Team Ship Happens
SCI.c
//#define TEST
/****************************************************************************
Module
SCI.c
Description
Contains functions for using the SCI subsystem on the E128.
Notes
History
When Who What/Why
-------------- --- --------
April 2010 NRM Started Coding
****************************************************************************/
/*----------------------------- Include Files -----------------------------*/
#include <hidef.h> /* common defines and macros */
#include <mc9s12e128.h> /* derivative information */
#include <stdio.h>
#include <stdlib.h>
#include <S12E128bits.h> /* E128 bit definitions */
#include <bitdefs.h> /* BIT0HI, BIT0LO....definitions */
#include "S12eVec.h"
#include "S12Vec.h"
#include "HC_Controller.h"
#include "SCI.h"
#include "servo.h"
#pragma LINK_INFO DERIVATIVE "SampleS12"
/*----------------------------- Module Defines ----------------------------*/
#define Number_of_Bytes_In_Message 15
#define START_BYTE 0x7E
#define LENGTH_MSB 0x00
#define LENGTH_LSB 11
#define API_TRANSMIT 0x01
#define FRAME_ID 0x08
#define OPTIONS 0x00
#define CRAFT_MSB 0x21
#define CRAFT_LSB 0x83
#define NEPTUNE_MSB 0x77
#define NEPTUNE_LSB 0x77
#define _BOADCAST_ 0x02
#define _PERSONAL_ 0x00
#define _TEAM_MESSAGE_ 0x01
#define _CIPHER_MESSAGE_ 0x02
#define _CRAB_MESSAGE_ 0x03
/*------------------------------ Module Types -----------------------------*/
// struct for messages
typedef struct {
unsigned char Contents[Number_of_Bytes_In_Message]; // Contents of Messege
int Index_Counter; // Index
int Length; // total length of packet
} _MESSAGE_;
// struct to hold user inputs
typedef struct {
unsigned char Left_Prop; // Duty Cycle for Left Propeller
unsigned char Right_Prop; // Duty Cycle for Right Propeller
unsigned char Pump; // Duty Cycle for Pump
unsigned char Left_Aim_Gun;// Duty Cycle for Left Gun Aim
unsigned char Right_Aim_Gun;// Duty Cycle for Right Gun Aim
unsigned char Turbo_Prop; // Duty Cycle for Turbo Prop
} _INPUTS_;
/*---------------------------- Module Functions ---------------------------*/
void SCI_Init(void);
unsigned char SCI_Receive(void);
void Process_Message();
void Compile_Message(unsigned char[]);
void Send_Message(void);
char Query_Received_Cipher_Flag(void);
char Query_GO_Flag(void);
char Query_New_Message_Flag(void);
char Query_In_Flag(void);
/*---------------------------- Module Variables ---------------------------*/
_MESSAGE_ OutgoingMessage; // _MESSAGE_ struct for outgoing message
_MESSAGE_ IncomingMessage; // _MESSAGE_ struct for incoming message
_MESSAGE_ IncMessageBuffer; // _MESSAGE_ for incoming message buffer
_INPUTS_ UserInputs; // _INPUTS_ struct for user inputs
unsigned char CIPHER = 0xAA; // initialize cipher to 0xAA (same as boat)
unsigned char MyTeam = 0x44; // initialize to white team
char New_Message_Flag = 0; // initialize flag for new message
char Received_Cipher_Flag = 0; // initalize flag for cipher received
char GO_Flag = 0; // initialize flag for neptune GO received
/*------------------------------ Module Code ------------------------------*/
/****************************************************************************
Function
SCI_Init()
Parameters
Returns
None.
Description
Initializes SCI system on E128
Notes
Author
Nick Musser
****************************************************************************/
void SCI_Init(void)
{
unsigned char dummy; // Create dummy variable for clearing interrupt flag
OutgoingMessage.Index_Counter = 0;
OutgoingMessage.Length = Number_of_Bytes_In_Message;
IncomingMessage.Index_Counter = 0;
IncomingMessage.Length = Number_of_Bytes_In_Message;
// Configure Baud Rate Registers (SCI1BDH, SCI1BDL)
// Set baud rate to 9600
SCI1BDH = 0x00;
SCI1BDL = 0x9C;
// Configure SCI Control Register 1 (SCI1CR1)
// Leave defaults: 8 data bits and Idle line wakeup
// Configure SCI Control Register 2 (SCI1CR2)
SCI1CR2 |= (_S12_TE | _S12_RE); // Enable Transmitter and Reciever
dummy = SCI_Receive(); //clears receiver interrupt flag
EnableInterrupts; // Enable Interrupts globally
}
/****************************************************************************
Function
SCI_Receive()
Parameters
None
Returns
Returns the byte of data from the SCI Receive Register in the form
of a char
Description
Clears the receive interrupt flag and returns the byte of data.
