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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 24 | johboh | 1 | #include "../Include/compiler.h" |
| 2 | #include "../Include/stackTasks.h" |
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| 3 | #include "../Include/Tick.h" |
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| 4 | |||
| 5 | #ifdef USE_CAN |
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| 6 | #include "../Include/CAN.h" |
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| 7 | #endif |
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| 8 | |||
| 9 | #ifdef USE_UART |
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| 10 | #include "../Include/uart.h" |
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| 11 | #endif |
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| 12 | |||
| 13 | |||
| 14 | |||
| 15 | static void mainInit(void); |
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| 16 | |||
| 17 | void main() |
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| 18 | { |
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| 19 | static TICK t = 0; |
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| 20 | |||
| 21 | // Inits |
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| 22 | |||
| 23 | mainInit(); |
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| 24 | |||
| 25 | #ifdef USE_CAN |
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| 26 | canInit(); |
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| 27 | #endif |
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| 28 | |||
| 29 | #ifdef USE_UART |
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| 30 | uartInit(); |
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| 31 | uartPutrs("BOOT OK!"); |
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| 32 | #endif |
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| 33 | |||
| 34 | tickInit(); |
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| 35 | |||
| 36 | while(1) |
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| 37 | { |
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| 38 | if ((tickGet()-t)>=10*TICK_SECOND) |
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| 39 | { |
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| 40 | CAN_MESSAGE cm; |
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| 41 | |||
| 42 | t = tickGet(); |
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| 43 | |||
| 44 | // Send heartbeat |
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| 45 | cm.ident=0x00000707; |
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| 46 | cm.extended=FALSE; |
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| 47 | cm.data_length=1; |
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| 48 | cm.data[0]='H'; |
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| 49 | |||
| 50 | while(!canSendMessage(cm)); |
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| 51 | |||
| 52 | |||
| 53 | } |
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| 54 | } |
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| 55 | } |
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| 56 | |||
| 57 | |||
| 58 | #pragma interruptlow HighISR |
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| 59 | void HighISR(void) |
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| 60 | { |
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| 61 | #ifdef USE_CAN |
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| 62 | canISR(); |
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| 63 | #endif |
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| 64 | |||
| 65 | #ifdef USE_UART |
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| 66 | uartISR(); |
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| 67 | #endif |
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| 68 | |||
| 69 | tickUpdate(); |
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| 70 | } |
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| 71 | #pragma code highVector=0x08 |
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| 72 | void HighVector (void) |
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| 73 | { |
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| 74 | _asm goto HighISR _endasm |
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| 75 | } |
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| 76 | #pragma code // Return to default code section |
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| 77 | |||
| 78 | |||
| 79 | |||
| 80 | #pragma interruptlow LowISR |
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| 81 | void LowISR(void) |
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| 82 | { |
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| 83 | |||
| 84 | } |
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| 85 | #pragma code lowVector=0x18 |
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| 86 | void LowVector (void) |
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| 87 | { |
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| 88 | _asm goto LowISR _endasm |
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| 89 | } |
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| 90 | #pragma code // Return to default code section |
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| 91 | |||
| 92 | |||
| 93 | /* |
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| 94 | * Function: mainInit |
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| 95 | * |
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| 96 | * Input: none |
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| 97 | * Output: none |
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| 98 | * Pre-conditions: none |
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| 99 | * Affects: Se code |
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| 100 | * Depends: none. |
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| 101 | */ |
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| 102 | void mainInit() |
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| 103 | { |
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| 104 | LED0_TRIS=0; |
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| 105 | |||
| 106 | // Enable internal PORTB pull-ups |
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| 107 | INTCON2bits.RBPU = 0; |
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| 108 | |||
| 109 | // Enable Interrupts |
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| 110 | INTCONbits.GIEH = 1; |
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| 111 | INTCONbits.GIEL = 1; |
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| 112 | |||
| 113 | } |
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| 114 | |||
| 115 | /* |
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| 116 | * Function: canParse |
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| 117 | * |
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| 118 | * Input: Received can message |
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| 119 | * Output: none |
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| 120 | * Pre-conditions: canInit and received packet. |
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| 121 | * Affects: Sensors/actuators/etc. See code. |
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| 122 | * Depends: none. |
