trunk/PIC/main.c

/* H7 -projekt opgave */

///////////////////////////////////////////////////////////////////////
//Includes
#include <pic18.h>
#include <string.h>

#include "delay.h"
#include "i2c.h"
#include "lcd.h"

/////////////////////////////////////////////////////////////////////
//Defines
#define TC74 0x9A /* I2C TC74 IC */

#define SLIP_END 192
#define SLIP_ESC 219
#define SLIP_ESCAPED_END 220
#define SLIP_ESCAPED_ESC 221

#define BUFFERLEN 16

//////////////////////////////////////////////////////////////////
// Enumerations

enum SlipState{
        SlipNormal,
        SlipEscaped,
        SlipError,
        SlipStopped
};

enum BaudRates{
        Baud1200,
        Baud2400,
        Baud4800,
        Baud9600,
        Baud19200
};

enum Commands{
        CmdRead,
        CmdWrite,
        CmdAck,
        CmdNAck
};

enum Targets {
        TLed3, //0
        TLed4,
        TLed5,
        TSwitch2,
        TSwitch3,
        TPotmeter,
        TTemp,
        TBaud = 10
};

//////////////////////////////////////////////////////////////////
//Globale data
// Alle globale variabler bruger "global_" som prefix

unsigned char global_comm_buffer[BUFFERLEN]; 
unsigned char global_comm_length;
unsigned char global_comm_index;

bit global_comm_ready;
bit global_comm_error;

unsigned char global_comm_slipstate;
unsigned char global_comm_currentrate;

unsigned char global_lcd_buffer[20];
unsigned char global_lcd_index;


bit global_led_0;
bit global_led_1;
bit global_led_2;

bit global_reset_baudrate;

char global_temp;
unsigned char global_potmeter_hi;
unsigned char global_potmeter_lo;

///////////////////////////////////////////////////////////////////
// Interrupt funktioner

void recieve_interrupt(void)
{
        unsigned char data = RCREG;     
        RB2 = !RB2;
        
        switch (global_comm_slipstate)
        {               
                case SlipNormal:
                        if (data == SLIP_END)
                        {
                                global_comm_ready = 1;
                                global_comm_slipstate = SlipStopped;
                        }
                        else if (data == SLIP_ESC)
                        {
                                global_comm_slipstate = SlipEscaped;
                        }
                        else
                                global_comm_buffer[ global_comm_length++ ] = data; 
                        break;
                        
                case SlipEscaped:
                        if (data == SLIP_ESCAPED_ESC)
                        {
                                global_comm_buffer[ global_comm_length++ ] = SLIP_ESC;
                                global_comm_slipstate = SlipNormal;
                        }
                        else if (data ==SLIP_ESCAPED_END)
                        {
                                global_comm_buffer[ global_comm_length++ ] = SLIP_END;
                                global_comm_slipstate = SlipNormal;
                        }
                        else
                        {
                                global_comm_slipstate = SlipError;
                        }
                case SlipError:
                        if (data == SLIP_END)
                        {
                                global_comm_error = 1;
                                global_comm_slipstate = SlipStopped;
                                global_comm_ready = 1;
                        }
                case SlipStopped: //vi var ikke klar til at modtage data
                        global_comm_error = 1;
        }
}

/*
void transmit_interrupt(void)
{
        RB2 = !RB2;
}
*/

void interrupt interrupt_handler(void)
{
        if (RCIF == 1)
        {
                recieve_interrupt();
                RCIF = 0;
        }
        /*if (TXIF == 1)
        {
                transmit_interrupt();
                TXIF = 0;
        }
        */
}