Notes
This will most likely be called in the interrupt response routine
following a receive.
Author
Nick Musser
****************************************************************************/
unsigned char SCI_Receive(void)
{
static unsigned char Message_Byte;
if(SCI1SR1 & _S12_RDRF) // If the recieve flag has been set
{
// Read SCI1SR1 and SCIDRL to clear the flag
Message_Byte = SCI1DRL; // Read SCI Data Register Low
return Message_Byte; // Return the byte of data
}
}
/****************************************************************************
Function
Compile_Message()
Parameters
Returns
None.
Description
Stuffs the user inputs into the outgoing message stuct
Notes
Author
Nick Musser
****************************************************************************/
void Compile_Message(unsigned char User_Inputs[6])
{
unsigned char checksum;
checksum = API_TRANSMIT + FRAME_ID + CRAFT_MSB + CRAFT_LSB + OPTIONS + User_Inputs[0] + User_Inputs[1] + User_Inputs[2] + User_Inputs[3] + User_Inputs[4] + User_Inputs[5];
checksum = 0xFF - checksum;
OutgoingMessage.Contents[0] = START_BYTE;
OutgoingMessage.Contents[1] = LENGTH_MSB;
OutgoingMessage.Contents[2] = LENGTH_LSB;
OutgoingMessage.Contents[3] = API_TRANSMIT;
OutgoingMessage.Contents[4] = FRAME_ID;
OutgoingMessage.Contents[5] = CRAFT_MSB;
OutgoingMessage.Contents[6] = CRAFT_LSB;
OutgoingMessage.Contents[7] = OPTIONS;
OutgoingMessage.Contents[8] = User_Inputs[0]; //Left_Prop;
OutgoingMessage.Contents[9] = User_Inputs[1]; //Right_Prop;
OutgoingMessage.Contents[10] = User_Inputs[2]; //Pump;
OutgoingMessage.Contents[11] = User_Inputs[3]; //Left_Aim_Gun;
OutgoingMessage.Contents[12] = User_Inputs[4]; //Right_Aim_Gun;
OutgoingMessage.Contents[13] = User_Inputs[5]; //Turbo_Prop;
OutgoingMessage.Contents[14] = checksum;
} // end of function
/****************************************************************************
Function
Send_Message()
Parameters
None
Returns
None
Description
Resets the OutgoingMessage Index Counter to zero. Enables the Transmission buffer
empty interrupt. This flag defaults to set, so immediately after it is turned on
the interrupt will fire and send the first byte of the OutgoingMessage.Contents[].
The interrupt gets turned off again after the last byte has been sent.
Notes
Author
Nick Musser
****************************************************************************/
void Send_Message(void)
{
OutgoingMessage.Index_Counter = 0; // reset outgoing index counter to zero
SCI1CR2 |= _S12_TCIE; // Enable Transmitssion Complete Interrupt. Interrupt will fire immediately after
} // end of function
/****************************************************************************
Function
Process_Message()
Parameters
None
Returns
Description
Takes in the message and determines if it is of interest. Depending on what type
of message it is, different things will happen. Can also print out the incoming message
Notes
Author
Nick Musser
****************************************************************************/
void Process_Message(void)
{
unsigned char SourceAddressMSB = IncMessageBuffer.Contents[4]; // take out the source address MSB
unsigned char SourceAddressLSB = IncMessageBuffer.Contents[5]; // take out the source address LSB
unsigned char Message_Intention = IncMessageBuffer.Contents[7]; // take out the message intention
unsigned char Team_Indicator = IncMessageBuffer.Contents[8]; // take out the team indicator
unsigned char Message_Type = IncMessageBuffer.Contents[9]; // take out message type
static unsigned char Crab_Pot_Number; // create variable for crab pot number
static unsigned char Crab_Accum_Rate; // create variable for cab accum rate
/*printf("\r\n%x\r\n",IncMessageBuffer.Contents[0]);
printf("%x\r\n",IncMessageBuffer.Contents[1]);
printf("%x\r\n",IncMessageBuffer.Contents[2]);
printf("%x\r\n",IncMessageBuffer.Contents[3]);
printf("%x\r\n",IncMessageBuffer.Contents[4]);
printf("%x\r\n",IncMessageBuffer.Contents[5]);
