Rev 33 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | SVN | RSS feed
| Rev 33 | Rev 48 | ||
|---|---|---|---|
| Line 25... | Line 25... | ||
| 25 | 25 | ||
| 26 | 26 | ||
| 27 | static void mainInit(void); |
27 | static void mainInit(void); |
| 28 | 28 | ||
| 29 | static BOOL heartBeatEnabled = FALSE; |
29 | static BOOL heartBeatEnabled = FALSE; |
| - | 30 | BYTE ldc = 50; |
|
| 30 | 31 | ||
| 31 | void main() |
32 | void main() |
| 32 | { |
33 | { |
| 33 | static TICK t = 0; |
34 | static TICK t = 0; |
| 34 | 35 | ||
| Line 46... | Line 47... | ||
| 46 | 47 | ||
| 47 | tickInit(); |
48 | tickInit(); |
| 48 | 49 | ||
| 49 | while(1) |
50 | while(1) |
| 50 | { |
51 | { |
| - | 52 | #ifdef USE_CAN |
|
| 51 | if ((tickGet()-t)>=5*TICK_SECOND && heartBeatEnabled==TRUE) |
53 | if ((tickGet()-t)>=5*TICK_SECOND && heartBeatEnabled==TRUE) |
| 52 | { |
54 | { |
| 53 | CAN_MESSAGE cm; |
55 | CAN_MESSAGE cm; |
| 54 | 56 | ||
| 55 | t = tickGet(); |
57 | t = tickGet(); |
| Line 62... | Line 64... | ||
| 62 | 64 | ||
| 63 | while(!canSendMessage(cm)); |
65 | while(!canSendMessage(cm)); |
| 64 | 66 | ||
| 65 | 67 | ||
| 66 | } |
68 | } |
| - | 69 | #endif |
|
| 67 | } |
70 | } |
| 68 | } |
71 | } |
| 69 | 72 | ||
| 70 | 73 | ||
| 71 | #pragma interruptlow HighISR |
74 | #pragma interruptlow HighISR |
| 72 | void HighISR(void) |
75 | void HighISR(void) |
| 73 | { |
76 | { |
| - | 77 | //if(ldc--<=1) {LED0_IO=~LED0_IO; ldc=50; } |
|
| - | 78 | ||
| 74 | #ifdef USE_CAN |
79 | #ifdef USE_CAN |
| 75 | canISR(); |
80 | canISR(); |
| 76 | #endif |
81 | #endif |
| 77 | 82 | ||
| 78 | #ifdef USE_UART |
83 | #ifdef USE_UART |
| 79 | uartISR(); |
84 | uartISR(); |
| 80 | #endif |
85 | #endif |
| - | 86 | ||
| - | 87 | if (INTCONbits.INT0IE && INTCONbits.INT0IF) |
|
| - | 88 | { |
|
| - | 89 | static TICK t = 0; |
|
| - | 90 | CAN_MESSAGE cm; |
|
| - | 91 | ||
| - | 92 | if ((tickGet()-t)>TICK_SECOND/2) |
|
| - | 93 | { |
|
| - | 94 | ||
| - | 95 | LED0_IO=~LED0_IO; |
|
| - | 96 | ||
| - | 97 | // Send heartbeat |
|
| - | 98 | cm.ident=0x00000666; |
|
| - | 99 | cm.extended=FALSE; |
|
| - | 100 | cm.data_length=1; |
|
| - | 101 | cm.data[0]='H'; |
|
| - | 102 | ||
| - | 103 | while(!canSendMessage(cm)); |
|
| - | 104 | ||
| - | 105 | t=tickGet(); |
|
| - | 106 | } |
|
| - | 107 | ||
| - | 108 | INTCONbits.INT0IF=0; |
|
| - | 109 | } |
|
| - | 110 | ||
| - | 111 | //if (RCSTAbits.OERR) { RCSTAbits.CREN=0; RCSTAbits.CREN=1; } |
|
| 81 | 112 | ||
| 82 | tickUpdate(); |
113 | tickUpdate(); |
| 83 | } |
114 | } |
| 84 | #pragma code highVector=0x08 |
115 | #pragma code highVector=0x08 |
| 85 | void HighVector (void) |
116 | void HighVector (void) |
| Line 87... | Line 118... | ||
| 87 | _asm goto HighISR _endasm |
118 | _asm goto HighISR _endasm |
| 88 | } |
119 | } |
| 89 | #pragma code // Return to default code section |
120 | #pragma code // Return to default code section |
| 90 | 121 | ||
| 91 | 122 | ||
| 92 | 123 | ||
| 93 | #pragma interruptlow LowISR |
124 | #pragma interruptlow LowISR |
| 94 | void LowISR(void) |
125 | void LowISR(void) |
| 95 | { |
126 | { |
| 96 | 127 | ||
| 97 | } |
128 | } |
| 98 | #pragma code lowVector=0x18 |
129 | #pragma code lowVector=0x18 |