///////////////////////////////////////////////////////////////////
// Slip funktioner

void slip_reset(void)
{
        global_comm_error = 0;
        global_comm_slipstate = SlipNormal;
        global_comm_ready = 0;
        global_comm_length = 0;
        memset(global_comm_buffer, 0, BUFFERLEN);
}

void slip_highlevel_protocol(void)
{
        unsigned char cmd,target,data;
        
        cmd = global_comm_buffer[0] & 0x0F;
        target = ( global_comm_buffer[0] >> 4 ) & 0x0F;
        data = global_comm_buffer[1];

        if (cmd == CmdRead || cmd == CmdWrite)
        {
                //s�t standart l�ngde - da l�ngden kun varierer ved l�sning af potmeter
                if (cmd == CmdRead)
                        global_comm_length = 2;
                else
                        global_comm_length = 1;
                        
                switch(target)
                {
                        case TLed3:
                                if (cmd == CmdRead)
                                        global_comm_buffer[1] = global_led_0;
                                else
                                        global_led_0 = data;
                                break;
                        case TLed4:
                                if(cmd == CmdRead)
                                        global_comm_buffer[1] = global_led_1;
                                else
                                        global_led_1 = data;
                                break;
                        case TLed5:
                                if (cmd == CmdRead)
                                        global_comm_buffer[1] = global_led_2;
                                else
                                        global_led_2 = data;
                                break;
                        case TSwitch2:
                                if (cmd == CmdRead)
                                        global_comm_buffer[1] = RA4;
                                else
                                        global_comm_error = 1;
                                break;
                        case TSwitch3:
                                if (cmd == CmdRead)
                                        global_comm_buffer[1] = RB0;
                                else
                                        global_comm_error = 1;
                                break;
                        case TPotmeter:
                                if (cmd == CmdRead)
                                {
                                        global_comm_buffer[1] = global_potmeter_hi;
                                        global_comm_buffer[2] = global_potmeter_lo;
                                        global_comm_length = 3;
                                }
                                else
                                        global_comm_error = 1;
                                break;
                        case TTemp:
                                if (cmd == CmdRead)
                                        global_comm_buffer[1] = global_temp;
                                else
                                        global_comm_error = 1;
                                break;
                        case TBaud:
                                if (cmd == CmdRead)
                                        global_comm_error = 1;
                                else
                                {
                                        //we can only handle 1200,2400,9600,19200
                                        if (data == 0 || data == 1 || data == 3 || data == 4)
                                                global_reset_baudrate = 1;
                                        else
                                                global_comm_error = 1;
                                }
                                break;
                        default:
                                global_comm_error = 1;
                                
                }
        }
        else //kommandoen var noget andet end read/write
        {
                global_comm_error = 1;
        }
        
        
        if (global_comm_error == 1) //we saw an error
        {
                global_comm_buffer[0] = CmdNAck | target<<4;
                global_comm_length = 1;
        }
        else
        {
                global_comm_buffer[0] = CmdAck | target<<4; //skriv acknowledge feltet
        }
}

void slip_send_byte(char data)
{
        TXREG = data;
        while (TRMT==0) ;
        DelayUs(20);
}

void slip_send_response(void)
{
        int i;
        for (i=0; i< global_comm_length;i++)
        {
                if ( global_comm_buffer[i] == SLIP_ESC)
                {
                        slip_send_byte(SLIP_ESC);
                        slip_send_byte(SLIP_ESCAPED_ESC);
                }
                else if (global_comm_buffer[i] == SLIP_END)
                {
                        slip_send_byte(SLIP_ESC);
                        slip_send_byte(SLIP_ESCAPED_END);
                }
                else
                {
                        slip_send_byte( global_comm_buffer[i]);
                }
        }
        
        slip_send_byte(SLIP_END);
}

///////////////////////////////////////////////////////////////////
// Gennerelle funktioner

void interrupt_init(void)
{
        TXIE = 0; //Disable AUX TX interrupt - testes med TXIF;
        RCIE = 1; //Enable AUX Recieve interrupt - testes med RCIF;