printf("%x\r\n",IncMessageBuffer.Contents[6]);
printf("%x\r\n",IncMessageBuffer.Contents[7]);
printf("%x\r\n",IncMessageBuffer.Contents[8]);
printf("%x\r\n",IncMessageBuffer.Contents[9]);
printf("%x\r\n",IncMessageBuffer.Contents[10]);
printf("%x\r\n",IncMessageBuffer.Contents[11]);
printf("%x\r\n",IncMessageBuffer.Contents[12]); */
switch(IncMessageBuffer.Contents[3])
{
case 0x89: // case: reply back from your XBee
if(IncMessageBuffer.Contents[5] == 0)
printf("Success\r\n");
if(IncMessageBuffer.Contents[5] == 1)
printf("No ACK\r\n");
if(IncMessageBuffer.Contents[5] == 3)
printf("CCA Failure\r\n");
if(IncMessageBuffer.Contents[5] == 4)
printf("Purged\r\n");
break;
case 0x81: // case: message from other XBee
if((SourceAddressMSB == NEPTUNE_MSB) && (SourceAddressLSB == NEPTUNE_LSB) && (IncMessageBuffer.Contents[8] == 0x47) && (IncMessageBuffer.Contents[9] == 0x6F) && (IncMessageBuffer.Contents[10] == 0x21)) // If broadcast GO message from Neptune
{
GO_Flag = 1; // Set GO_Flag
return; // return
} // end if
if((SourceAddressMSB == CRAFT_MSB) && (SourceAddressLSB == CRAFT_LSB) && (Message_Intention == _PERSONAL_) && (Message_Type == _CIPHER_MESSAGE_))// If personal message from Boat (Cypher)
{
MyTeam = Team_Indicator; // assign the team to local team variable
CIPHER = IncMessageBuffer.Contents[10]; // Take cypher and store it
Received_Cipher_Flag = 1; // Set Recevied Cipher Flag
return;
} // end if
if((Message_Intention == _BOADCAST_) && (Team_Indicator == MyTeam) && (Message_Type == _CRAB_MESSAGE_)) // If broadcast message and its from your fleet then its a crab update. save crab data
{
Crab_Pot_Number = (CIPHER ^ IncMessageBuffer.Contents[10]) - 0xA0; // Take crab pot # and decode it with XOR
Crab_Accum_Rate = CIPHER ^ IncMessageBuffer.Contents[11]; // Take crab pot accum rate and decode it with XOR
printf(" Crab Pot ID is %x\r\n", Crab_Pot_Number);
printf(" Crab Pot Accum is %x\r\n", Crab_Accum_Rate);
Update_Indicators(Crab_Pot_Number,Crab_Accum_Rate); // update indicators
return;
} // end if
break;
default:
break;
} // end of switch
} // end of function
/****************************************************************************
Function
Query_Received_Cipher_Flag()
Parameters
None.
Returns
1 or 0
Description
Queries the Receive Cipher Flag. Returns 1 if set, 0 otherwise
Notes
None.
Author
Nick Musser
****************************************************************************/
char Query_Received_Cipher_Flag(void)
{
if(Received_Cipher_Flag == 1)
{
Received_Cipher_Flag = 0; // clear flag
return 1;
}
else
return 0;
}
/****************************************************************************
Function
Query_GO_Flag()
Parameters
None.
Returns
1 or 0
Description
Queries the Neptune GO Flag. Returns 1 if set, 0 otherwise
Notes
None.
Author
Nick Musser
****************************************************************************/
char Query_GO_Flag(void)
{
if(GO_Flag == 1)
{
GO_Flag = 0; // clear flag
return 1;
}
else
return 0;
}
/****************************************************************************
Function
Query_New_Message_Flag()
Parameters
None.
Returns
1 or 0
Description
Queries the New Message Flag. Returns 1 if set, 0 otherwise
Notes
None.
Author
Nick Musser
****************************************************************************/
char Query_New_Message_Flag(void)
{
if(New_Message_Flag == 1)
{
New_Message_Flag = 0; // clear flag
return 1;
}
else
return 0;
}
/****************************************************************************
Function
SCI_Resp
Parameters
None.
Returns
None.
Description
This is the interrupt response associated with the Receiver Data Register Full flagand the Transmit Data Register Empty Flag. We must see which one caused the interrupt.
Notes
None.
Author
Nick Musser
****************************************************************************/
void interrupt _Vec_sci1 SCI_Resp(void)
{
In_Flag = 1;
if(SCI1SR1 & _S12_RDRF) // Is it Receive Interrupt?
