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00001 /* //////////////////////////////////////////////////////////////////////////// 00002 ** Included in "com.c", it contains definitions and variables initialization 00004 00005 #define DISABLE_TX U1STAbits.UTXEN = 0 00006 #define ENABLE_TX U1STAbits.UTXEN = 1 00007 #define DISABLE_T2 U2STAbits.UTXEN = 0 00008 #define ENABLE_TX2 U2STAbits.UTXEN = 1 00009 00010 /*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/ 00011 /* External defininitions */ 00012 /*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/ 00013 00014 extern volatile unsigned int BlinkPeriod ; 00015 extern unsigned int BlinkOn; 00016 extern long Blink; 00017 extern int ErrCode; 00018 00019 #define ERR_BLINK_PER 200 // Period for ERR condition 00020 #define ERR_BLINK_ON 100 // ON TIME for ERR condition 00021 00022 // **debug** 00023 unsigned char ErrNo[16]; // store the occurrence of any kind of error 00024 // **debug** 00025 00026 struct Bits{ 00027 unsigned bit0:1; 00028 unsigned bit1:1; 00029 unsigned bit2:1; 00030 unsigned bit3:1; 00031 unsigned bit4:1; 00032 unsigned bit5:1; 00033 unsigned bit6:1; 00034 unsigned bit7:1; 00035 unsigned bit8:1; 00036 unsigned bit9:1; 00037 unsigned bit10:1; 00038 unsigned bit11:1; 00039 unsigned bit12:1; 00040 unsigned bit13:1; 00041 unsigned bit14:1; 00042 unsigned bit15:1; 00043 }; 00044 00045 struct Bits COMbits1; 00046 00047 //UART1 00048 //{ 00049 unsigned char Id = 0; // Motor Controller Id [14] 00050 volatile unsigned char UartRxBuff[MAX_RX_BUFF][2];//serial communication buffer 00051 unsigned char UartTxBuff[MAX_TX_BUFF] __attribute__((space(dma),aligned(128))); 00052 unsigned char UartTmpBuff[MAX_TX_BUFF-4][2];// temp buffer to compose TX buffer 00053 unsigned char TxFlag = 0; // transmission status 00054 unsigned char ChkSum=0; // checksum 00055 unsigned char UartRxCmd[2]; // command code 00056 // Rx circular queue pointers 00057 volatile unsigned char UartRxPtrIn=0; // ingoing bytes captured by ISR 00058 unsigned char UartRxPtrOut=0; // outgoing bytes read by UartRx function 00059 unsigned char UartRxPtrStart=0; // message packet starting pointer in queue 00060 unsigned char UartRxPtrEnd=0; // message packet ending pointer in queue 00061 unsigned char UartRxPtrData=0; // pointer to first data in queue 00062 unsigned char TmpPtr; // temporary pointer 00063 unsigned int UartTxCntr=0; 00064 volatile int UartRxStatus =0; // index for command decoding status 00065 #define OVERRUN_ERROR U1STAbits.OERR // RX overrun error flag 00066 #define TX_REG_EMPTY U1STAbits.TRMT // TX shift register empty 00067 #define FRAME_ERROR U1STAbits.FERR // RX frame error flag 00068 #define HEADER '@' // command string header 00069 #define RX_ID_FLAG COMbits1.bit1 // command decode flag 00070 00071 const unsigned char Test[]="-mary had a little lamb-"; 00072 //} 00073 00074 //UART2 00075 //{ 00076 unsigned char Id2 = 0; // Motor Controller Id [14] 00077 extern unsigned char 00078 Uart2TxBuff[MAX_TX2_BUFF] __attribute__((space(dma),aligned(128))); 00079 unsigned char Tx2Flag = 0; // transmission status 00080 unsigned char ChkSum2=0; // checksum 00081 // Rx circular queue pointers 00082 volatile unsigned char Uart2RxPtrIn=0; // ingoing bytes captured by ISR 00083 unsigned char Uart2RxPtrOut=0; // outgoing bytes read by UartRx function 00084 unsigned char Uart2RxPtrStart=0;// message packet starting pointer in queue 00085 unsigned char Uart2RxPtrEnd=0; // message packet ending pointer in queue 00086 unsigned char Uart2RxPtrData=0; // pointer to first data in queue 00087 unsigned char TmpPtr2; // temporary pointer 00088 unsigned int Uart2TxCntr=0; 00089 #define UART2_CONT_TIMEOUT 100 // continuos parameters TX in ms(debug) 00090 int Uart2ContTxTimer=UART2_CONT_TIMEOUT;// timer for continuos parameters TX 00091 volatile int Uart2RxStatus =0; // index for command decoding status 00092 #define OVERRUN_ERROR2 U2STAbits.OERR // RX overrun error flag 00093 #define TX2_REG_EMPTY U2STAbits.TRMT // TX shift register empty 00094 #define FRAME_ERROR2 U2STAbits.FERR // RX frame error flag 00095 #define RX2_ID_FLAG COMbits1.bit2 // command decode flag 00096 unsigned int Tx2ContFlag=0; // continuos parameters TX flag (debug) 00097 //} 00098
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