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/*********************************************************************
 *
 *                  Main application
 *
 *********************************************************************
 * FileName:        Main.c
 *
 * Author               Date    Comment
 *~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 * Johan Böhlin     21-10-06    Original        (Rev 1.0)
 ********************************************************************/
 
#include <compiler.h>
#include <stackTasks.h>
#include <Tick.h>
 
#ifdef USE_CAN
    #include <CAN.h>
#endif
 
static void mainInit(void);
 
void main()
{
    static TICK t = 0;
 
    // Inits
 
    mainInit();
 
    #ifdef USE_CAN
        canInit();
    #endif
 
    tickInit();
 
    while(1)
    {
        #ifdef USE_CAN
        if ((tickGet()-t)>=5*TICK_SECOND)
        {
            CAN_MESSAGE cm;
 
            t = tickGet();
       
            // Send heartbeat
            cm.ident=0x00000666;
            cm.extended=FALSE;
            cm.data_length=1;
            cm.data[0]='H';
 
            while(!canSendMessage(cm));
        }
        #endif
    }
}
 
 
#pragma interruptlow HighISR
void HighISR(void)
{
 
 
    #ifdef USE_CAN
        canISR();
    #endif
 
 
    if (INTCONbits.INT0IE && INTCONbits.INT0IF)
    {
        static TICK t = 0;
        CAN_MESSAGE cm;
 
        if ((tickGet()-t)>TICK_SECOND/2)
        {
 
            LED0_IO=~LED0_IO;
 
            // Send heartbeat
            cm.ident=0x1F910091;
            cm.extended=TRUE;
            cm.data_length=1;
            cm.data[0]=0x01;
            cm.data[1]=0x07;
            cm.data[2]=0x09;
            cm.data[3]=0x08;
            cm.data[4]=0x03;
 
            while(!canSendMessage(cm));
           
            t=tickGet();
        }
 
        INTCONbits.INT0IF=0;
    }
 
 
    tickUpdate();
}
#pragma code highVector=0x08
void HighVector (void)
{
    _asm goto HighISR _endasm
}
#pragma code // Return to default code section
 
 
 
#pragma interruptlow LowISR
void LowISR(void)
{
 
}
#pragma code lowVector=0x18
void LowVector (void)
{
    _asm goto LowISR _endasm
}
#pragma code // Return to default code section
 
 
/*
*   Function: mainInit
*
*   Input:  none
*   Output: none
*   Pre-conditions: none
*   Affects: Se code
*   Depends: none.
*/
void mainInit()
{
    LED0_TRIS=0;   
 
    // Enable internal PORTB pull-ups
    INTCON2bits.RBPU = 0;
   
    // Enable Interrupts
    INTCONbits.GIEH = 1;
    INTCONbits.GIEL = 1;
 
 
    // RB0 interrupt
    INTCON2bits.INTEDG0 = 1; //rising edge
    INTCONbits.INT0IE = 1; 
 
    // Enable interrupt prirority
    RCONbits.IPEN=1;
   
 
}
 
/*
*   Function: canParse
*
*   Input:  Received can message
*   Output: none
*   Pre-conditions: canInit and received packet.
*   Affects: Sensors/actuators/etc. See code.
*   Depends: none.
*/
#ifdef USE_CAN
void canParse(CAN_MESSAGE cm)
{
        if (cm.ident==0x00000304)
        {
            if (cm.data[0]==0x20) LED0_IO=1;
            if (cm.data[0]==0x40) LED0_IO=0;
            if (cm.data[0]==0x80)
            {
                cm.ident=0x00000303;
                cm.extended=FALSE;
                cm.data_length=1;
                cm.data[0]=LED0_IO;
                while(!canSendMessage(cm));
 
            }
        }
 
 
}
#endif
 
 

