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;

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