program dsPIC33EP_NMRABusXpressnet;

// ******************************************************************************
//
// * Copyright:
//     (c) Mustangpeak Software 2012.
//
//     The contents of this file are subject to the GNU GPL v3 licence/ you maynot use
//     this file except in compliance with the License. You may obtain a copy of the
//     License at http://www.gnu.org/licenses/gpl.html
//
// * Revision History:
//     2012-02-01:   Created
//     2012-12-16    updated
//
// * Description:

//
// *****************************************************************************

uses
  NMRAnetXpressnet,
  NMRAnetStateMachine,
  NMRAnetDefines,
  NMRAnetAppCallbacks,
  MCU_Setup_dsPIC33EP64GP502,
  NMRAnetXpressnetDefines,
  _25AAxxxx,
  NMRAnetBufferPools,
  NMRAnetNode,
 // dsPIC33_Traps,
  NodeIDs;

{$I Options.inc}
const
  STATE_GATHER_COMMANDSTATIONS       = 0;
  STATE_VERIFY_COMMANDSTATIONS       = 1;
  STATE_GATHER_PROGRAMMERS           = 2;
  STATE_VERIFY_PROGRAMMERS           = 3;
  STATE_INITIALIAZE                  = 4;
  STATE_RUN                          = 5;

var
  MainLoopState: Byte;
  
var
  // EEPROM SPI PINS
  CS_Bank_0                         : sbit at LATB6_bit;
  CS_Bank_0_Direction               : sbit at TRISB6_bit;
  EE_PROM_Hold                      : sbit at LATB5_bit;
  EEPROM_Hold_Direction             : sbit at TRISB5_bit;
  
var
  Xpressnet_RS485_Select            : sbit at LATA0_bit;
  Xpressnet_RS485_Select_Direction  : sbit at TRISA0_bit;
  
 // TrapFlagPin: sbit at LATB4_bit;

// *****************************************************************************
//  INTERRUPTS
// *****************************************************************************

procedure INTERRUPT_Timer_525ms(); iv IVT_ADDR_T1INTERRUPT;
begin
  T1IF_bit := 0;
  XpressnetStateMachine_525ms_TimeTick;
end;

procedure INTERRUPT_Timer_100ms(); iv IVT_ADDR_T2INTERRUPT;
// Called once every 100m
var
  i: Integer;
begin
  T2IF_bit := 0;                                                              // Clear the Flag
  for i := 0 to Nodes.AllocatedCount - 1 do
    NMRAnetStateMachine_100ms_Timer(Nodes.AllocatedList[i]);
  NMRAnetBufferPools_100ms_TimeTick;
end;

procedure INTERRUPT_Timer_120us(); iv IVT_ADDR_T3INTERRUPT; ics ICS_AUTO;
// Xpressnet Timeout
begin
  T3IF_bit := 0;
end;

{$IFDEF XPRESSNET_UART_ENABLE}
procedure INTERRUPT_XPRESSNET_UART_RX(); iv IVT_ADDR_U2RXINTERRUPT;
begin
  U2RXIF_Bit := 0;              // Clear the interrupt flag to receive the next byte
  while (URXDA_U2STA_bit = 1) and (XpressnetStateMachineInfo.RS485.XPressNetData.StateMachineIndex < STATE_RS485_FULL)  do
  begin
    XpressnetStateMachine_UART_RX_StateMachine(@XpressnetStateMachineInfo, U2RXREG);
  end
end;
{$ENDIF}

// *******************
// MAIN LOOP
// *******************
var
  Buffer: TCANBuffer;
  ActiveNode: PNMRAnetNode;
  j: Integer;
begin
  SR := SR and $FF1F; // Bug in silicon?  Clear the IPL bits (CPU Priority is lowest possible)

  TRISB4_bit := 0;
  LATB4_bit  := 0;

  _25AAxxxx_Initialize;
  NMRAnetStateMachine_Initialize(MUSTANGPEAK_ID_0_HI, MUSTANGPEAK_XPRESSNET_ID_0_LO);
  MCU_Setup_Initialize;
  XpressnetStateMachine_Initialize;
  AppCallback_Configuration_Zeroize(False);

  // Enabled Perphrials
  MCU_Enable_CAN;
  TON_T1CON_bit := 1;       // Turn on
  TON_T2CON_bit := 1;       // Turn on

  UART1_Write_Text('Starting'+LF);

  MainLoopState := 0;
  
  while (TRUE) do
    begin
      ActiveNode := NMRAnetNode_NextNode;

      if ActiveNode <> PNMRAnetNode( nil) then
      begin
        if UART1_Data_Ready then
        begin
          case UART1_Read of
            'Z', 'z' :
            begin
              _25AAxxxx_Erase(EEPROM_BANK_0);
            end;
            'a' : begin
                    if IPL_0_bit = 0 then
                      UART1_Write_Text('IPL_0_bit = 0' + LF)
                    else
                      UART1_Write_Text('IPL_0_bit = 1' + LF);
                    if IPL_1_bit = 0 then
                      UART1_Write_Text('IPL_1_bit = 0' + LF)
                    else
                      UART1_Write_Text('IPL_1_bit = 1' + LF);
                    if IPL_2_bit = 0 then
                      UART1_Write_Text('IPL_2_bit = 0' + LF)
                    else
                      UART1_Write_Text('IPL_2_bit = 1' + LF);
  
                  end;
          end;
        end;
        NMRAnetStateMachine_Process(ActiveNode);
        XpressnetStateMachine_Process(@Nodes.RawList[0]);                                            // May want this outside of Permited block, look at the statemachine
      end
    end;
end.