{
//Read SCI1SR1 and SCIDRL to clear the flag
if((IncomingMessage.Index_Counter == 0) && (SCI1DRL != 0x7E)) // if this is the first index and the first byte
{ // isnt 0x7E, we know something is wrong - dont
return; // do anything.
}
IncomingMessage.Contents[IncomingMessage.Index_Counter] = SCI1DRL; // Read SCI Data Register Low
if(IncomingMessage.Index_Counter == 2) // if we are at the LSB length byte of the packet
{
IncomingMessage.Length = 4 + IncomingMessage.Contents[2]; // This would be the length of the packet
}
if(IncomingMessage.Index_Counter > IncomingMessage.Length-2) // we are at the end of the message
{
IncomingMessage.Index_Counter = 0; // reset index for next message
IncMessageBuffer = IncomingMessage; // store away complete incoming message
New_Message_Flag = 1; // Set Message Flag
}
else // we are not at the end of the message
IncomingMessage.Index_Counter++; // Increment index
return;
}
if(SCI1SR1 & _S12_TDRE) // Is it transmit interrupt?
{
if(OutgoingMessage.Index_Counter >= OutgoingMessage.Length) // If Message is done
{
OutgoingMessage.Index_Counter = 0; // Reset Index counter and dont send anything. This leaves the flag set
SCI1CR2 &= (~_S12_TCIE); // Disable Transmit Interrupt
return;
}
else // else Message is not done. Send the next byte in the sequence
{
SCI1DRL = OutgoingMessage.Contents[OutgoingMessage.Index_Counter]; // write next byte to Transmit data register
OutgoingMessage.Index_Counter++; // Increment Index Counter
}
return;
}
}
/*------------------------------- Footnotes -------------------------------*/
#ifdef TEST
void main(void){
int KeyStroke;
SCI_Init();
//Compile_Message(2,2,2,2,2,2);
//Send_Message();
(void)printf("Press a,b,c,d,e,f\r\n");
while(1){
if(kbhit() != 0)
{
KeyStroke = getchar();
if(KeyStroke == 'a') // If button B was pressed
{
Compile_Message(0,0,0,0,0,0);
//Compile_Message(1);
(void)printf("000\r\n");
}
if(KeyStroke == 'b') // If button B was pressed
{
Compile_Message(0,0,1,0,0,1);
//Compile_Message(2);
(void)printf("001\r\n");
}
if(KeyStroke == 'c') // If button B was pressed
{
Compile_Message(0,1,1,0,1,1);
//Compile_Message(1);
(void)printf("011\r\n");
}
if(KeyStroke == 'd') // If button B was pressed
{
Compile_Message(1,0,1,1,0,1);
//Compile_Message(2);
(void)printf("101\r\n");
}
if(KeyStroke == 'e') // If button B was pressed
{
Compile_Message(1,1,0,1,1,0);
//Compile_Message(1);
(void)printf("110\r\n");
}
if(KeyStroke == 'f') // If button B was pressed
{
Compile_Message(0,1,0,0,1,0);
//Compile_Message(2);
(void)printf("010\r\n");
}
Send_Message();
}
if( New_Message_Flag == 1)
{
Process_Message(); // Process Message
New_Message_Flag = 0; // Reset Message_Done Flag
}
/*printf("interrupt_in counter = %i\n\r", p);
printf("interrupt_out counter = %i\n\r", m);
printf("first = %x\n\r",IncomingMessage.Contents[0]);
printf("second = %x\n\r",IncomingMessage.Contents[1]);
printf("third = %x\n\r",IncomingMessage.Contents[2]);
printf("fourth = %x\n\r",IncomingMessage.Contents[3]);
printf("fifth = %x\n\r",IncomingMessage.Contents[4]);
printf("sixth = %x\n\r",IncomingMessage.Contents[5]);
printf("seventh = %x\n\r",IncomingMessage.Contents[6]);
printf("eighth = %x\n\r",IncomingMessage.Contents[7]);
printf("ninth = %x\n\r",IncomingMessage.Contents[8]);
printf("tenth = %x\n\r",IncomingMessage.Contents[9]);
printf("eleventh = %x\n\r",IncomingMessage.Contents[10]);
printf("twelve = %x\n\r",IncomingMessage.Contents[11]);
printf("thirteen = %x\n\r",IncomingMessage.Contents[12]);
printf("fourteenth = %x\n\r",IncomingMessage.Contents[13]);
printf("fifteenth = %x\n\r",IncomingMessage.Contents[14]);
printf("process message flag = %i\n\r", Message_Done); */
//printf("outgoing message counter = %i\n\r", OutgoingMessage.Index_Counter);
}
}
#endif
/*------------------------------ End of file ------------------------------*/
/****************************************************************************
Module
SCI.c
Description
Contains functions for using the SCI subsystem on the E128.
