chose/extra/Fraise/pied/FraiseMaster2.1.2/fraisemaster.c

/*********************************************************************
 *
 *                Fraise master firmware v2.1
 *
 *********************************************************************

  This program is free software; you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation; either version 2 of the License, or
  (at your option) any later version.

  This program is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details.

  You should have received a copy of the GNU General Public License
  along with this program; if not, write to the Free Software Foundation,
  Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

 *~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 * Copyright (c) Antoine Rousseau   2009-2011   
 ********************************************************************/
 
#ifdef SDCC
#include <pic18f2550.h>
#else
#include <p18cxxx.h>
#endif
#include <usart.h>
#include <stdio.h>
#include <ctype.h>
#ifndef SDCC
#include <delays.h>
#endif
//#include "system/typedefs.h"
//#include "system/usb/usb.h"
//#include "io_cfg.h"            // I/O pin mapping
#include "prj_usb_config.h"
#include "fraisemaster.h"
#define VERSION_STRING (STRING)"sV UsbFraise 2.1.4 (DP_USB) Antoine Rousseau 2015\n"
#include "eeprom.h"

//#pragma udata

#define ID_EE_ADDRESS			0		//Address of ID in EEPROM

extern int _user_putc(char c);
typedef const rom far char *STRING;
typedef unsigned char BYTE;


BYTE LineFromUsb[LINE_FROM_USB_MAXLEN];
BYTE LineFromUsbLen;
BYTE FrGotLineFromUsb;

extern void putc_cdc(BYTE c);
#define putchar putc_cdc
extern void CDC_Flush_In_Now(void);
extern union USART USART_Status;

//---------- FrTX : Host to Master  -------------------------------------------
/*unsigned char FrTXbuf[256]; //Fraise TX ring buffer; don't change size of this table : hardcoded in asm..
unsigned char FrTXin=0,FrTXout=0; //Pointers to Fraise TX buffer
unsigned char FrTXfree=255;
#define FrTXempty (FrTXin==FrTXout)*/

//---------- FrTXPacket : Master to Device(s) -------------------------------------------
unsigned char FrTXpacket[64]; //Fraise TX packet buffer
unsigned char FrTXpacket_i;
unsigned char FrTXpacket_len;
unsigned char FrTXchksum;
unsigned char FrTXtries; //number of tries to send the TX packet

//---------- FrRX : Device to Master -------------------------------------------
unsigned char FrRXbuf[64]; //Fraise RX buffer:32 bytes
unsigned char FrRXin;
unsigned char FrRXout;
//#define FrRXfull (FrRXin!=0)
unsigned char FrRXchksum;
unsigned char PollDelay;
volatile unsigned char PollCount;
//---------- FraiseStatus bits -------------------------------------------
union {
	unsigned char VAL;
	struct {
		unsigned RXFULL :1; // a RX packet has been received
		unsigned RXCHAR	:1;	// the RX packet is char (do not convert to hexa string)
//		unsigned TXFULL :1; // the TX packet buffer is ready to be sent 
		unsigned TXCHAR	:1; // the TX packet was char (was not converted from hexa string)
		unsigned TX_NEEDACK :1; // the TX packet needs an acknowledge
		unsigned FBLDON :1;
		unsigned OERR :1;
		unsigned FERR :1;
	};
} FraiseStatus;

unsigned char i,c,c2; // general counter and tmp  
unsigned char t1,t2,t3; // general asm tmp 
unsigned int  p; 
//---------- finite state machine FraiseState ----------------------------
typedef enum {
	fIDLE
	,fWAITACK
	,fOUT
	,fIN
	,fBLOUT
	,fBLIN
} tFraiseState;
tFraiseState FraiseState;

//---------- FraiseMessage from interrupt routine -------------------------
typedef enum {
	fmessNONE
	,fmessFOUND // polled device has been found
	,fmessLOST  // polled device has been lost
	,fmessCHKSUM // checksum error on a packet from polled device
	,fmessNACK  // destination device refused packet (packet error | buffer full)
	,fmessTOUT  // destination device didn't acknowledge packet (timeout)
} tFraiseMessage;
tFraiseMessage FraiseMessage;