        IPEN = 0; // IPEN=Interrupt Priority ENable bit - her bruges ingen prioritet
        
        PEIE = 1; // PEIE = PEriphal Interrupt Enable
                
        TXIF = 0; //nulstil intterupt flag
        RCIF = 0;

        GIE = 1; //Global interrupt enable bit
}

void serial_init(void)
{
        SPEN = 0; //Make sure serial port is disabled
        
        // snupset fra  Kim H Pedersens serialmain.c 
        // Set Port C bit 6 output (TxD) and bit 7 input (RxD)
    TRISC6 = 0;
    TRISC7 = 1;

    SPBRG = 25;         //      x = Fosc/(16 * Baud Rate) - 1
                                        //      x = 4000000/(16 * 9600) - 1
                                        //      x = 25.0417 ~ 25
                                        //      Baud Rate = Fosc/(16 * (x+1))
                                        //      Baud Rate = 4000000/(16 * (25+1))
                                        //      Baud Rate = 9615
    TXSTA = 0x24;       //      TXSTA7 = 0      Don't care in asynchronous
                                        //      TXSTA6 = 0      8-bit transmission
                                        //      TXSTA5 = 1      Transmit enabled
                                        //      TXSTA4 = 0      Asynchronous mode
                                        //      TXSTA3 = 0      Unimplemented
                                        //      TXSTA2 = 1      High speed
                                        //      TXSTA1 = 0      TSR empty
                                        //      TXSTA0 = 0      9th bit                                         */
    RCSTA = 0x90;       //      RCSTA7 = 0      Serial port disabled
                                        //      RCSTA6 = 0      8-bit reception
                                        //      RCSTA5 = 0      Don't care in asynchronous
                                        //      RCSTA4 = 1      Receiver enabled
                                        //      RCSTA3 = 0      Don't care (8-bit operation)
                                        //      RCSTA2 = 0      No framing error
                                        //      RCSTA1 = 0      Overrun error bit
                                        //      RCSTA0 = 0      9th bit                                         */

        //config completed
        SPEN = 1; //Enable Serial port
}

/* basic I/O ports */
void io_init(void)
{
        TRISB3 = 0; //LED ports = output
        TRISB2 = 0;
        TRISB1 = 0;
        
        TRISB0 = 1; //Switch porte = input
        TRISA0 = 1;
}

void ad_init(void)
{
        // AD Conversion clock
        ADCS0 = 0;
        ADCS1 = 0;
        ADCS2 = 0;

        //Select AN0/RA0 for AD source
        CHS0=0;
        CHS1=0;
        CHS2=0;
        
        //Only AN0 is selected for AD and with Vdd/Vss as limits
        PCFG0=0;
        PCFG1=1;
        PCFG2=1;
        PCFG3=1;
        
        //Result is right justified
        ADFM=1; 
        
        //Fire up for A/D converter module
        ADON=1;
}

void i2c_init(void)
{
// I2C_MODULE h�rer hjemme i i2c.h
#ifdef I2C_MODULE
    SSPMode(MASTER_MODE);
    SSPEN = 1;
    CKP = 1;
#else
    SCL_DIR = I2C_OUTPUT;
    SDA_DIR = I2C_OUTPUT;
    SDA = 0;
    SCL = 0;
#endif
}


char ReadTemp(void)
{
        char temp;
        i2c_WriteTo(TC74); //write to, will automatically send a start condition
        i2c_PutByte(0x00); //tell TC74 we want to read
        i2c_ReadFrom(TC74);
        temp = i2c_GetByte(I2C_LAST);
        i2c_Stop(); //assert a stop condition on SDA & SCL
        return temp;
}


///////////////////////////////////////////////////////////////////
//Main


void main(void) 
{
        char lcdbuf[20];
        int i;
        
        
        lcd_init(0); //init in 4-bit mode
        i2c_init();
        serial_init(); //9600 8N1
        ad_init();
        io_init();
        interrupt_init();
        

        slip_reset(); //take SLIP FSM into normal state
        global_comm_currentrate = Baud9600; //default baudrate = 9600
        global_reset_baudrate = 0;
        