Notes
History
When Who What/Why
-------------- --- --------
April 2010 NRM Started Coding
****************************************************************************/
/*----------------------------- Include Files -----------------------------*/
#include <hidef.h> /* common defines and macros */
#include <mc9s12e128.h> /* derivative information */
#include <stdio.h>
#include <stdlib.h>
#include <S12E128bits.h> /* E128 bit definitions */
#include <bitdefs.h> /* BIT0HI, BIT0LO....definitions */
#include "S12eVec.h"
#include "S12Vec.h"
#include "HC_Controller.h"
#include "SCI.h"
#include "servo.h"
#pragma LINK_INFO DERIVATIVE "SampleS12"
/*----------------------------- Module Defines ----------------------------*/
#define Number_of_Bytes_In_Message 15
#define START_BYTE 0x7E
#define LENGTH_MSB 0x00
#define LENGTH_LSB 11
#define API_TRANSMIT 0x01
#define FRAME_ID 0x08
#define OPTIONS 0x00
#define CRAFT_MSB 0x21
#define CRAFT_LSB 0x83
#define NEPTUNE_MSB 0x77
#define NEPTUNE_LSB 0x77
#define _BOADCAST_ 0x02
#define _PERSONAL_ 0x00
#define _TEAM_MESSAGE_ 0x01
#define _CIPHER_MESSAGE_ 0x02
#define _CRAB_MESSAGE_ 0x03
/*------------------------------ Module Types -----------------------------*/
// struct for messages
typedef struct {
unsigned char Contents[Number_of_Bytes_In_Message]; // Contents of Messege
int Index_Counter; // Index
int Length; // total length of packet
} _MESSAGE_;
// struct to hold user inputs
typedef struct {
unsigned char Left_Prop; // Duty Cycle for Left Propeller
unsigned char Right_Prop; // Duty Cycle for Right Propeller
unsigned char Pump; // Duty Cycle for Pump
unsigned char Left_Aim_Gun;// Duty Cycle for Left Gun Aim
unsigned char Right_Aim_Gun;// Duty Cycle for Right Gun Aim
unsigned char Turbo_Prop; // Duty Cycle for Turbo Prop
} _INPUTS_;
/*---------------------------- Module Functions ---------------------------*/
void SCI_Init(void);
unsigned char SCI_Receive(void);
void Process_Message();
void Compile_Message(unsigned char[]);
void Send_Message(void);
char Query_Received_Cipher_Flag(void);
char Query_GO_Flag(void);
char Query_New_Message_Flag(void);
char Query_In_Flag(void);
/*---------------------------- Module Variables ---------------------------*/
_MESSAGE_ OutgoingMessage; // _MESSAGE_ struct for outgoing message
_MESSAGE_ IncomingMessage; // _MESSAGE_ struct for incoming message
_MESSAGE_ IncMessageBuffer; // _MESSAGE_ for incoming message buffer
_INPUTS_ UserInputs; // _INPUTS_ struct for user inputs
unsigned char CIPHER = 0xAA; // initialize cipher to 0xAA (same as boat)
unsigned char MyTeam = 0x44; // initialize to white team
char New_Message_Flag = 0; // initialize flag for new message
char Received_Cipher_Flag = 0; // initalize flag for cipher received
char GO_Flag = 0; // initialize flag for neptune GO received
/*------------------------------ Module Code ------------------------------*/
/****************************************************************************
Function
SCI_Init()
Parameters
Returns
None.
Description
Initializes SCI system on E128
Notes
Author
Nick Musser
****************************************************************************/
void SCI_Init(void)
{
unsigned char dummy; // Create dummy variable for clearing interrupt flag
OutgoingMessage.Index_Counter = 0;
OutgoingMessage.Length = Number_of_Bytes_In_Message;
IncomingMessage.Index_Counter = 0;
IncomingMessage.Length = Number_of_Bytes_In_Message;
// Configure Baud Rate Registers (SCI1BDH, SCI1BDL)
// Set baud rate to 9600
SCI1BDH = 0x00;
SCI1BDL = 0x9C;
// Configure SCI Control Register 1 (SCI1CR1)
// Leave defaults: 8 data bits and Idle line wakeup
// Configure SCI Control Register 2 (SCI1CR2)
SCI1CR2 |= (_S12_TE | _S12_RE); // Enable Transmitter and Reciever
dummy = SCI_Receive(); //clears receiver interrupt flag
EnableInterrupts; // Enable Interrupts globally
}
/****************************************************************************
Function
SCI_Receive()
Parameters
None
Returns
Returns the byte of data from the SCI Receive Register in the form
of a char
Description
Clears the receive interrupt flag and returns the byte of data.