//---------- Devices State tables ----------------------------------------	
unsigned char _PolledChild; // id of the polled child
unsigned char _bit_PolledChild; // 1<<PolledChild%8
unsigned char MaxPolledChild; // maximum id of the polled child
unsigned char Children[16]; // 16*8=128 bits: bit(Children[i],j)=child[i*8+j] is polled
unsigned char ChildrenOK[16]; // 16*8=128 bits: bit(Children[i],j)=child[i*8+j] is present
unsigned char AckChild; //child which must send a ACK now
#define incPolledChild() { _PolledChild++ ; if(_PolledChild>MaxPolledChild) {_PolledChild=1;_bit_PolledChild =2;} else _bit_PolledChild = ((_bit_PolledChild << 1) | (_bit_PolledChild >> 7)); }
//#define clearPolledChild() { _PolledChild=0 ; _bit_PolledChild=1 ; }
#define PolledChild() _PolledChild

#define bitset(var,bitno) ((var) |= (1 << (bitno)))
#define bitclr(var,bitno) ((var) &= ~(1 << (bitno)))
#define bittst(var,bitno) ((var) & (1 << (bitno)))

/*const unsigned char _bits_table[8]={1,2,4,8,32,64,128};
#define bitset(var,bitno) ((var) |= _bits_table[bitno])
#define bitclr(var,bitno) ((var) &= ~_bits_table[bitno])
#define bittst(var,bitno) (var& _bits_table[bitno])*/

#define SET_CHILD(num) bitset(Children[(num)>>3],((num)&7))
#define CLR_CHILD(num) bitclr(Children[(num)>>3],((num)&7))
#define TST_CHILD(num) bittst(Children[(num)>>3],((num)&7))

#define SET_CHILDOK(num) bitset(ChildrenOK[(num)>>3],((num)&7))
#define CLR_CHILDOK(num) bitclr(ChildrenOK[(num)>>3],((num)&7))
#define TST_CHILDOK(num) bittst(ChildrenOK[(num)>>3],((num)&7))

#define SET_POLLEDCHILD() ( Children[_PolledChild>>3]|= _bit_PolledChild )
#define CLR_POLLEDCHILD() ( Children[_PolledChild>>3]&= ~_bit_PolledChild )
#define TST_POLLEDCHILD() ( Children[_PolledChild>>3]& _bit_PolledChild )

#define SET_POLLEDCHILDOK() ( ChildrenOK[_PolledChild>>3]|= _bit_PolledChild )
#define CLR_POLLEDCHILDOK() ( ChildrenOK[_PolledChild>>3]&= ~_bit_PolledChild )
#define TST_POLLEDCHILDOK() ( ChildrenOK[_PolledChild>>3]& _bit_PolledChild )


//------------- other globals -----------------------------------------
//unsigned short nexttime; //timer
//unsigned short time;
//extern unsigned char g_TX_buf_free; //free space in "printf" buffer...

//-------------- byte to HEX string -----------------------------------
#define HI_CHAR(N) ( ((N)>>4)<10?((N)>>4)+'0':((N)>>4)-10+'A' )
#define LO_CHAR(N) ( ((N)&15)<10?((N)&15)+'0':((N)&15)-10+'A' )


//---------------serial macros ---------------------------------------
void Serial_Init_Receiver(void)
{
	while(TXSTAbits.TRMT==0);
        WREG=RCREG;
	WREG=RCREG;
	RCSTAbits.CREN=0;
	RCSTAbits.CREN=1;
	PIE1bits.RCIE=1;
	PIE1bits.TXIE=0;
	mSerDrv_Off();
}

#define Serial_Init_Driver() {\
	RCSTAbits.CREN=0;	\
	mSerDrv_On();		\
	PIE1bits.RCIE=0;	\
}

#define Serial_Init_None() {\
	RCSTAbits.CREN=0;	\
	mSerDrv_Off();		\
	PIE1bits.RCIE=0;        \
        PIE1bits.TXIE=0;        \
}

//#define Serial_Is_Driver() mSerDrv_isOn()
#define Serial_Is_Receiver() (PIE1bits.RCIE)
//---------------------------------------------------------------------

void FraiseInit(void)
{
	/*FrTXin=0;
	FrTXout=0;
	FrTXfree=255;*/
        FrGotLineFromUsb=0;
        LineFromUsbLen=0;

