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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);
 
unsigned int heartcnt=0;
 
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=5;
            cm.data[0]='H';
            cm.data[1]=(BYTE)((heartcnt & 0x000000FF));
            cm.data[2]=(BYTE)((heartcnt & 0x0000FF00)>>1);
            cm.data[3]=(BYTE)((heartcnt & 0x00FF0000)>>2);
            cm.data[4]=(BYTE)((heartcnt & 0xFF000000)>>3);
 
            heartcnt++;
 
            while(!canSendMessage(cm,PRIO_LOW));   
        }
        #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.remote_request=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,PRIO_LOW));
           
            t=tickGet();
        }
 
        INTCONbits.INT0IF=0;
    }
 
 
    tickUpdate();
}
#pragma code highVector=0x2008
void HighVector (void)
{
    _asm goto HighISR _endasm
}
#pragma code // Return to default code section
 
 
 
#pragma interruptlow LowISR
void LowISR(void)
{
 
}
#pragma code lowVector=0x2018
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,PRIO_LOW));   
 
            }
        }
 
 
}
#endif
 
 

Rev 56	Rev 64
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	#include <Tick.h>	15	#include <Tick.h>
16		16
17	#ifdef USE_CAN	17	#ifdef USE_CAN
18	#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	unsigned int heartcnt=0;	23	unsigned int heartcnt=0;
24		24
25	void main()	25	void main()
26	{	26	{
27	static TICK t = 0;	27	static TICK t = 0;
28		28
29	// Inits	29	// Inits
30		30
31	mainInit();	31	mainInit();
32		32
33	#ifdef USE_CAN	33	#ifdef USE_CAN
34	canInit();	34	canInit();
35	#endif	35	#endif
36		36
37	tickInit();	37	tickInit();
38		38
39	while(1)	39	while(1)
40	{	40	{
41	#ifdef USE_CAN	41	#ifdef USE_CAN
42	if ((tickGet()-t)>=5*TICK_SECOND)	42	if ((tickGet()-t)>=5*TICK_SECOND)
43	{	43	{
44	CAN_MESSAGE cm;	44	CAN_MESSAGE cm;
45		45
46	t = tickGet();	46	t = tickGet();
47		47
48	// Send heartbeat	48	// Send heartbeat
49	cm.ident=0x00000666;	49	cm.ident=0x00000666;
50	cm.extended=FALSE;	50	cm.extended=FALSE;
51	cm.data_length=5;	51	cm.data_length=5;
52	cm.data[0]='H';	52	cm.data[0]='H';
53	cm.data[1]=(BYTE)((heartcnt & 0x000000FF));	53	cm.data[1]=(BYTE)((heartcnt & 0x000000FF));
54	cm.data[2]=(BYTE)((heartcnt & 0x0000FF00)>>1);	54	cm.data[2]=(BYTE)((heartcnt & 0x0000FF00)>>1);
55	cm.data[3]=(BYTE)((heartcnt & 0x00FF0000)>>2);	55	cm.data[3]=(BYTE)((heartcnt & 0x00FF0000)>>2);
56	cm.data[4]=(BYTE)((heartcnt & 0xFF000000)>>3);	56	cm.data[4]=(BYTE)((heartcnt & 0xFF000000)>>3);
57		57
58	heartcnt++;	58	heartcnt++;
59		59
60	while(!canSendMessage(cm,PRIO_LOW));	60	while(!canSendMessage(cm,PRIO_LOW));
61	}	61	}
62	#endif	62	#endif
63	}	63	}
64	}	64	}
65		65
66		66
67	#pragma interruptlow HighISR	67	#pragma interruptlow HighISR
68	void HighISR(void)	68	void HighISR(void)
69	{	69	{
70		70
71		71
72	#ifdef USE_CAN	72	#ifdef USE_CAN
73	canISR();	73	canISR();
74	#endif	74	#endif
75		75
76		76
77	if (INTCONbits.INT0IE && INTCONbits.INT0IF)	77	if (INTCONbits.INT0IE && INTCONbits.INT0IF)
78	{	78	{
79	static TICK t = 0;	79	static TICK t = 0;
80	CAN_MESSAGE cm;	80	CAN_MESSAGE cm;
81		81
82	if ((tickGet()-t)>TICK_SECOND/2)	82	if ((tickGet()-t)>TICK_SECOND/2)
83	{	83	{
84		84
85	LED0_IO=~LED0_IO;	85	LED0_IO=~LED0_IO;
86		86
87	// Send heartbeat	87	// Send heartbeat
88	cm.ident=0x1F910091;	88	cm.ident=0x1F910091;
89	cm.extended=TRUE;	89	cm.extended=TRUE;
90	cm.remote_request=TRUE;	90	cm.remote_request=TRUE;
91	cm.data_length=1;	91	cm.data_length=1;
92	cm.data[0]=0x01;	92	cm.data[0]=0x01;