Notes
This will most likely be called in the interrupt response routine
following a receive.
Author
Nick Musser
****************************************************************************/
unsigned char SCI_Receive(void)
{
static unsigned char Message_Byte;
if(SCI1SR1 & _S12_RDRF) // If the recieve flag has been set
{
// Read SCI1SR1 and SCIDRL to clear the flag
Message_Byte = SCI1DRL; // Read SCI Data Register Low
return Message_Byte; // Return the byte of data
}
}
/****************************************************************************
Function
Compile_Message()
Parameters
Returns
None.
Description
Stuffs the user inputs into the outgoing message stuct
Notes
Author
Nick Musser
****************************************************************************/
void Compile_Message(unsigned char User_Inputs[6])
{
unsigned char checksum;
checksum = API_TRANSMIT + FRAME_ID + CRAFT_MSB + CRAFT_LSB + OPTIONS + User_Inputs[0] + User_Inputs[1] + User_Inputs[2] + User_Inputs[3] + User_Inputs[4] + User_Inputs[5];
checksum = 0xFF - checksum;
OutgoingMessage.Contents[0] = START_BYTE;
OutgoingMessage.Contents[1] = LENGTH_MSB;
OutgoingMessage.Contents[2] = LENGTH_LSB;
OutgoingMessage.Contents[3] = API_TRANSMIT;
OutgoingMessage.Contents[4] = FRAME_ID;
OutgoingMessage.Contents[5] = CRAFT_MSB;
OutgoingMessage.Contents[6] = CRAFT_LSB;
OutgoingMessage.Contents[7] = OPTIONS;
OutgoingMessage.Contents[8] = User_Inputs[0]; //Left_Prop;
OutgoingMessage.Contents[9] = User_Inputs[1]; //Right_Prop;
OutgoingMessage.Contents[10] = User_Inputs[2]; //Pump;
OutgoingMessage.Contents[11] = User_Inputs[3]; //Left_Aim_Gun;
OutgoingMessage.Contents[12] = User_Inputs[4]; //Right_Aim_Gun;
OutgoingMessage.Contents[13] = User_Inputs[5]; //Turbo_Prop;
OutgoingMessage.Contents[14] = checksum;
} // end of function
/****************************************************************************
Function
Send_Message()
Parameters
None
Returns
None
Description
Resets the OutgoingMessage Index Counter to zero. Enables the Transmission buffer
empty interrupt. This flag defaults to set, so immediately after it is turned on
the interrupt will fire and send the first byte of the OutgoingMessage.Contents[].
The interrupt gets turned off again after the last byte has been sent.
Notes
Author
Nick Musser
****************************************************************************/
void Send_Message(void)
{
OutgoingMessage.Index_Counter = 0; // reset outgoing index counter to zero
SCI1CR2 |= _S12_TCIE; // Enable Transmitssion Complete Interrupt. Interrupt will fire immediately after
} // end of function
/****************************************************************************
Function
Process_Message()
Parameters
None
Returns
Description
Takes in the message and determines if it is of interest. Depending on what type
of message it is, different things will happen. Can also print out the incoming message
Notes
Author
Nick Musser
****************************************************************************/
void Process_Message(void)
{
unsigned char SourceAddressMSB = IncMessageBuffer.Contents[4]; // take out the source address MSB
unsigned char SourceAddressLSB = IncMessageBuffer.Contents[5]; // take out the source address LSB
unsigned char Message_Intention = IncMessageBuffer.Contents[7]; // take out the message intention
unsigned char Team_Indicator = IncMessageBuffer.Contents[8]; // take out the team indicator
unsigned char Message_Type = IncMessageBuffer.Contents[9]; // take out message type
static unsigned char Crab_Pot_Number; // create variable for crab pot number
static unsigned char Crab_Accum_Rate; // create variable for cab accum rate
/*printf("\r\n%x\r\n",IncMessageBuffer.Contents[0]);
printf("%x\r\n",IncMessageBuffer.Contents[1]);
printf("%x\r\n",IncMessageBuffer.Contents[2]);
printf("%x\r\n",IncMessageBuffer.Contents[3]);
printf("%x\r\n",IncMessageBuffer.Contents[4]);
printf("%x\r\n",IncMessageBuffer.Contents[5]);
printf("%x\r\n",IncMessageBuffer.Contents[6]);
printf("%x\r\n",IncMessageBuffer.Contents[7]);
printf("%x\r\n",IncMessageBuffer.Contents[8]);