	FraiseStatus.VAL=0;
	FraiseState=fIDLE;
        FraiseMessage=fmessNONE;
	FrRXin=0;
	FrRXout=0;
        PollDelay=0;
	//OpenUSART(USART_TX_INT_OFF & USART_RX_INT_OFF & USART_ASYNCH_MODE & USART_EIGHT_BIT & USART_CONT_RX & USART_BRGH_HIGH, 103);  // 48 MHz/4/115200 = 104
	BAUDCON = 0x08;     // BRG16 = 1	
	OpenUSART(USART_TX_INT_OFF & USART_RX_INT_OFF & USART_ASYNCH_MODE & USART_NINE_BIT & USART_CONT_RX & USART_BRGH_HIGH & USART_ADDEN_OFF, 47);  // 48 MHz/4/250000 = 48
	USART_Status.TX_NINE=1;

        // Initialize Timer2
            // The prescaler will be at 16
        T2CONbits.T2CKPS1 = 1;
        T2CONbits.T2CKPS0 = 1;
        // We want no TMR2 post scaler
        T2CONbits.T2OUTPS3 = 0;
        T2CONbits.T2OUTPS2 = 0;
        T2CONbits.T2OUTPS1 = 0;
        T2CONbits.T2OUTPS0 = 0;
 	// Set our reload value
	//PR2 = kPR2_RELOAD;
	PR2 = 255;
        T2CONbits.TMR2ON = 1;

	// Initalize switchs and leds
        mInitAllLEDs();
        mInitSwitch();

        mInitSerDrv();
        //Serial_Init_Receiver();
	Serial_Init_Driver();
	for(i=0;i<16;i++) {
		Children[i]=0;
		ChildrenOK[i]=0;
	}
	MaxPolledChild=4;
	_PolledChild=1;_bit_PolledChild =2;

            // Set interrupt priorities
        PIE1bits.TMR2IE = 0;
        IPR1bits.TMR2IP = 1;
        IPR1bits.TXIP = 1;
        IPR1bits.RCIP = 1;

        INTCONbits.GIEH = 1;
}

/*-----------------------------------------------------------------------------------*/
/*          Send received fraise packet to usb.                                      */
/*-----------------------------------------------------------------------------------*/

void FrSendtoUsb(void)
{
	unsigned char i=0,c,c2;

        if(!FraiseStatus.RXFULL) return;

        c=FrRXbuf[i++]; //discard len byte

        // send hex string of PolledChild+128*packet_is_char
        
        /*c2=(PolledChild()>>4)+'0'; if(c2>'9') c2+='A'-'9'-1;
        if(FraiseStatus.RXCHAR) c2|=8;*/
        c2=(PolledChild()>>4);
        if(FraiseStatus.RXCHAR) c2|=8;
        c2+='0'; if(c2>'9') c2+='A'-'9'-1;
        putchar(c2);

        c2=(PolledChild()&15)+'0'; if(c2>'9') c2+='A'-'9'-1;
        putchar(c2);

        if(FraiseStatus.RXCHAR)
            while(i<FrRXin) putchar(FrRXbuf[i++]);
        else
            while(i<FrRXin) {
            c=FrRXbuf[i++];
            c2=(c>>4)+'0'; if(c2>'9') c2+='A'-'9'-1;
            putchar(c2);
            c2=(c&15)+'0'; if(c2>'9') c2+='A'-'9'-1;
            putchar(c2);
        }

        putchar('\n');
        FrRXout=FrRXin=0;
        FraiseStatus.RXFULL=0;
}
/*-----------------------------------------------------------------------------------*/
/*          Send fraise ISR message to usb.                                          */
/*-----------------------------------------------------------------------------------*/
void FrSendMessagetoUsb(void)
{
    /*	fmessNONE
	,fmessFOUND // polled device has been found
	,fmessLOST  // polled device has been lost
	,fmessCHKSUM // checksum error on a packet from polled device
	,fmessNACK  // destination device didn't acknowledge packet (packet error | buffer full)
        ,fmessTOUT  // destination device didn't acknowledge packet (timeout)
    */
    if(FraiseStatus.OERR) { FraiseStatus.OERR=0;printf((STRING)"OERR !!\n");}
    if(FraiseStatus.FERR) { FraiseStatus.FERR=0;printf((STRING)"FERR !!\n");}

