Re-enable 'mctlcom' timer with some fixes.

gpcore/main.c

@@ -12,11 +12,13 @@ _FBORPOR(MCLR_EN & PWRT_OFF);   // Enable reset pin and turn off the power-up ti
 #include "../macros.h"
 #include "shell.h"
 #include "../mcuicom.h"
+#include "mctlcom.h"
 
 int main(void)
 {
 	hostcom_setup();
 	mcuicom_setup();
+	mctlcom_setup();
 
 	// Code for debugging. Send a message over RS232 notifying that the UART 1
 	// and the UART 2 of the GPMCU are ready and working fine.

gpcore/mctlcom.c

@@ -4,22 +4,20 @@
 
 #include "../clock.h"
 
-#define T2PRESCALER     64    /* Timer 1 prescale value 1:64 */
+#define T2PRESCALER     64    /* Timer 2 prescale value 1:64 */
 
 bool_t mctlcom_timeout = false;
 
 // debug
 #include "../macros.h"
 #include "hostcom.h"
+#include <stdio.h>
 
-/*
-void mctlcom_setup(void)
+inline void mctlcom_setup(void)
 {
-	*/
 	/*****************************************************************
 	 * Set up Timer 2 to be used for communication timeout           *
 	 *****************************************************************/
-	/*
 	// Clear the Timer 2 interrupt flag
 
 	IFS0bits.T2IF = 0;
@@ -30,23 +28,28 @@ void mctlcom_setup(void)
 
 	// Set Timer 2 prescaler (0=1:1, 1=1:8, 2=1:64, 3=1:256)
 
-	T2CONbits.TCKPS = 1;
+	T2CONbits.TCKPS = 2;
 
 	// Set Timer 2 interrupt priority to 1 (default: 2)
 
-	IPC1bits.T2IP = 1;
+	//IPC1bits.T2IP = 1;
 }
 
-void mctlcom_start_timer(int timeout)
+inline void mctlcom_start_timer(unsigned int timeout)
 {
 	// Set Timer 2 period
-	PR2 = ((timeout * FCY) / T2PRESCALER);
+	PR2 = (((timeout / 1000.0) * FCY) / T2PRESCALER);
+
+	// debug
+	char buf[64];
+	snprintf(buf, 64, "PR2 = %u\n", PR2);
+	hostcom_send(buf, strlen(buf));
 
 	// Start Timer 2
 	T2CONbits.TON = 1;
 }
 
-void mctlcom_stop_timer(void)
+inline void mctlcom_stop_timer(void)
 {
 	// Stop Timer 2
 	T2CONbits.TON = 0;
@@ -57,39 +60,46 @@ void __attribute__((interrupt, auto_psv)) _T2Interrupt(void)
 	mctlcom_timeout = true;
 	// Clear interrupt flag
 	IFS0bits.T2IF = 0;
+	// debug
+	hostcom_send("_T2Interrupt\n", STRLEN("_T2Interrupt\n"));
 }
-*/
 
 int mctlcom_get_response(char *response, int size, unsigned int *timeout)
 {
-	const int cmd_buf_size = 128;
-	char      cmd[cmd_buf_size];
 	bool_t    full;
-	int       copied, retcode = 0;
+	int       copied = 0;
 
 	// If timeout was requested, start timer
-	/*
 	if (*timeout != 0)
+	{
+		// debug
+		hostcom_send("start timer\n", STRLEN("start timer\n"));
+
 		mctlcom_start_timer(*timeout);
-	*/
+	}
 
 	// Wait until the receive buffer has at least one full command or a timeout occurs
 	while (!mcuicom_cmd_available() && !mctlcom_timeout);
-	copied = mcuicom_read_cmd(response, size, &full);
 
 	// If a timeout occurred, reset the timeout flag and stop the timer
 	if (mctlcom_timeout)
 	{
 		mctlcom_timeout = false;
-		//mctlcom_stop_timer();
+		mctlcom_stop_timer();
+
+		// debug
+		hostcom_send("timeout occurred\n", STRLEN("timeout occurred\n"));
 	}
 	// Otherwise, if a command has been fully received, get it and extract the response code
 	// in order to return it to the callee
 	else
 	{
-		memcpy(response, cmd, copied);
+		copied = mcuicom_read_cmd(response, size, &full);
 		*timeout = false;
+
+		// debug
+		hostcom_send("response received\n", STRLEN("response received\n"));
 	}
 
-	return retcode;
+	return copied;
 }

gpcore/mctlcom.h

@@ -4,13 +4,13 @@
 #include "../mcuicom.h"
 
 /**
- * mctlcom timeout in seconds
+ * mctlcom timeout in milliseconds
  * Default value: 0.100 seconds (100 ms)
  * Recommended range (at 29.50 MHz with 1:64 prescaler): 1 ms ~ 100 ms
  */
-#define MCTLCOM_TIMEOUT    0.100
+#define MCTLCOM_TIMEOUT    100
 
-//void mctlcom_setup(void);
+inline void mctlcom_setup(void);
 int mctlcom_get_response(char *response, int size, unsigned int *timeout);
 
 #endif

gpcore/shell.c

@@ -1755,7 +1755,8 @@ inline void hostcmd_pa(void)
 				mcuicom_send(buf, 3);
 				// Get response (motor steps) and re-send it to the host PC
 				size = mctlcom_get_response(buf, size, &timeout);
-				hostcom_send(buf, strlen(buf));
+				if (!timeout)
+					hostcom_send(buf, size);
 			}
 			else
 			{