printf("%x\r\n",IncMessageBuffer.Contents[9]);
printf("%x\r\n",IncMessageBuffer.Contents[10]);
printf("%x\r\n",IncMessageBuffer.Contents[11]);
printf("%x\r\n",IncMessageBuffer.Contents[12]); */
switch(IncMessageBuffer.Contents[3])
{
case 0x89: // case: reply back from your XBee
if(IncMessageBuffer.Contents[5] == 0)
printf("Success\r\n");
if(IncMessageBuffer.Contents[5] == 1)
printf("No ACK\r\n");
if(IncMessageBuffer.Contents[5] == 3)
printf("CCA Failure\r\n");
if(IncMessageBuffer.Contents[5] == 4)
printf("Purged\r\n");
break;
case 0x81: // case: message from other XBee
if((SourceAddressMSB == NEPTUNE_MSB) && (SourceAddressLSB == NEPTUNE_LSB) && (IncMessageBuffer.Contents[8] == 0x47) && (IncMessageBuffer.Contents[9] == 0x6F) && (IncMessageBuffer.Contents[10] == 0x21)) // If broadcast GO message from Neptune
{
GO_Flag = 1; // Set GO_Flag
return; // return
} // end if
if((SourceAddressMSB == CRAFT_MSB) && (SourceAddressLSB == CRAFT_LSB) && (Message_Intention == _PERSONAL_) && (Message_Type == _CIPHER_MESSAGE_))// If personal message from Boat (Cypher)
{
MyTeam = Team_Indicator; // assign the team to local team variable
CIPHER = IncMessageBuffer.Contents[10]; // Take cypher and store it
Received_Cipher_Flag = 1; // Set Recevied Cipher Flag
return;
} // end if
if((Message_Intention == _BOADCAST_) && (Team_Indicator == MyTeam) && (Message_Type == _CRAB_MESSAGE_)) // If broadcast message and its from your fleet then its a crab update. save crab data
{
Crab_Pot_Number = (CIPHER ^ IncMessageBuffer.Contents[10]) - 0xA0; // Take crab pot # and decode it with XOR
Crab_Accum_Rate = CIPHER ^ IncMessageBuffer.Contents[11]; // Take crab pot accum rate and decode it with XOR
printf(" Crab Pot ID is %x\r\n", Crab_Pot_Number);
printf(" Crab Pot Accum is %x\r\n", Crab_Accum_Rate);
Update_Indicators(Crab_Pot_Number,Crab_Accum_Rate); // update indicators
return;
} // end if
break;
default:
break;
} // end of switch
} // end of function
/****************************************************************************
Function
Query_Received_Cipher_Flag()
Parameters
None.
Returns
1 or 0
Description
Queries the Receive Cipher Flag. Returns 1 if set, 0 otherwise
Notes
None.
Author
Nick Musser
****************************************************************************/
char Query_Received_Cipher_Flag(void)
{
if(Received_Cipher_Flag == 1)
{
Received_Cipher_Flag = 0; // clear flag
return 1;
}
else
return 0;
}
/****************************************************************************
Function
Query_GO_Flag()
Parameters
None.
Returns
1 or 0
Description
Queries the Neptune GO Flag. Returns 1 if set, 0 otherwise
Notes
None.
Author
Nick Musser
****************************************************************************/
char Query_GO_Flag(void)
{
if(GO_Flag == 1)
{
GO_Flag = 0; // clear flag
return 1;
}
else
return 0;
}
/****************************************************************************
Function
Query_New_Message_Flag()
Parameters
None.
Returns
1 or 0
Description
Queries the New Message Flag. Returns 1 if set, 0 otherwise
Notes
None.
Author
Nick Musser
****************************************************************************/
char Query_New_Message_Flag(void)
{
if(New_Message_Flag == 1)
{
New_Message_Flag = 0; // clear flag
return 1;
}
else
return 0;
}
/****************************************************************************
Function
SCI_Resp
Parameters
None.
Returns
None.
Description
This is the interrupt response associated with the Receiver Data Register Full flagand the Transmit Data Register Empty Flag. We must see which one caused the interrupt.
Notes
None.
Author
Nick Musser
****************************************************************************/
void interrupt _Vec_sci1 SCI_Resp(void)
{
In_Flag = 1;
if(SCI1SR1 & _S12_RDRF) // Is it Receive Interrupt?
{
//Read SCI1SR1 and SCIDRL to clear the flag
if((IncomingMessage.Index_Counter == 0) && (SCI1DRL != 0x7E)) // if this is the first index and the first byte
{ // isnt 0x7E, we know something is wrong - dont
return; // do anything.