    if(FraiseMessage==fmessNONE) return;
    switch(FraiseMessage) {
        case fmessFOUND : // print "sCdd"
            if(!TST_CHILDOK(AckChild)){
                SET_CHILDOK(AckChild);
                putchar('\n');
                putchar('s');
                putchar('C');
                putchar(HI_CHAR(AckChild));
                putchar(LO_CHAR(AckChild));
                putchar('\n');
            }
            break;
        case fmessLOST : // print "scdd"
            if(TST_CHILDOK(AckChild)){
                CLR_CHILDOK(AckChild);
                putchar('\n');
                putchar('s');
                putchar('c');
                putchar(HI_CHAR(AckChild));
                putchar(LO_CHAR(AckChild));
                putchar('\n');
            }
            break;
        case fmessCHKSUM : // print "sxdd"
            putchar('\n');
            putchar('s');
            putchar('x');
            putchar(HI_CHAR(AckChild));
            putchar(LO_CHAR(AckChild));
            putchar('\n');
            break;
         case fmessNACK :// print "sadd"
            putchar('\n');
            putchar('s');
            putchar('a');
            putchar(HI_CHAR(AckChild));
            putchar(LO_CHAR(AckChild));
            putchar('\n');
            break;
         case fmessTOUT :// print "sTdd"
            putchar('\n');
            putchar('s');
            putchar('T');
            putchar(HI_CHAR(AckChild));
            putchar(LO_CHAR(AckChild));
            putchar('\n');
            break;
    }
    FraiseMessage=fmessNONE;
}

/*-----------------------------------------------------------------------------------*/
/*          Analyse packet from usb, build a packet to send to fraise if applicable. */
/*-----------------------------------------------------------------------------------*/

#define FrTXPacketInit(b) { FrTXpacket_i=1 ; FrTXchksum=FrTXpacket[0]=(b);}
#define FrTXPacketData(b) { FrTXchksum+=FrTXpacket[FrTXpacket_i]=(b);FrTXpacket_i++;}
#define FrTXPacketClose() { FrTXpacket[FrTXpacket_i]=-(char)FrTXchksum; FrTXpacket_len=FrTXpacket_i+1; }

#define FrTXPacketLaunch() \
{		\
	Serial_Init_Driver(); \
	TXSTAbits.TX9D=1;		\
	TXREG=AckChild=FrTXpacket[0]; 		\
	TXSTAbits.TX9D=0;		\
	FrTXpacket_i=1;		\
	FraiseState=fOUT;		\
	PIE1bits.TXIE=1;		\
}

#define FrTXPacketLaunchBl() \
{		\
	Serial_Init_Driver(); \
	TXREG=FrTXpacket[0]; 		\
	FrTXpacket_i=1;		\
	FraiseState=fBLOUT;		\
	PIE1bits.TXIE=1;		\
}


void FrGetLineFromUsb(void)
{
#define GETNEXTCHAR() LineFromUsb[i++]
#define PEEKNEXTCHAR() LineFromUsb[i]
#define SKIPNEXTCHAR() i++
#define LINE_HAS_CHAR() (i<LineFromUsbLen)

	unsigned char len,c,c2,n;//,txout_end;
	unsigned char i;

	if(!FrGotLineFromUsb) goto discard;
        
        //printf((const far rom char*)"FrGetLineFromUsb()\n");
        //while(TXSTAbits.TRMT==0); //wait end of serial transmit

	FraiseStatus.TX_NEEDACK=0;
	FraiseStatus.TXCHAR=0;

	len=LineFromUsbLen;
        i=0;
        
	c=GETNEXTCHAR(); //1st byte = command (or hi nibble of address)
	