//      initialisation completed and we are ready to recieve commands - enable serial reception
        CREN = 1;
        
        while (1)
        {
                if (global_comm_ready == 1)
                {
                        slip_highlevel_protocol(); //parse the slip frame recieved & generate response
                        slip_send_response();
                        slip_reset();
                }
                
                if ( global_reset_baudrate == 1)
                {
                }
                
                RB1 = global_led_0;
                RB2 = global_led_1;
                RB3 = global_led_2;
                
                global_temp = ReadTemp();
                
                //potmeter
                if (GODONE ==0 )//hvis A/D-conv er f�rdig
                {
                        
                        global_potmeter_hi = ADRESH;//gem AD resultat
                        global_potmeter_lo = ADRESL; 
                        GODONE = 1; //start ny konverering
                }
                
                
                //just for fun - blink RB3
//              RB3 = !RB3;
//              DelayMs(250);
        }
}
1	torben	2	/* H7 -projekt opgave */
2	torben	10
3			///////////////////////////////////////////////////////////////////////
4			//Includes
5	torben	2	#include <pic18.h>
6	torben	17	#include <string.h>
7
8	torben	2	#include "delay.h"
9			#include "i2c.h"
10			#include "lcd.h"
11
12	torben	10	/////////////////////////////////////////////////////////////////////
13			//Defines
14	torben	2	#define TC74 0x9A /* I2C TC74 IC */
15
16	torben	17	#define SLIP_END 192
17			#define SLIP_ESC 219
18			#define SLIP_ESCAPED_END 220
19			#define SLIP_ESCAPED_ESC 221
20	torben	10
21	torben	17	#define BUFFERLEN 16
22
23			//////////////////////////////////////////////////////////////////
24			// Enumerations
25
26	torben	10	enum SlipState{
27			SlipNormal,
28			SlipEscaped,
29			SlipError,
30			SlipStopped
31			};
32
33	torben	17	enum BaudRates{
34			Baud1200,
35			Baud2400,
36			Baud4800,
37			Baud9600,
38			Baud19200
39			};
40
41			enum Commands{
42			CmdRead,
43			CmdWrite,
44			CmdAck,
45			CmdNAck
46			};
47
48			enum Targets {
49			TLed3, //0
50			TLed4,
51			TLed5,
52			TSwitch2,
53			TSwitch3,
54			TPotmeter,
55			TTemp,
56			TBaud = 10
57			};
58
59	torben	10	//////////////////////////////////////////////////////////////////
60			//Globale data
61			// Alle globale variabler bruger "global_" som prefix
62	torben	17
63			unsigned char global_comm_buffer[BUFFERLEN];
64	torben	10	unsigned char global_comm_length;
65			unsigned char global_comm_index;
66	torben	17
67	torben	10	bit global_comm_ready;
68	torben	17	bit global_comm_error;
69	torben	10
70	torben	17	unsigned char global_comm_slipstate;
71			unsigned char global_comm_currentrate;
72	torben	10
73	torben	17	unsigned char global_lcd_buffer[20];
74			unsigned char global_lcd_index;
75	torben	10
76
77	torben	17	bit global_led_0;
78			bit global_led_1;
79			bit global_led_2;
80
81			bit global_reset_baudrate;
82
83			char global_temp;
84			unsigned char global_potmeter_hi;
85			unsigned char global_potmeter_lo;