| 99 | void LowVector (void) |
130 | void LowVector (void) |
| 100 | { |
131 | { |
| 101 | _asm goto LowISR _endasm |
132 | _asm goto LowISR _endasm |
| 102 | } |
133 | } |
| 103 | #pragma code // Return to default code section |
134 | #pragma code // Return to default code section |
| 104 | 135 | ||
| 105 | 136 | ||
| Line 113... | Line 144... | ||
| 113 | * Depends: none. |
144 | * Depends: none. |
| 114 | */ |
145 | */ |
| 115 | void mainInit() |
146 | void mainInit() |
| 116 | { |
147 | { |
| 117 | LED0_TRIS=0; |
148 | LED0_TRIS=0; |
| 118 | 149 | ||
| 119 | // Enable internal PORTB pull-ups |
150 | // Enable internal PORTB pull-ups |
| 120 | INTCON2bits.RBPU = 0; |
151 | INTCON2bits.RBPU = 0; |
| 121 | 152 | ||
| 122 | // Enable Interrupts |
153 | // Enable Interrupts |
| 123 | INTCONbits.GIEH = 1; |
154 | INTCONbits.GIEH = 1; |
| 124 | INTCONbits.GIEL = 1; |
155 | INTCONbits.GIEL = 1; |
| 125 | 156 | ||
| - | 157 | ||
| - | 158 | // RB0 interrupt |
|
| - | 159 | INTCON2bits.INTEDG0 = 1; //rising edge |
|
| - | 160 | INTCONbits.INT0IE = 1; |
|
| - | 161 | ||
| - | 162 | // Enable interrupt prirority |
|
| - | 163 | RCONbits.IPEN=1; |
|
| - | 164 | ||
| - | 165 | ||
| 126 | } |
166 | } |
| 127 | 167 | ||
| 128 | /* |
168 | /* |
| 129 | * Function: canParse |
169 | * Function: canParse |
| 130 | * |
170 | * |
| 131 | * Input: Received can message |
171 | * Input: Received can message |
| 132 | * Output: none |
172 | * Output: none |
| Line 169... | Line 209... | ||
| 169 | unsigned int wait = 0; |
209 | unsigned int wait = 0; |
| 170 | CAN_MESSAGE cm; |
210 | CAN_MESSAGE cm; |
| 171 | static BOOL waitingMessage = FALSE; |
211 | static BOOL waitingMessage = FALSE; |
| 172 | static TICK timeout=0; |
212 | static TICK timeout=0; |
| 173 | static BYTE count=0; |
213 | static BYTE count=0; |
| - | 214 | ||
| 174 | 215 | ||
| 175 | if (waitingMessage==TRUE && (tickGet()-timeout)>TICK_SECOND/20) |
216 | if (waitingMessage==TRUE && (tickGet()-timeout)>TICK_SECOND/20) |
| 176 | { |
217 | { |
| 177 | waitingMessage=FALSE; |
218 | waitingMessage=FALSE; |
| 178 | } |
219 | } |
| - | 220 | ||
| 179 | 221 | ||
| 180 | if (waitingMessage==TRUE) |
222 | if (waitingMessage==TRUE) |
| 181 | { |
223 | { |
| - | 224 | ||
| 182 | timeout=tickGet(); |
225 | timeout=tickGet(); |
| 183 | 226 | ||
| 184 | // UART END |
227 | // UART END |
| 185 | if(count>=14) |
228 | if(count>=14) |
| 186 | { |
229 | { |
| Line 233... | Line 276... | ||
| 233 | timeout=tickGet(); |
276 | timeout=tickGet(); |
| 234 | count=0; |
277 | count=0; |
| 235 | cm.ident=0; |
278 | cm.ident=0; |
| 236 | return; |
279 | return; |
| 237 | } |
280 | } |
| 238 | - | ||
| 239 | 281 | ||
| 240 | if(c=='1' && waitingMessage==FALSE) |
282 | if(c=='1' && waitingMessage==FALSE) |
| 241 | { |
283 | { |
| 242 | cm.ident=0x00000123; |
284 | cm.ident=0x00000123; |
| 243 | cm.extended=FALSE; |
285 | cm.extended=FALSE; |
| Line 280... | Line 322... | ||
| 280 | cm.data[0]='0'; |
322 | cm.data[0]='0'; |
| 281 | 323 | ||
| 282 | while(!canSendMessage(cm)); |
324 | while(!canSendMessage(cm)); |
| 283 | } |
325 | } |
| 284 | 326 | ||
| 285 | 327 | ||
| 286 | 328 | ||
| 287 | } |
329 | } |
| 288 | #endif |
330 | #endif |