	//printf((const far rom char*)"parsing ; 1st char : %c\n",c);
        if(c=='#') {
                //printf((const far rom char*)"system command...\n");
		//****************** system command , begining by '#':   **********************
		if(len<2) goto discard;
		c=GETNEXTCHAR(); //what is the command ?
                //printf((const far rom char*)"2nd char : %c\n",c);
		if(c=='S'){ // start device pulling
			if(len!=4) goto discard; //incorrect  packet...
			c=GETNEXTCHAR();
			c-='0';if (c>9) c-='A'-'9'-1;
			c2=GETNEXTCHAR();
			c2-='0';if (c2>9) c2-='A'-'9'-1;
			if((c>15)||(c2>15)) goto discard; //invalid packet
			n=c2+(c<<4);
			if((n>0)&&(n<128)) {
				SET_CHILD(n);
				CLR_CHILDOK(n);
				if(MaxPolledChild<n) MaxPolledChild=n;
			}
			goto discard;
		}	
		else if(c=='C'){ // stop device pulling
			if(len!=4) goto discard; //incorrect  packet...
			c=GETNEXTCHAR();
			c-='0';if (c>9) c-='A'-'9'-1;
			c2=GETNEXTCHAR();
			c2-='0';if (c2>9) c2-='A'-'9'-1;
			if((c>15)||(c2>15)) goto discard; //invalid packet
			n=c2+(c<<4);
			if((n>0)&&(n<128)) {
				CLR_CHILDOK(n);
				CLR_CHILD(n);
			}
			goto discard;
		}		
		else if(c=='i'){
			printf((STRING)"s fraise init...\n");
			FraiseInit();
			goto discard;
		}
		else if(c=='L'){ //get log
			printf((STRING)"\ns fraise log :\n");
			c2=0;
            printf((STRING)"FraiseState : %d ; FraiseStatus: %d\n",FraiseState,FraiseStatus);
			for(n=1;n<=MaxPolledChild;n++){
				if (TST_CHILD(n)){
					printf((STRING)"%d:%d ",n,TST_CHILDOK(n)!=0);
					if((++c2)%16==0) putchar('\n');
				}
			}
			putchar('\n');
			goto discard; //return;
		}
		else if(c=='F'){ //quit bootloader mode
			//INTCONbits.GIEL = 0;
			FraiseStatus.FBLDON=0;
			FraiseState=fIDLE;
			Serial_Init_None();
			printf((STRING)"Quit bootloader mode.\n");
			goto discard; //return;
		}
        else if(c=='V'){ //get version string
            printf(VERSION_STRING);
            goto discard; //return;
        }
        else if(c=='R') { //read id
        	n=ee_read_byte(ID_EE_ADDRESS);
        	printf ((STRING)"sID%c%c\n",HI_CHAR(n),LO_CHAR(n));
        }
        else if(c=='W') { //write id
	        c=GETNEXTCHAR();
	        c-='0';if (c>9) c-='A'-'9'-1;
	        c2=GETNEXTCHAR();
	        c2-='0';if (c2>9) c2-='A'-'9'-1;
	        if((c>15)||(c2>15)) goto discard; //invalid packet
	        n=c2+(c<<4);
			ee_write_byte(ID_EE_ADDRESS,n);
        }
        else if(c=='E') { //echo
            while(LINE_HAS_CHAR()) {
                c=GETNEXTCHAR();
                putchar(c);
            }
            putchar('\n');
        }
        else if(c=='D') { //delay between each device polling (ms)
            if(len!=4) goto discard; //incorrect  packet...
            c=GETNEXTCHAR();
            c-='0';if (c>9) c-='A'-'9'-1;
            c2=GETNEXTCHAR();
            c2-='0';if (c2>9) c2-='A'-'9'-1;
            if((c>15)||(c2>15)) goto discard; //invalid packet
            n=c2+(c<<4);
            PollDelay=n;
        }
		goto discard; //unknown system command ; discard packet.
	}	
	else if(c=='!') {						
		//****************** broadcast tx , begining by '!':  *****************
		len-=1; // discard '!' byte
		if(len<1) goto discard;
		
		FrTXPacketInit(0);
		
		c=PEEKNEXTCHAR(); //what is the command ?
		
		if(c=='B'||c=='I'||c=='N'||c=='R'||c=='P'||c=='F'){
			FraiseStatus.TXCHAR=1;
			
			if(c=='F') {
				FraiseStatus.FBLDON=1;
				printf((STRING)"Enter bootloader mode.\n");
			}
			else FraiseStatus.FBLDON=0;
			