}
IncomingMessage.Contents[IncomingMessage.Index_Counter] = SCI1DRL; // Read SCI Data Register Low
if(IncomingMessage.Index_Counter == 2) // if we are at the LSB length byte of the packet
{
IncomingMessage.Length = 4 + IncomingMessage.Contents[2]; // This would be the length of the packet
}
if(IncomingMessage.Index_Counter > IncomingMessage.Length-2) // we are at the end of the message
{
IncomingMessage.Index_Counter = 0; // reset index for next message
IncMessageBuffer = IncomingMessage; // store away complete incoming message
New_Message_Flag = 1; // Set Message Flag
}
else // we are not at the end of the message
IncomingMessage.Index_Counter++; // Increment index
return;
}
if(SCI1SR1 & _S12_TDRE) // Is it transmit interrupt?
{
if(OutgoingMessage.Index_Counter >= OutgoingMessage.Length) // If Message is done
{
OutgoingMessage.Index_Counter = 0; // Reset Index counter and dont send anything. This leaves the flag set
SCI1CR2 &= (~_S12_TCIE); // Disable Transmit Interrupt
return;
}
else // else Message is not done. Send the next byte in the sequence
{
SCI1DRL = OutgoingMessage.Contents[OutgoingMessage.Index_Counter]; // write next byte to Transmit data register
OutgoingMessage.Index_Counter++; // Increment Index Counter
}
return;
}
}
/*------------------------------- Footnotes -------------------------------*/
#ifdef TEST
void main(void){
int KeyStroke;
SCI_Init();
//Compile_Message(2,2,2,2,2,2);
//Send_Message();
(void)printf("Press a,b,c,d,e,f\r\n");
while(1){
if(kbhit() != 0)
{
KeyStroke = getchar();
if(KeyStroke == 'a') // If button B was pressed
{
Compile_Message(0,0,0,0,0,0);
//Compile_Message(1);
(void)printf("000\r\n");
}
if(KeyStroke == 'b') // If button B was pressed
{
Compile_Message(0,0,1,0,0,1);
//Compile_Message(2);
(void)printf("001\r\n");
}
if(KeyStroke == 'c') // If button B was pressed
{
Compile_Message(0,1,1,0,1,1);
//Compile_Message(1);
(void)printf("011\r\n");
}
if(KeyStroke == 'd') // If button B was pressed
{
Compile_Message(1,0,1,1,0,1);
//Compile_Message(2);
(void)printf("101\r\n");
}
if(KeyStroke == 'e') // If button B was pressed
{
Compile_Message(1,1,0,1,1,0);
//Compile_Message(1);
(void)printf("110\r\n");
}
if(KeyStroke == 'f') // If button B was pressed
{
Compile_Message(0,1,0,0,1,0);
//Compile_Message(2);
(void)printf("010\r\n");
}
Send_Message();
}
if( New_Message_Flag == 1)
{
Process_Message(); // Process Message
New_Message_Flag = 0; // Reset Message_Done Flag
}
/*printf("interrupt_in counter = %i\n\r", p);
printf("interrupt_out counter = %i\n\r", m);
printf("first = %x\n\r",IncomingMessage.Contents[0]);
printf("second = %x\n\r",IncomingMessage.Contents[1]);
printf("third = %x\n\r",IncomingMessage.Contents[2]);
printf("fourth = %x\n\r",IncomingMessage.Contents[3]);
printf("fifth = %x\n\r",IncomingMessage.Contents[4]);
printf("sixth = %x\n\r",IncomingMessage.Contents[5]);
printf("seventh = %x\n\r",IncomingMessage.Contents[6]);
printf("eighth = %x\n\r",IncomingMessage.Contents[7]);
printf("ninth = %x\n\r",IncomingMessage.Contents[8]);
printf("tenth = %x\n\r",IncomingMessage.Contents[9]);
printf("eleventh = %x\n\r",IncomingMessage.Contents[10]);
printf("twelve = %x\n\r",IncomingMessage.Contents[11]);
printf("thirteen = %x\n\r",IncomingMessage.Contents[12]);
printf("fourteenth = %x\n\r",IncomingMessage.Contents[13]);
printf("fifteenth = %x\n\r",IncomingMessage.Contents[14]);
printf("process message flag = %i\n\r", Message_Done); */
//printf("outgoing message counter = %i\n\r", OutgoingMessage.Index_Counter);
}
}
#endif
/*------------------------------ End of file ------------------------------*/