86
87	torben	10	///////////////////////////////////////////////////////////////////
88			// Interrupt funktioner
89
90			void recieve_interrupt(void)
91			{
92	torben	17	unsigned char data = RCREG;
93			RB2 = !RB2;
94
95			switch (global_comm_slipstate)
96			{
97			case SlipNormal:
98			if (data == SLIP_END)
99			{
100			global_comm_ready = 1;
101			global_comm_slipstate = SlipStopped;
102			}
103			else if (data == SLIP_ESC)
104			{
105			global_comm_slipstate = SlipEscaped;
106			}
107			else
108			global_comm_buffer[ global_comm_length++ ] = data;
109			break;
110
111			case SlipEscaped:
112			if (data == SLIP_ESCAPED_ESC)
113			{
114			global_comm_buffer[ global_comm_length++ ] = SLIP_ESC;
115			global_comm_slipstate = SlipNormal;
116			}
117			else if (data ==SLIP_ESCAPED_END)
118			{
119			global_comm_buffer[ global_comm_length++ ] = SLIP_END;
120			global_comm_slipstate = SlipNormal;
121			}
122			else
123			{
124			global_comm_slipstate = SlipError;
125			}
126			case SlipError:
127			if (data == SLIP_END)
128			{
129			global_comm_error = 1;
130			global_comm_slipstate = SlipStopped;
131			global_comm_ready = 1;
132			}
133			case SlipStopped: //vi var ikke klar til at modtage data
134			global_comm_error = 1;
135			}
136	torben	10	}
137
138	torben	17	/*
139	torben	10	void transmit_interrupt(void)
140			{
141	torben	17	RB2 = !RB2;
142	torben	10	}
143	torben	17	*/
144	torben	10
145			void interrupt interrupt_handler(void)
146			{
147			if (RCIF == 1)
148			{
149			recieve_interrupt();
150			RCIF = 0;
151			}
152	torben	17	/*if (TXIF == 1)
153	torben	10	{
154			transmit_interrupt();
155			TXIF = 0;
156			}
157	torben	17	*/
158	torben	10	}
159
160			///////////////////////////////////////////////////////////////////
161	torben	17	// Slip funktioner
162	torben	10
163	torben	17	void slip_reset(void)
164			{
165			global_comm_error = 0;
166			global_comm_slipstate = SlipNormal;
167			global_comm_ready = 0;
168			global_comm_length = 0;
169			memset(global_comm_buffer, 0, BUFFERLEN);
170			}
171
172			void slip_highlevel_protocol(void)
173			{
174			unsigned char cmd,target,data;
175
176			cmd = global_comm_buffer[0] & 0x0F;
177			target = ( global_comm_buffer[0] >> 4 ) & 0x0F;
178			data = global_comm_buffer[1];
179
180			if (cmd == CmdRead \|\| cmd == CmdWrite)
181			{
182			//s�t standart l�ngde - da l�ngden kun varierer ved l�sning af potmeter
183			if (cmd == CmdRead)
184			global_comm_length = 2;
185			else
186			global_comm_length = 1;
187
188			switch(target)
189			{
190			case TLed3:
191			if (cmd == CmdRead)
192			global_comm_buffer[1] = global_led_0;
193			else
194			global_led_0 = data;
195			break;
196			case TLed4:
197			if(cmd == CmdRead)
198			global_comm_buffer[1] = global_led_1;
199			else
200			global_led_1 = data;
201			break;
202			case TLed5:
203			if (cmd == CmdRead)
204			global_comm_buffer[1] = global_led_2;
205			else
206			global_led_2 = data;
207			break;
208			case TSwitch2:
209			if (cmd == CmdRead)
210			global_comm_buffer[1] = RA4;
211			else
212			global_comm_error = 1;
213			break;
214			case TSwitch3:
215			if (cmd == CmdRead)
216			global_comm_buffer[1] = RB0;
217			else