			//printf((STRING)"Broadcast %c : len = %d.\n", c,(int)len);
			
			goto fill_packet;
		}
		if(c=='b'){
			SKIPNEXTCHAR(); len-=1; // discard 'b' byte
			goto fill_packet;
		}

		goto discard;
	}

	if(FraiseStatus.FBLDON) {
		//putchar('\n');
            //printf((STRING)"bl tx\n");
		FrTXPacketInit(len+1);
		FrTXPacketData(c);
		
		while(LINE_HAS_CHAR()) FrTXPacketData(GETNEXTCHAR());
		FrTXPacketClose();	
		FrTXtries=0;
		FrTXPacketLaunchBl();
		goto discard;
	}
	//else
	//****************** normal master to device tx: 
	//the 2 first bytes must be device id + 128 if it is a char packet:
	if(len<3) goto discard;
	
	//c=GETNEXTCHAR();
	c-='0';if (c>9) c-='A'-'9'-1;

	c2=GETNEXTCHAR();
	//if (c2=='\n') return; //incomplete packet...

	c2-='0';if (c2>9) c2-='A'-'9'-1;
	if((c>15)||(c2>15)) goto discard; //invalid id
	n=c2+(c<<4);

	if(n&128) FraiseStatus.TXCHAR=1;
	else FraiseStatus.TXCHAR=0;

	n&=127;
	if (n==0) goto discard;
	FrTXPacketInit(n);
        //printf((STRING)"tx to dev %d\n",n);

	len-=2; //remove the two id bytes
	FraiseStatus.TX_NEEDACK=1;
	

fill_packet:
        if(FraiseStatus.TXCHAR) len|=128;
        else len>>=1; //if not TXCHAR, data len in serial stream will be half than at text input (e.g two text bytes "00" -> one null byte )
        FrTXPacketData(len);

        if(FraiseStatus.TXCHAR) {
            while(LINE_HAS_CHAR()) FrTXPacketData(GETNEXTCHAR());
        }
        else while(LINE_HAS_CHAR()) {
            c=GETNEXTCHAR();
            c-='0';if (c>9) c-='A'-'9'-1;
            if(!LINE_HAS_CHAR()) goto discard; //incomplete...
            c2=GETNEXTCHAR();
            c2-='0';if (c2>9) c2-='A'-'9'-1;
            if((c>15)||(c2>15)) goto discard; //invalid hex string
            c2+=(c<<4);
            FrTXPacketData(c2);
        }
        FrTXPacketClose();
        //printf((STRING)"FrTXpacket_len=%d.\n",FrTXpacket_len);
        FrTXtries=0;
        FrTXPacketLaunch();

discard:
	LineFromUsbLen=0;
        FrGotLineFromUsb=0;
        return;
}

//------------- time constants and macros --------------------------------------
//#define T_1SERBYTE				(256-((40*12)/16))		// For 40us TMR2 tick , 10*4us
#define T_2SERBYTES				(256UL-((65UL*12UL)/16UL))		// For 80us TMR2 tick , 20*4us, 15us before
#define T_1ms					(256UL-((600UL*12UL/3UL)/16UL))	// postscaler=3
#define InitTimer1ms() { PIE1bits.TMR2IE=0;T2CON=31;/*post=3*/TMR2=T_1ms;PIR1bits.TMR2IF=0; }
#define ResetTimer1ms() { TMR2=T_1ms;PIR1bits.TMR2IF=0;}
#define InitTimer(time) { PIE1bits.TMR2IE=0;T2CON=7;/*no post*/TMR2=time;PIR1bits.TMR2IF=0;PIE1bits.TMR2IE=1; }
#define TimerOut() (PIR1bits.TMR2IF)
#define StopTimer() {T2CON=3;PIE1bits.TMR2IE=0;/*stop tmr2*/PIR1bits.TMR2IF=0;}

/*#ifndef SDCC
#pragma interruptlow low_ISR
#endif
void low_ISR(void) 
#ifdef SDCC
 shadowregs interrupt 2
#endif*/

void FraiseISR()
{	
	unsigned char c;
	