93	cm.data[1]=0x07;	93	cm.data[1]=0x07;
94	cm.data[2]=0x09;	94	cm.data[2]=0x09;
95	cm.data[3]=0x08;	95	cm.data[3]=0x08;
96	cm.data[4]=0x03;	96	cm.data[4]=0x03;
97		97
98	while(!canSendMessage(cm,PRIO_LOW));	98	while(!canSendMessage(cm,PRIO_LOW));
99		99
100	t=tickGet();	100	t=tickGet();
101	}	101	}
102		102
103	INTCONbits.INT0IF=0;	103	INTCONbits.INT0IF=0;
104	}	104	}
105		105
106		106
107	tickUpdate();	107	tickUpdate();
108	}	108	}
109	#pragma code ~~highVector=0x08~~	109	#pragma code highVector=0x2008
110	void HighVector (void)	110	void HighVector (void)
111	{	111	{
112	_asm goto HighISR _endasm	112	_asm goto HighISR _endasm
113	}	113	}
114	#pragma code // Return to default code section	114	#pragma code // Return to default code section
115		115
116		116
117		117
118	#pragma interruptlow LowISR	118	#pragma interruptlow LowISR
119	void LowISR(void)	119	void LowISR(void)
120	{	120	{
121		121
122	}	122	}
123	#pragma code ~~lowVector=0x18~~	123	#pragma code lowVector=0x2018
124	void LowVector (void)	124	void LowVector (void)
125	{	125	{
126	_asm goto LowISR _endasm	126	_asm goto LowISR _endasm
127	}	127	}
128	#pragma code // Return to default code section	128	#pragma code // Return to default code section
129		129
130		130
131	/*	131	/*
132	* Function: mainInit	132	* Function: mainInit
133	*	133	*
134	* Input: none	134	* Input: none
135	* Output: none	135	* Output: none
136	* Pre-conditions: none	136	* Pre-conditions: none
137	* Affects: Se code	137	* Affects: Se code
138	* Depends: none.	138	* Depends: none.
139	*/	139	*/
140	void mainInit()	140	void mainInit()
141	{	141	{
142	LED0_TRIS=0;	142	LED0_TRIS=0;
143		143
144	// Enable internal PORTB pull-ups	144	// Enable internal PORTB pull-ups
145	INTCON2bits.RBPU = 0;	145	INTCON2bits.RBPU = 0;
146		146
147	// Enable Interrupts	147	// Enable Interrupts
148	INTCONbits.GIEH = 1;	148	INTCONbits.GIEH = 1;
149	INTCONbits.GIEL = 1;	149	INTCONbits.GIEL = 1;
150		150
151		151
152	// RB0 interrupt	152	// RB0 interrupt
153	INTCON2bits.INTEDG0 = 1; //rising edge	153	INTCON2bits.INTEDG0 = 1; //rising edge
154	INTCONbits.INT0IE = 1;	154	INTCONbits.INT0IE = 1;
155		155
156	// Enable interrupt prirority	156	// Enable interrupt prirority
157	RCONbits.IPEN=1;	157	RCONbits.IPEN=1;
158		158
159		159
160	}	160	}
161		161
162	/*	162	/*
163	* Function: canParse	163	* Function: canParse
164	*	164	*
165	* Input: Received can message	165	* Input: Received can message
166	* Output: none	166	* Output: none
167	* Pre-conditions: canInit and received packet.	167	* Pre-conditions: canInit and received packet.
168	* Affects: Sensors/actuators/etc. See code.	168	* Affects: Sensors/actuators/etc. See code.
169	* Depends: none.	169	* Depends: none.
170	*/	170	*/
171	#ifdef USE_CAN	171	#ifdef USE_CAN
172	void canParse(CAN_MESSAGE cm)	172	void canParse(CAN_MESSAGE cm)
173	{	173	{
174	if (cm.ident==0x00000304)	174	if (cm.ident==0x00000304)
175	{	175	{
176	if (cm.data[0]==0x20) LED0_IO=1;	176	if (cm.data[0]==0x20) LED0_IO=1;
177	if (cm.data[0]==0x40) LED0_IO=0;	177	if (cm.data[0]==0x40) LED0_IO=0;
178	if (cm.data[0]==0x80)	178	if (cm.data[0]==0x80)
179	{	179	{
180	cm.ident=0x00000303;	180	cm.ident=0x00000303;
181	cm.extended=FALSE;	181	cm.extended=FALSE;
182	cm.data_length=1;	182	cm.data_length=1;
183	cm.data[0]=LED0_IO;	183	cm.data[0]=LED0_IO;
184	while(!canSendMessage(cm,PRIO_LOW));	184	while(!canSendMessage(cm,PRIO_LOW));
185		185
186	}	186	}
187	}	187	}
188		188
189		189
190	}	190	}
191	#endif	191	#endif
192		192
193		193

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