218			global_comm_error = 1;
219			break;
220			case TPotmeter:
221			if (cmd == CmdRead)
222			{
223			global_comm_buffer[1] = global_potmeter_hi;
224			global_comm_buffer[2] = global_potmeter_lo;
225			global_comm_length = 3;
226			}
227			else
228			global_comm_error = 1;
229			break;
230			case TTemp:
231			if (cmd == CmdRead)
232			global_comm_buffer[1] = global_temp;
233			else
234			global_comm_error = 1;
235			break;
236			case TBaud:
237			if (cmd == CmdRead)
238			global_comm_error = 1;
239			else
240			{
241			//we can only handle 1200,2400,9600,19200
242			if (data == 0 \|\| data == 1 \|\| data == 3 \|\| data == 4)
243			global_reset_baudrate = 1;
244			else
245			global_comm_error = 1;
246			}
247			break;
248			default:
249			global_comm_error = 1;
250
251			}
252			}
253			else //kommandoen var noget andet end read/write
254			{
255			global_comm_error = 1;
256			}
257
258
259			if (global_comm_error == 1) //we saw an error
260			{
261			global_comm_buffer[0] = CmdNAck \| target<<4;
262			global_comm_length = 1;
263			}
264			else
265			{
266			global_comm_buffer[0] = CmdAck \| target<<4; //skriv acknowledge feltet
267			}
268			}
269
270			void slip_send_byte(char data)
271			{
272			TXREG = data;
273			while (TRMT==0) ;
274			DelayUs(20);
275			}
276
277			void slip_send_response(void)
278			{
279			int i;
280			for (i=0; i< global_comm_length;i++)
281			{
282			if ( global_comm_buffer[i] == SLIP_ESC)
283			{
284			slip_send_byte(SLIP_ESC);
285			slip_send_byte(SLIP_ESCAPED_ESC);
286			}
287			else if (global_comm_buffer[i] == SLIP_END)
288			{
289			slip_send_byte(SLIP_ESC);
290			slip_send_byte(SLIP_ESCAPED_END);
291			}
292			else
293			{
294			slip_send_byte( global_comm_buffer[i]);
295			}
296			}
297
298			slip_send_byte(SLIP_END);
299			}
300
301			///////////////////////////////////////////////////////////////////
302			// Gennerelle funktioner
303
304	torben	10	void interrupt_init(void)
305			{
306	torben	17	TXIE = 0; //Disable AUX TX interrupt - testes med TXIF;
307	torben	10	RCIE = 1; //Enable AUX Recieve interrupt - testes med RCIF;
308
309			IPEN = 0; // IPEN=Interrupt Priority ENable bit - her bruges ingen prioritet
310
311			PEIE = 1; // PEIE = PEriphal Interrupt Enable
312
313			TXIF = 0; //nulstil intterupt flag
314			RCIF = 0;
315
316			GIE = 1; //Global interrupt enable bit
317			}
318
319			void serial_init(void)
320			{
321			SPEN = 0; //Make sure serial port is disabled
322
323			// snupset fra Kim H Pedersens serialmain.c
324			// Set Port C bit 6 output (TxD) and bit 7 input (RxD)
325			TRISC6 = 0;
326			TRISC7 = 1;
327
328			SPBRG = 25; // x = Fosc/(16 * Baud Rate) - 1
329			// x = 4000000/(16 * 9600) - 1
330			// x = 25.0417 ~ 25
331			// Baud Rate = Fosc/(16 * (x+1))
332			// Baud Rate = 4000000/(16 * (25+1))
333			// Baud Rate = 9615
334			TXSTA = 0x24; // TXSTA7 = 0 Don't care in asynchronous
335			// TXSTA6 = 0 8-bit transmission
336			// TXSTA5 = 1 Transmit enabled
337			// TXSTA4 = 0 Asynchronous mode
338			// TXSTA3 = 0 Unimplemented
339			// TXSTA2 = 1 High speed
340			// TXSTA1 = 0 TSR empty
341			// TXSTA0 = 0 9th bit */
342			RCSTA = 0x90; // RCSTA7 = 0 Serial port disabled