        //if(PIR1bits.RCIF) mLED_2_On();

        if(RCSTAbits.OERR) FraiseStatus.OERR=1;
        if(RCSTAbits.FERR) FraiseStatus.FERR=1;

	if(FraiseState==fWAITACK) 
	{
		if (!Serial_Is_Receiver()) {
			if (TimerOut()) {
				Serial_Init_Receiver();
				InitTimer1ms();
			}
			return;
		}
		if(PIR1bits.RCIF) {
			StopTimer();
			c=RCREG;
			Serial_Init_None();
			if(c!=0) {//nACK
				if(++FrTXtries<3) {
					FrTXPacketLaunch(); // resend packet maximum 3 times
					return;
				}
				else {//printf("sS%c%c\n",HI_CHAR(PolledChild()),LO_CHAR(PolledChild()));
					FraiseMessage=fmessNACK;
				}
			}	
			FraiseState=fIDLE;
			return;
		}
		return;
	}//endif(FraiseState==fWAITACK)
	else if(FraiseState==fIN)
	{
		if (!Serial_Is_Receiver()) {
			if (TimerOut()) {
				Serial_Init_Receiver();
				InitTimer1ms();
			}
                        //mLED_2_Off();
			return;
		}
		if(PIR1bits.RCIF) {
			c=RCREG;
			FrRXbuf[FrRXin]=c;
			FrRXin++;
			ResetTimer1ms();
			if(FrRXin==1) { //first byte
				FrRXchksum=0;
				FrRXout=(c&63); //get length
				FrRXout++;	
				if(c==0){ //device answered : nothing to say
					StopTimer();
					Serial_Init_None();
					FraiseState=fIDLE;
					//if(!TST_POLLEDCHILDOK()){
						//printf("\nsC%c%c\n",HI_CHAR(PolledChild()),LO_CHAR(PolledChild()));
					FraiseMessage=fmessFOUND;
						//SET_POLLEDCHILDOK();
					//}
				} else {
					if(c&128) FraiseStatus.RXCHAR=1; 
					else FraiseStatus.RXCHAR=0;
					//printf("in len=%d ",FrRXout-1);	
				}	
			}
			//else
			FrRXchksum+=c;
			
			if(FrRXin>FrRXout){ //end of packet
				StopTimer();
				Serial_Init_None();
				FraiseState=fIDLE;
				if(!FrRXchksum) { //checksum ok
					//printf(" ok\n");
					FrRXin--; //discard checksum
					FraiseStatus.RXFULL=1;
					//FrRXout=0;
					//if(!TST_POLLEDCHILDOK()){
						//printf("\nsC%c%c\n",HI_CHAR(PolledChild()),LO_CHAR(PolledChild()));
					FraiseMessage=fmessFOUND;
						//SET_POLLEDCHILDOK();
					//}
					TXREG=0; //ACK
				} else {//checksum error
					//printf("\nsRxCsErr\n");
					FraiseMessage=fmessCHKSUM;
					TXREG=1; //NACK
				}
			}//end of if end of packet
			return;
		} //endif(PIR1bits.RCIF) 
		
		return;
	}//endif (FraiseState==fIn)
	else if(FraiseState==fOUT) //if we are sending a packet to a child:
	{
		if (TimerOut()&&(FrTXpacket_i==FrTXpacket_len)) { //end of transmission
			StopTimer();
			FraiseState=fIDLE; // return to IDLE state.
			Serial_Init_Receiver();
			Serial_Init_None();
			return;
		}
		if(PIR1bits.TXIF==0) return;
		StopTimer();
		TXREG=FrTXpacket[FrTXpacket_i++]; // send next byte 
		if(FrTXpacket_i==FrTXpacket_len) { //if end of the packet:
			PIE1bits.TXIE=0;
			if(FraiseStatus.TX_NEEDACK){
				InitTimer(T_2SERBYTES); //2 bytes wait inside of hardware serial tx buffer
				//InitTMR0(TMR0_1ms);
				FraiseState=fWAITACK; 	// goto to WAITACK state.
			}
			else {
				if(FraiseStatus.FBLDON) {
					Serial_Init_Receiver();
					FraiseState=fBLIN;
				}
				else {
                    InitTimer(T_2SERBYTES);
                    //FraiseState=fIDLE; // return to IDLE state.
                    //Serial_Init_None();
                }
			}
		}
		return;
	}
	else if(FraiseState==fBLOUT) //if we are sending a bootloader packet :
	{
		StopTimer();
		if(PIR1bits.TXIF==0) return;
		TXREG=FrTXpacket[FrTXpacket_i++]; // send next byte 
		if(FrTXpacket_i==FrTXpacket_len) { //if end of the packet:
			PIE1bits.TXIE=0;
			InitTimer(T_2SERBYTES); //2 bytes wait inside of hardware serial tx buffer
			FraiseState=fBLIN; 	// goto to BLIN state.
			FrRXin=FrRXout=0;
		}
		return;
	}	//endif(FraiseState==fBLOUT)
	else if(FraiseState==fBLIN) 
	{
		if (!Serial_Is_Receiver()) {
			if (TimerOut()) {
				Serial_Init_Receiver();
				StopTimer();
			}
			return;
		}
		if(PIR1bits.RCIF) {
			//StopTimer();
			c=RCREG;
			FrRXbuf[FrRXin]=c;
			FrRXin++;
			return;
		}
		return;
	}	//endif(FraiseState==fBLIN)
	else if(FraiseState==fIDLE)	//should't happen... clear interrupt flags:	
	{
		StopTimer();
		//PIE1bits.TMR2IE=0;
		PIE1bits.TXIE=0;
		PIE1bits.RCIE=0;
		return;
	}

