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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 53 | johboh | 1 | /********************************************************************* |
| 2 | * |
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| 3 | * Main application |
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| 4 | * |
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| 5 | ********************************************************************* |
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| 6 | * FileName: Main.c |
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| 7 | * |
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| 8 | * Author Date Comment |
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| 9 | *~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
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| 10 | * Johan Böhlin 21-10-06 Original (Rev 1.0) |
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| 11 | ********************************************************************/ |
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| 12 | |||
| 13 | #include <compiler.h> |
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| 14 | #include <stackTasks.h> |
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| 15 | |||
| 16 | #ifdef USE_CAN |
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| 17 | #include <CAN.h> |
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| 18 | #endif |
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| 19 | |||
| 20 | static void mainInit(void); |
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| 21 | |||
| 22 | void main() |
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| 23 | { |
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| 24 | |||
| 25 | // Inits |
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| 26 | |||
| 27 | mainInit(); |
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| 28 | |||
| 29 | #ifdef USE_CAN |
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| 30 | canInit(); |
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| 31 | #endif |
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| 32 | |||
| 33 | |||
| 34 | while(1) |
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| 35 | { |
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| 36 | } |
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| 37 | } |
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| 38 | |||
| 39 | |||
| 40 | #pragma interruptlow HighISR |
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| 41 | void HighISR(void) |
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| 42 | { |
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| 43 | |||
| 44 | |||
| 45 | #ifdef USE_CAN |
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| 46 | canISR(); |
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| 47 | #endif |
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| 48 | |||
| 49 | } |
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| 50 | #pragma code highVector=0x08 |
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| 51 | void HighVector (void) |
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| 52 | { |
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| 53 | _asm goto HighISR _endasm |
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| 54 | } |
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| 55 | #pragma code // Return to default code section |
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| 56 | |||
| 57 | |||
| 58 | |||
| 59 | #pragma interruptlow LowISR |
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| 60 | void LowISR(void) |
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| 61 | { |
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| 62 | |||
| 63 | } |
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| 64 | #pragma code lowVector=0x18 |
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| 65 | void LowVector (void) |
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| 66 | { |
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| 67 | _asm goto LowISR _endasm |
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| 68 | } |
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| 69 | #pragma code // Return to default code section |
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| 70 | |||
| 71 | |||
| 72 | /* |
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| 73 | * Function: mainInit |
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| 74 | * |
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| 75 | * Input: none |
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| 76 | * Output: none |
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| 77 | * Pre-conditions: none |
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| 78 | * Affects: Se code |
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| 79 | * Depends: none. |
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| 80 | */ |
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| 81 | void mainInit() |
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| 82 | { |
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| 83 | LED0_TRIS=0; |
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| 84 | |||
| 85 | // Enable internal PORTB pull-ups |
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| 86 | INTCON2bits.RBPU = 0; |
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| 87 | |||
| 88 | // Enable Interrupts |
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| 89 | INTCONbits.GIEH = 1; |
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| 90 | INTCONbits.GIEL = 1; |
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| 91 | |||
| 92 | // Enable interrupt prirority |
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| 93 | RCONbits.IPEN=1; |
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| 94 | |||
| 95 | |||
| 96 | } |
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| 97 | |||
| 98 | /* |
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| 99 | * Function: canParse |
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| 100 | * |
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| 101 | * Input: Received can message |
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| 102 | * Output: none |
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| 103 | * Pre-conditions: canInit and received packet. |
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| 104 | * Affects: Sensors/actuators/etc. See code. |
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| 105 | * Depends: none. |
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| 106 | */ |
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| 107 | #ifdef USE_CAN |
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| 108 | void canParse(CAN_MESSAGE cm) |
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| 109 | { |
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| 110 | |||
| 111 | } |
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| 112 | #endif |
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| 113 |