Rev 50	Rev 53
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 ~~"../Include/~~compiler.h"	13	#include <compiler.h>
14	#include ~~"../Include/~~stackTasks.h"	14	#include <stackTasks.h>
15	#include ~~"../Include/~~Tick.h"	15	#include <Tick.h>
16		16
17	#ifdef USE_CAN	17	#ifdef USE_CAN
18	#include ~~"../Include/~~CAN.h"	18	#include <CAN.h>
19	#endif	19	#endif
20		20
21	static void mainInit(void);	21	static void mainInit(void);
22		22
23	void main()	23	void main()
24	{	24	{
25	static TICK t = 0;	25	static TICK t = 0;
26		26
27	// Inits	27	// Inits
28		28
29	mainInit();	29	mainInit();
30		30
31	#ifdef USE_CAN	31	#ifdef USE_CAN
32	canInit();	32	canInit();
33	#endif	33	#endif
34		34
35	tickInit();	35	tickInit();
36		36
37	while(1)	37	while(1)
38	{	38	{
39	#ifdef USE_CAN	39	#ifdef USE_CAN
40	if ((tickGet()-t)>=5*TICK_SECOND)	40	if ((tickGet()-t)>=5*TICK_SECOND)
41	{	41	{
42	CAN_MESSAGE cm;	42	CAN_MESSAGE cm;
43		43
44	t = tickGet();	44	t = tickGet();
45		45
46	// Send heartbeat	46	// Send heartbeat
47	cm.ident=0x00000666;	47	cm.ident=0x00000666;
48	cm.extended=FALSE;	48	cm.extended=FALSE;
49	cm.data_length=1;	49	cm.data_length=1;
50	cm.data[0]='H';	50	cm.data[0]='H';
51		51
52	while(!canSendMessage(cm));	52	while(!canSendMessage(cm));
53	}	53	}
54	#endif	54	#endif
55	}	55	}
56	}	56	}
57		57
58		58
59	#pragma interruptlow HighISR	59	#pragma interruptlow HighISR
60	void HighISR(void)	60	void HighISR(void)
61	{	61	{
62		62
63		63
64	#ifdef USE_CAN	64	#ifdef USE_CAN
65	canISR();	65	canISR();
66	#endif	66	#endif
67		67
68		68
69	if (INTCONbits.INT0IE && INTCONbits.INT0IF)	69	if (INTCONbits.INT0IE && INTCONbits.INT0IF)
70	{	70	{
71	static TICK t = 0;	71	static TICK t = 0;
72	CAN_MESSAGE cm;	72	CAN_MESSAGE cm;
73		73
74	if ((tickGet()-t)>TICK_SECOND/2)	74	if ((tickGet()-t)>TICK_SECOND/2)
75	{	75	{
76		76
77	LED0_IO=~LED0_IO;	77	LED0_IO=~LED0_IO;
78		78
79	// Send heartbeat	79	// Send heartbeat
80	cm.ident=0x1F910091;	80	cm.ident=0x1F910091;
81	cm.extended=TRUE;	81	cm.extended=TRUE;
82	cm.data_length=1;	82	cm.data_length=1;
83	cm.data[0]=0x01;	83	cm.data[0]=0x01;
84	cm.data[1]=0x07;	84	cm.data[1]=0x07;
85	cm.data[2]=0x09;	85	cm.data[2]=0x09;
86	cm.data[3]=0x08;	86	cm.data[3]=0x08;
87	cm.data[4]=0x03;	87	cm.data[4]=0x03;
88		88
89	while(!canSendMessage(cm));	89	while(!canSendMessage(cm));
90		90
91	t=tickGet();	91	t=tickGet();
92	}	92	}
93		93
94	INTCONbits.INT0IF=0;	94	INTCONbits.INT0IF=0;
95	}	95	}
96		96
97		97
98	tickUpdate();	98	tickUpdate();
99	}	99	}
100	#pragma code highVector=0x08	100	#pragma code highVector=0x08
101	void HighVector (void)	101	void HighVector (void)
102	{	102	{
103	_asm goto HighISR _endasm	103	_asm goto HighISR _endasm
104	}	104	}
105	#pragma code // Return to default code section	105	#pragma code // Return to default code section