} //end of LowISR

void FraiseService(void)
{
	//unsigned char c;
	//static char TXNtries=0; //number of tries to send the TX packet
	
        //if(FrGotLineFromUsb&&(FraiseState==fIDLE)) FrGetLineFromUsb();
        //goto _fin;
    //FraiseState=fIDLE;
	/*if(fIDLE==FraiseState) {
		mLED_2_On();
		if(FrGotLineFromUsb) {
                    FrGetLineFromUsb(); //
                    goto _fin;
                }
        } else { mLED_2_Off(); }*/

        FrSendMessagetoUsb();

        if(FraiseState==fBLIN) { 
            if(FrRXin!=FrRXout) {
                while(FrRXin!=FrRXout) putchar(FrRXbuf[FrRXout++]);
                CDC_Flush_In_Now();
            }

            if(FrGotLineFromUsb) FrGetLineFromUsb();
            goto _fin;
	}
	
	INTCONbits.GIEH = 0;

        if(FraiseState==fIDLE) {
		StopTimer();
                
		if(FrGotLineFromUsb) {
                    FrGetLineFromUsb();
                    goto _fin;
                }
                //goto _fin;
		if(!FraiseStatus.RXFULL){
                        if(PollCount>=PollDelay) {
                            PollCount=0;
                            //while(TXSTAbits.TRMT==0);
                            incPolledChild();
                            if(TST_POLLEDCHILD())
                            {
                                    //PIE1bits.TXIE=0;
                                    FrRXchksum=FrRXin=FrRXout=0;
                                    TXSTAbits.TX9D=1;

                                    Serial_Init_Driver();
                                    FrSendMessagetoUsb();

                                    INTCONbits.GIEL=0;
                                    AckChild=PolledChild();
                                    TXREG=(PolledChild()|128);
                                    TXSTAbits.TX9D=0;
                                    TXREG=(PolledChild()|128);
                                    InitTimer(T_2SERBYTES);
                                    FraiseState=fIN;
                                    INTCONbits.GIEL=1;
                            }
                        }
		}
	} else if(FraiseState==fWAITACK) { 
		if((Serial_Is_Receiver()) && TimerOut() ){ //didn't rcved ACK before Timeout
 			StopTimer();
			Serial_Init_None();
			if(++FrTXtries<3) { FrTXPacketLaunch(); }// resend packet maximum 3 times
			else 
			{
				//printf((STRING)"sT%c%c\n",HI_CHAR(AckChild),LO_CHAR(AckChild));
				FraiseMessage=fmessTOUT;
				FraiseState=fIDLE;
			}
		}	
	} else if(FraiseState==fIN){
		if( (Serial_Is_Receiver()) && TimerOut() ){ //Timeout
			StopTimer();
			/*if(TST_POLLEDCHILDOK()){
				printf((STRING)"\nsc%c%c\n",HI_CHAR(PolledChild()),LO_CHAR(PolledChild()));
				CLR_POLLEDCHILDOK();
			}*/
			FraiseMessage=fmessLOST;
			//printf("fIN timeout!\n");
			Serial_Init_None();
			FraiseState=fIDLE;
		}
	}

_fin : 
	INTCONbits.GIEH = 1;

	FrSendtoUsb();
}
	
void FraiseSOF(void)
{
    static BYTE il;

    if((il++)==200) { il=0; mLED_2_Toggle(); }

    if(++PollCount==0) PollCount=255;
}