_at_cmd_frame;XBEE_RX_NODE_IDENTIFICATION_INDICATOR_FRAME *rx_node_ident_frame;XBEE_RX_MODEM_STATUS_FRAME *rx_modem_status_frame;/* --------------------- Oscillator Configuration --------------------- */// OSCTUNEbits.PLLEN = 1; // Enable 4x PLLOSCCONbits.IRCF = 0b111; // Set INTOSC postscaler to 8MHzOSCCONbits.SCS = 0b00; // Use 96MHz PLL as primary clock source/* -------------------------------------------------------------------- */// Set all ports as digial I/OANCON0 = 0xFF;ANCON1 = 0x1F;UART_DATA uart_data;UART1_Init(&uart_data); // Initialize the UART handler codeXBEE_DATA xbee_data;XBee_Init(&xbee_data);Interrupt_Init(); // Initialize the interrupt prioritiesInterrupt_Enable(); // Enable high-priority interrupts and low-priority interruptssprintf(buffer, "\r\nBegin Program\r\n");DBG_PRINT_MAIN(buffer, strlen(buffer));while (1) {//#define _ROUTER#define _COORDINATOR#ifdef _ROUTERXBEE_TX_DATA_PACKET_FRAME *tx_data_frame;tx_data_frame = (void *) buffer;tx_data_frame->frame_type = XBEE_TX_DATA_PACKET;tx_data_frame->frame_id = 1;tx_data_frame->destination_64.UPPER_32.long_value = 0x00000000;tx_data_frame->destination_64.LOWER_32.long_value = 0x00000000;tx_data_frame->destination_16.INT_16.int_value = 0xFEFF;tx_data_frame->broadcast_radius = 0;tx_data_frame->options = 0;tx_data_frame->data[0] = 0x54;tx_data_frame->data[1] = 0x78;tx_data_frame->data[2] = 0x32;tx_data_frame->data[3] = 0x43;tx_data_frame->data[4] = 0x6F;tx_data_frame->data[5] = 0x6F;tx_data_frame->data[6] = 0x72;tx_data_frame->data[7] = 0x11;XBee_Process_Transmit_Frame(buffer, XBEE_TX_DATA_PACKET_FRAME_SIZE + 8);Delay10KTCYx(255);Delay10KTCYx(255);Delay10KTCYx(255);Delay10KTCYx(255);Delay10KTCYx(255);Delay10KTCYx(255);Delay10KTCYx(255);Delay10KTCYx(255);#endif#ifdef _COORDINATORint length = XBee_Get_Received_Frame(buffer);if (length != 0) {switch (*(char *) buffer) {case XBEE_RX_AT_COMMAND_RESPONSE:sprintf(buffer, "XBEE: parsing recieved AT command response frame\r\n");DBG_PRINT_MAIN(buffer, strlen(buffer));rx_at_cmd_response_frame = (void *) buffer;// DBG_PRINT_MAIN("Frame ID: %u\r\n", rx_at_cmd_response_frame->frame_id);// DBG_PRINT_MAIN("AT Command: %c%c Status: %02X\r\n", rx_at_cmd_response_frame->command[0], \\// rx_at_cmd_response_frame->command[1], rx_at_cmd_response_frame->command_status);if (length > XBEE_RX_AT_COMMAND_RESPONSE_FRAME_SIZE) {// DBG_PRINT_MAIN("Command Data: ");for (int i = 0; i < length - XBEE_RX_AT_COMMAND_RESPONSE_FRAME_SIZE; i++) {// DBG_PRINT_MAIN("%02X ", rx_at_cmd_response_frame->data[i]);}// DBG_PRINT_MAIN("\r\n");}break;case XBEE_RX_DATA_PACKET:sprintf(buffer, "XBEE: parsing recieved data recieved frame\r\n");DBG_PRINT_MAIN(buffer, strlen(buffer));rx_data_frame = (void *) buffer;XBee_Convert_Endian_64(&(rx_data_frame->source_64));XBee_Convert_Endian_16(&(rx_data_frame->source_16));// DBG_PRINT_MAIN("Source 64: %08lX %08lX Source 16: %04X Options: %02X\r\n", \\// rx_data_frame->source_64.UPPER_32.long_value, \\// rx_data_frame->source_64.LOWER_32.long_value, \\// rx_data_frame->source_16.INT_16.int_value, \\// rx_data_frame->recieve_options);// DBG_PRINT_MAIN("Data: ");for (int i = 0; i < length - XBEE_RX_DATA_PACKET_FRAME_SIZE; i++) {// DBG_PRINT_MAIN("%02X ", rx_data_frame->data[i]);}// DBG_PRINT_MAIN("\r\n");break;case XBEE_RX_DATA_TX_STATUS:sprintf(buffer, "XBEE: parsing recieved TX status frame\r\n");DBG_PRINT_MAIN(buffer, strlen(buffer));rx_tx_status_frame = (void *) buffer;XBee_Convert_Endian_16(&(rx_tx_status_frame->destination_16));// DBG_PRINT_MAIN("Frame ID: %u Destination 16: %04X\r\n", \\// rx_tx_status_frame->frame_id, rx_tx_status_frame->destination_16.INT_16.int_value);// DBG_PRINT_MAIN("Transmit Retry Count: %02X Delivery Status: %02X Discovery Status: %02X\r\n", \\// rx_tx_status_frame->transmit_retry_count, rx_tx_status_frame->delivery_status, \\// rx_tx_status_frame->discovery_status);break;case XBEE_RX_IO_DATA_SAMPLE:sprintf(buffer, "XBEE: parsing recieved IO data sample frame\r\n");DBG_PRINT_MAIN(buffer, strlen(buffer));break;case XBEE_RX_EXPLICIT_COMMAND:sprintf(buffer, "XBEE: parsing recieved explicit command frame\r\n");DBG_PRINT_MAIN(buffer, strlen(buffer));break;case XBEE_RX_REMOTE_AT_COMMAND_RESPONSE:sprintf(buffer, "XBEE: parsing recieved remote AT command frame\r\n");DBG_PRINT_MAIN(buffer, strlen(buffer));rx_remote_at_cmd_frame = (void *) buffer;break;case XBEE_RX_ROUTE_RECORD:sprintf(buffer, "XBEE: parsing recieved route record frame\r\n");DBG_PRINT_MAIN(buffer, strlen(buffer));break;case XBEE_RX_NODE_IDENTIFICATION:sprintf(buffer, "XBEE: parsing recieved node identification frame\r\n");DBG_PRINT_MAIN(buffer, strlen(buffer));rx_node_ident_frame = (void *) buffer;XBee_Convert_Endian_64(&(rx_node_ident_frame->source_64));XBee_Convert_Endian_16(&(rx_node_ident_frame->source_16));XBee_Convert_Endian_64(&(rx_node_ident_frame->remote_64));XBee_Convert_Endian_16(&(rx_node_ident_frame->remote_16));XBee_Convert_Endian_16(&(rx_node_ident_frame->parent_16));// DBG_PRINT_MAIN("Source 64: %08lX %08lX Source 16: %04X Options: %02X\r\n", \\// rx_node_ident_frame->source_64.UPPER_32.long_value, \\// rx_node_ident_frame->source_64.LOWER_32.long_value, \\// rx_node_ident_frame->source_16.INT_16.int_value, \\// rx_node_ident_frame->recieve_options);// DBG_PRINT_MAIN("Remote 64: %08lX %08lX Remote 16: %04X Parent 16: %04X\r\n", \\// rx_node_ident_frame->remote_64.UPPER_32.long_value, \\// rx_node_ident_frame->remote_64.LOWER_32.long_value, \\// rx_node_ident_frame->remote_16.INT_16.int_value, \\// rx_node_ident_frame->parent_16.INT_16.int_value);// DBG_PRINT_MAIN("Device Type: %02X Source Event: %02X\r\n", \\// rx_node_ident_frame->device_type, rx_node_ident_frame->source_event);break;case XBEE_RX_FRAME_MODEM_STATUS:sprintf(buffer, "XBEE: parsing recieved modem status frame\r\n");DBG_PRINT_MAIN(buffer, strlen(buffer));rx_modem_status_frame = (void *) buffer;// DBG_PRINT_MAIN("Status: %02X\r\n", rx_modem_status_frame->status);break;default:sprintf(buffer, "??\r\n");DBG_PRINT_MAIN(buffer, strlen(buffer));break;}}#endif}}// </editor-fold>#elseint main() {}#endif