--- trunk/PIC/main.c	2007/01/29 09:45:25	2
+++ trunk/PIC/main.c	2007/01/31 12:40:37	27
@@ -1,15 +1,417 @@
 /* H7 -projekt opgave */
-
+
+///////////////////////////////////////////////////////////////////////
+//Includes
 #include <pic18.h>
+#include <string.h>
+#include <stdio.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_baudrate;
+
+unsigned char global_lcd_buffer[2][BUFFERLEN];
+
+
+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;	
+	
+	if (global_comm_length == BUFFERLEN) //avoid buffer overrun
+		global_comm_slipstate == SlipError;
+	
+	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;
+}
+*/
+//Timer1 er en 16 bit timer, der kører med en 1:8 prescaler,
+// og er styret fra en ekstern 32768 Hz krystal
+//Når at registrene preloades med 0xEFFF vil det resultere i en 
+//timer overflow ca hvert sekund
+void timer1_interrupt(void)
+{
+	TMR1H = 0xEF;
+	TMR1L = 0xFF;
+}
+void interrupt interrupt_handler(void)
+{
+	if (RCIF == 1)
+	{
+		recieve_interrupt();
+		RCIF = 0;
+	}
+	/*if (TXIF == 1)
+	{
+		transmit_interrupt();
+		TXIF = 0;
+	}
+	*/
+	
+	if (TMR1IF == 1)
+	{
+		timer1_interrupt();
+		TMR1IF = 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)
+	{
+		//sæt standart længde - da længden kun varierer ved læsning 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;
+						global_comm_baudrate = data;
+					}
+					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);
+}
+
+///////////////////////////////////////////////////////////////////
+// init 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;
+	
+	TMR1IE = 1; // Timer 1
+
+	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 hører hjemme i i2c.h
 #ifdef I2C_MODULE
     SSPMode(MASTER_MODE);
     SSPEN = 1;
@@ -22,24 +424,145 @@
 #endif
 }
 
+void timer_init(void)
+{
+	TMR1CS = 1; //use external clock
+	
+	T1CKPS1 = 1; //1:8 prescale
+	T1CKPS0 = 1;
+	
+	TMR1H = 0xEF;
+	TMR1L = 0xFF;
+
+	T1OSCEN = 1; //enable oscillator circuit	
+	RD16 = 0; //normal 8 bit writes
+	TMR1ON = 1;
+}
+
+///////////////////////////////////////////////////////////////////
+// Gennerelle funktioner
+
+
 char ReadTemp(void)
 {
 	char temp;
-	i2c_WriteTo(TC74);
+	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;
-}
+}
+
+
+
+void update_lcd(void)
+{
+	static char current_row = 0;
+	static char current_char = 0;
+
+	if ( current_char >= BUFFERLEN ||  global_lcd_buffer[current_row][current_char] == 0 )
+	{
+		current_row++;
+		current_char = 0;
+		lcd_goto(0x40);
+	}
+	
+	if (current_row >= 2)
+	{
+		sprintf(global_lcd_buffer[1], "T=%02d, P=%04d", global_temp, (global_potmeter_hi<<8) | global_potmeter_lo);
+		lcd_goto(0x00);
+		current_row = 0;
+	}
+	
+	lcd_putch(global_lcd_buffer[current_row][current_char]);
+	current_char++;
+}
+
+void reset_baudrate(void)
+{
+	SPEN = 0; //disable serial port
+	
+	//set baudrate generator, i henhold til side 171 af PIC18F452 dokumentationen
+	switch (global_comm_baudrate)
+	{
+		case Baud1200:
+			SPBRG = 207;
+			strcpy(global_lcd_buffer[0],"Baud=1200 ");
+			break;
+		case Baud2400:
+			SPBRG = 103;
+			strcpy(global_lcd_buffer[0],"Baud=2400 ");
+			break;
+		case Baud9600:
+			SPBRG = 25;
+			strcpy(global_lcd_buffer[0],"Baud=9600 ");
+			break;
+		case Baud19200:
+			SPBRG = 12;
+			strcpy(global_lcd_buffer[0],"Baud=19200");
+			break;
+		default:
+			strcpy(global_lcd_buffer[0],"Baud=9600 ");
+			SPBRG = 25; // this should not be possible, but default to 9600 anyway
+	}
+	SPEN = 1; // enable the serial port again
+}
+
+///////////////////////////////////////////////////////////////////
+//Main
+
 
 void main(void) 
 {
 	lcd_init(0); //init in 4-bit mode
 	i2c_init();
+	serial_init(); //9600 8N1
+	ad_init();
+	io_init();
+	timer_init();
+	interrupt_init();
+	
+
+	slip_reset(); //take SLIP FSM into normal state
+	global_comm_baudrate = Baud9600; //default baudrate = 9600 (allready set in serial_init)
+	global_reset_baudrate = 0;
+	
+//	initialisation completed and we are ready to recieve commands - enable serial reception
+	CREN = 1;
 	
+	strcpy(global_lcd_buffer[0], "Baud=9600 ");
 	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)
+		{
+			reset_baudrate();
+			global_reset_baudrate = 0;
+		}
+		
+		RB1 = global_led_0;
+		RB2 = global_led_1;
+		RB3 = global_led_2;
+		
+		global_temp = ReadTemp();
+		
+		//potmeter
+		if (GODONE ==0 )//hvis A/D-conv er færdig
+		{
+			
+			global_potmeter_hi = ADRESH;//gem AD resultat
+			global_potmeter_lo = ADRESL; 
+			GODONE = 1; //start ny konverering
+		}
+		
+		update_lcd();
 	}
 }