343			// RCSTA6 = 0 8-bit reception
344			// RCSTA5 = 0 Don't care in asynchronous
345			// RCSTA4 = 1 Receiver enabled
346			// RCSTA3 = 0 Don't care (8-bit operation)
347			// RCSTA2 = 0 No framing error
348			// RCSTA1 = 0 Overrun error bit
349			// RCSTA0 = 0 9th bit */
350	torben	17
351	torben	10	//config completed
352			SPEN = 1; //Enable Serial port
353			}
354
355	torben	17	/* basic I/O ports */
356			void io_init(void)
357			{
358			TRISB3 = 0; //LED ports = output
359			TRISB2 = 0;
360			TRISB1 = 0;
361
362			TRISB0 = 1; //Switch porte = input
363			TRISA0 = 1;
364			}
365	torben	10
366	torben	17	void ad_init(void)
367			{
368			// AD Conversion clock
369			ADCS0 = 0;
370			ADCS1 = 0;
371			ADCS2 = 0;
372	torben	10
373	torben	17	//Select AN0/RA0 for AD source
374			CHS0=0;
375			CHS1=0;
376			CHS2=0;
377
378			//Only AN0 is selected for AD and with Vdd/Vss as limits
379			PCFG0=0;
380			PCFG1=1;
381			PCFG2=1;
382			PCFG3=1;
383
384			//Result is right justified
385			ADFM=1;
386
387			//Fire up for A/D converter module
388			ADON=1;
389			}
390
391	torben	2	void i2c_init(void)
392			{
393	torben	17	// I2C_MODULE h�rer hjemme i i2c.h
394	torben	2	#ifdef I2C_MODULE
395			SSPMode(MASTER_MODE);
396			SSPEN = 1;
397			CKP = 1;
398			#else
399			SCL_DIR = I2C_OUTPUT;
400			SDA_DIR = I2C_OUTPUT;
401			SDA = 0;
402			SCL = 0;
403			#endif
404			}
405
406	torben	10
407
408	torben	2	char ReadTemp(void)
409			{
410			char temp;
411	torben	10	i2c_WriteTo(TC74); //write to, will automatically send a start condition
412	torben	2	i2c_PutByte(0x00); //tell TC74 we want to read
413			i2c_ReadFrom(TC74);
414			temp = i2c_GetByte(I2C_LAST);
415			i2c_Stop(); //assert a stop condition on SDA & SCL
416			return temp;
417	torben	10	}
418
419
420			///////////////////////////////////////////////////////////////////
421			//Main
422	torben	2
423	torben	10
424	torben	2	void main(void)
425			{
426	torben	17	char lcdbuf[20];
427			int i;
428
429
430	torben	2	lcd_init(0); //init in 4-bit mode
431			i2c_init();
432	torben	10	serial_init(); //9600 8N1
433	torben	17	ad_init();
434			io_init();
435	torben	10	interrupt_init();
436
437
438	torben	17	slip_reset(); //take SLIP FSM into normal state
439			global_comm_currentrate = Baud9600; //default baudrate = 9600
440			global_reset_baudrate = 0;
441	torben	10
442			// initialisation completed and we are ready to recieve commands - enable serial reception
443			CREN = 1;
444
445	torben	2	while (1)
446			{
447	torben	17	if (global_comm_ready == 1)
448			{
449			slip_highlevel_protocol(); //parse the slip frame recieved & generate response
450			slip_send_response();
451			slip_reset();
452			}
453
454			if ( global_reset_baudrate == 1)
455			{
456			}
457
458			RB1 = global_led_0;
459			RB2 = global_led_1;
460			RB3 = global_led_2;
461
462			global_temp = ReadTemp();
463
464			//potmeter
465			if (GODONE ==0 )//hvis A/D-conv er f�rdig
466			{
467
468			global_potmeter_hi = ADRESH;//gem AD resultat
469			global_potmeter_lo = ADRESL;
470			GODONE = 1; //start ny konverering
471			}
472
473
474			//just for fun - blink RB3
475			// RB3 = !RB3;
476			// DelayMs(250);
477	torben	2	}
478			}