106		106
107		107
108		108
109	#pragma interruptlow LowISR	109	#pragma interruptlow LowISR
110	void LowISR(void)	110	void LowISR(void)
111	{	111	{
112		112
113	}	113	}
114	#pragma code lowVector=0x18	114	#pragma code lowVector=0x18
115	void LowVector (void)	115	void LowVector (void)
116	{	116	{
117	_asm goto LowISR _endasm	117	_asm goto LowISR _endasm
118	}	118	}
119	#pragma code // Return to default code section	119	#pragma code // Return to default code section
120		120
121		121
122	/*	122	/*
123	* Function: mainInit	123	* Function: mainInit
124	*	124	*
125	* Input: none	125	* Input: none
126	* Output: none	126	* Output: none
127	* Pre-conditions: none	127	* Pre-conditions: none
128	* Affects: Se code	128	* Affects: Se code
129	* Depends: none.	129	* Depends: none.
130	*/	130	*/
131	void mainInit()	131	void mainInit()
132	{	132	{
133	LED0_TRIS=0;	133	LED0_TRIS=0;
134		134
135	// Enable internal PORTB pull-ups	135	// Enable internal PORTB pull-ups
136	INTCON2bits.RBPU = 0;	136	INTCON2bits.RBPU = 0;
137		137
138	// Enable Interrupts	138	// Enable Interrupts
139	INTCONbits.GIEH = 1;	139	INTCONbits.GIEH = 1;
140	INTCONbits.GIEL = 1;	140	INTCONbits.GIEL = 1;
141		141
142		142
143	// RB0 interrupt	143	// RB0 interrupt
144	INTCON2bits.INTEDG0 = 1; //rising edge	144	INTCON2bits.INTEDG0 = 1; //rising edge
145	INTCONbits.INT0IE = 1;	145	INTCONbits.INT0IE = 1;
146		146
147	// Enable interrupt prirority	147	// Enable interrupt prirority
148	RCONbits.IPEN=1;	148	RCONbits.IPEN=1;
149		149
150		150
151	}	151	}
152		152
153	/*	153	/*
154	* Function: canParse	154	* Function: canParse
155	*	155	*
156	* Input: Received can message	156	* Input: Received can message
157	* Output: none	157	* Output: none
158	* Pre-conditions: canInit and received packet.	158	* Pre-conditions: canInit and received packet.
159	* Affects: Sensors/actuators/etc. See code.	159	* Affects: Sensors/actuators/etc. See code.
160	* Depends: none.	160	* Depends: none.
161	*/	161	*/
162	#ifdef USE_CAN	162	#ifdef USE_CAN
163	void canParse(CAN_MESSAGE cm)	163	void canParse(CAN_MESSAGE cm)
164	{	164	{
165	if (cm.ident==0x00000304)	165	if (cm.ident==0x00000304)
166	{	166	{
167	if (cm.data[0]==0x20) LED0_IO=1;	167	if (cm.data[0]==0x20) LED0_IO=1;
168	if (cm.data[0]==0x40) LED0_IO=0;	168	if (cm.data[0]==0x40) LED0_IO=0;
169	if (cm.data[0]==0x80)	169	if (cm.data[0]==0x80)
170	{	170	{
171	cm.ident=0x00000303;	171	cm.ident=0x00000303;
172	cm.extended=FALSE;	172	cm.extended=FALSE;
173	cm.data_length=1;	173	cm.data_length=1;
174	cm.data[0]=LED0_IO;	174	cm.data[0]=LED0_IO;
175	while(!canSendMessage(cm));	175	while(!canSendMessage(cm));
176		176
177	}	177	}
178	}	178	}
179		179
180		180
181	}	181	}
182	#endif	182	#endif
183		183
184		184

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