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|---|---|---|---|
| 1 | /********************************************************************* |
1 | /********************************************************************* |
| 2 | * |
2 | * |
| 3 | * Main application |
3 | * Main application |
| 4 | * |
4 | * |
| 5 | ********************************************************************* |
5 | ********************************************************************* |
| 6 | * FileName: Main.c |
6 | * FileName: Main.c |
| 7 | * |
7 | * |
| 8 | * Author Date Comment |
8 | * Author Date Comment |
| 9 | *~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
9 | *~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
| 10 | * Johan Böhlin 21-10-06 Original (Rev 1.0) |
10 | * Johan Böhlin 21-10-06 Original (Rev 1.0) |
| 11 | ********************************************************************/ |
11 | ********************************************************************/ |
| 12 | 12 | ||
| 13 | #include <compiler.h> |
13 | #include <compiler.h> |
| 14 | #include <stackTasks.h> |
14 | #include <stackTasks.h> |
| 15 | 15 | ||
| 16 | #ifdef USE_CAN |
16 | #ifdef USE_CAN |
| 17 | #include <CAN.h> |
17 | #include <CAN.h> |
| 18 | #endif |
18 | #endif |
| 19 | 19 | ||
| 20 | static void mainInit(void); |
20 | static void mainInit(void); |
| 21 | 21 | ||
| 22 | void main() |
22 | void main() |
| 23 | { |
23 | { |
| 24 | 24 | ||
| 25 | // Inits |
25 | // Inits |
| 26 | 26 | ||
| 27 | mainInit(); |
27 | mainInit(); |
| 28 | 28 | ||
| 29 | #ifdef USE_CAN |
29 | #ifdef USE_CAN |
| 30 | canInit(); |
30 | canInit(); |
| 31 | #endif |
31 | #endif |
| 32 | 32 | ||
| 33 | 33 | ||
| 34 | while(1) |
34 | while(1) |
| 35 | { |
35 | { |
| 36 | } |
36 | } |
| 37 | } |
37 | } |
| 38 | 38 | ||
| 39 | 39 | ||
| 40 | #pragma interruptlow HighISR |
40 | #pragma interruptlow HighISR |
| 41 | void HighISR(void) |
41 | void HighISR(void) |
| 42 | { |
42 | { |
| 43 | 43 | ||
| 44 | 44 | ||
| 45 | #ifdef USE_CAN |
45 | #ifdef USE_CAN |
| 46 | canISR(); |
46 | canISR(); |
| 47 | #endif |
47 | #endif |
| 48 | 48 | ||
| 49 | } |
49 | } |
| 50 | #pragma code highVector=0x08 |
50 | #pragma code highVector=0x08 |
| 51 | void HighVector (void) |
51 | void HighVector (void) |
| 52 | { |
52 | { |
| 53 | _asm goto HighISR _endasm |
53 | _asm goto HighISR _endasm |
| 54 | } |
54 | } |
| 55 | #pragma code // Return to default code section |
55 | #pragma code // Return to default code section |
| 56 | 56 | ||
| 57 | 57 | ||
| 58 | 58 | ||
| 59 | #pragma interruptlow LowISR |
59 | #pragma interruptlow LowISR |
| 60 | void LowISR(void) |
60 | void LowISR(void) |
| 61 | { |
61 | { |
| 62 | 62 | ||
| 63 | } |
63 | } |
| 64 | #pragma code lowVector=0x18 |
64 | #pragma code lowVector=0x18 |
| 65 | void LowVector (void) |
65 | void LowVector (void) |
| 66 | { |
66 | { |
| 67 | _asm goto LowISR _endasm |
67 | _asm goto LowISR _endasm |
| 68 | } |
68 | } |
| 69 | #pragma code // Return to default code section |
69 | #pragma code // Return to default code section |
| 70 | 70 | ||
| 71 | 71 | ||
| 72 | /* |
72 | /* |
| 73 | * Function: mainInit |
73 | * Function: mainInit |
| 74 | * |
74 | * |
| 75 | * Input: none |
75 | * Input: none |
| 76 | * Output: none |
76 | * Output: none |
| 77 | * Pre-conditions: none |
77 | * Pre-conditions: none |
| 78 | * Affects: Se code |
78 | * Affects: Se code |
| 79 | * Depends: none. |
79 | * Depends: none. |
| 80 | */ |
80 | */ |
| 81 | void mainInit() |
81 | void mainInit() |
| 82 | { |
82 | { |
| 83 | LED0_TRIS=0; |
83 | LED0_TRIS=0; |
| 84 | 84 | ||
| 85 | // Enable internal PORTB pull-ups |
85 | // Enable internal PORTB pull-ups |
| 86 | INTCON2bits.RBPU = 0; |
86 | INTCON2bits.RBPU = 0; |
| 87 | 87 | ||
| 88 | // Enable Interrupts |
88 | // Enable Interrupts |
| 89 | INTCONbits.GIEH = 1; |
89 | INTCONbits.GIEH = 1; |
| 90 | INTCONbits.GIEL = 1; |
90 | INTCONbits.GIEL = 1; |
| 91 | 91 | ||
| 92 | // Enable interrupt prirority |
92 | // Enable interrupt prirority |
| 93 | RCONbits.IPEN=1; |
93 | RCONbits.IPEN=1; |
| 94 | 94 | ||
| 95 | 95 | ||
| 96 | } |
96 | } |
| 97 | 97 | ||
| 98 | /* |
98 | /* |
| 99 | * Function: canParse |
99 | * Function: canParse |
| 100 | * |
100 | * |
| 101 | * Input: Received can message |
101 | * Input: Received can message |
| 102 | * Output: none |
102 | * Output: none |
| 103 | * Pre-conditions: canInit and received packet. |
103 | * Pre-conditions: canInit and received packet. |
| 104 | * Affects: Sensors/actuators/etc. See code. |
104 | * Affects: Sensors/actuators/etc. See code. |
| 105 | * Depends: none. |
105 | * Depends: none. |
| 106 | */ |
106 | */ |
| 107 | #ifdef USE_CAN |
107 | #ifdef USE_CAN |
| 108 | void canParse(CAN_MESSAGE cm) |
108 | void canParse(CAN_MESSAGE cm) |
| 109 | { |
109 | { |
| 110 | - | ||
| - | 110 | LED0_IO=~LED0_IO; |
|
| 111 | } |
111 | } |
| 112 | #endif |
112 | #endif |
| 113 | 113 | ||
| 114 | 114 | ||