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| 123 | */ |
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| 124 | #ifdef USE_CAN |
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| 125 | void canParse(CAN_MESSAGE cm) |
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| 126 | { |
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| 127 | int i=0; |
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| 128 | |||
| 129 | if (cm.extended==TRUE) |
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| 130 | { |
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| 131 | uartPutc((BYTE)(cm.ident>>24)); |
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| 132 | uartPutc((BYTE)(cm.ident>>16)); |
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| 133 | } |
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| 134 | uartPutc((BYTE)(cm.ident>>8)); |
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| 135 | uartPutc((BYTE)(cm.ident)); |
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| 136 | |||
| 137 | for(i=0;i<cm.data_length && i<8;i++) |
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| 138 | uartPutc(cm.data[cm.data_length-i-1]); |
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| 139 | |||
| 140 | } |
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| 141 | #endif |
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| 142 | |||
| 143 | |||
| 144 | /* |
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| 145 | * Function: uartParse |
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| 146 | * |
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| 147 | * Input: Received uart message |
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| 148 | * Output: none |
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| 149 | * Pre-conditions: uartInit and received byte. |
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| 150 | * Affects: Sensors/actuators/etc. See code. |
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| 151 | * Depends: none. |
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| 152 | */ |
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| 153 | #ifdef USE_UART |
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| 154 | void uartParse(BYTE c) |
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| 155 | { |
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| 156 | |||
| 157 | |||
| 158 | if (c=='1') |
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| 159 | { |
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| 160 | CAN_MESSAGE cm; |
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| 161 | cm.ident=0x1FFF07FF; |
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| 162 | cm.extended=TRUE; |
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| 163 | cm.data_length=4; |
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| 164 | cm.data[0]='a'; |
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| 165 | cm.data[1]='b'; |
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| 166 | cm.data[2]='c'; |
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| 167 | cm.data[3]='d'; |
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| 168 | |||
| 169 | while(!canSendMessage(cm)); |
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| 170 | } |
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| 171 | |||
| 172 | if (c=='d') |
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| 173 | { |
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| 174 | uartPutc('D'); |
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| 175 | } |
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| 176 | |||
| 177 | if (c=='D') |
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| 178 | { |
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| 179 | uartPutrs("Debug? Debug!"); |
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| 180 | } |
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| 181 | |||
| 182 | if (c=='2') |
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| 183 | { |
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| 184 | uartPutc(RXB0CON); |
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| 185 | uartPutc(RXB1CON); |
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| 186 | uartPutc(123); |
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| 187 | uartPutc(B0CON); |
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| 188 | uartPutc(B1CON); |
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| 189 | uartPutc(B2CON); |
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| 190 | uartPutc(123); |
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| 191 | uartPutc(B3CON); |
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| 192 | uartPutc(B4CON); |
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| 193 | uartPutc(B5CON); |
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| 194 | uartPutc(123); |
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| 195 | uartPutc(CANSTAT); |
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| 196 | uartPutc(COMSTAT); |
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| 197 | uartPutc(ECANCON); |
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| 198 | uartPutc(123); |
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| 199 | uartPutc(TXB0CON); |
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| 200 | uartPutc(TXB1CON); |
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| 201 | uartPutc(TXB2CON); |
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| 202 | uartPutc(123); |
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| 203 | uartPutc(PIR3); |
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| 204 | uartPutc(PIE3); |
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| 205 | uartPutc(123); |
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| 206 | uartPutc(BRGCON1); |
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| 207 | uartPutc(BRGCON2); |
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| 208 | uartPutc(BRGCON3); |
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| 209 | uartPutc(123); |
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| 210 | uartPutc(RXFCON0); |
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| 211 | uartPutc(RXFCON1); |
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| 212 | uartPutc(123); |
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| 213 | uartPutc(RXFBCON0); |
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| 214 | uartPutc(RXFBCON1); |
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| 215 | uartPutc(RXFBCON2); |
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| 216 | uartPutc(RXFBCON3); |
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| 217 | uartPutc(RXFBCON4); |
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| 218 | uartPutc(RXFBCON5); |
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| 219 | uartPutc(RXFBCON6); |
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| 220 | uartPutc(RXFBCON7); |
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| 221 | uartPutc(123); |
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| 222 | uartPutc(TXBIE); |
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| 223 | uartPutc(BIE0); |
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| 224 | } |
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| 225 | |||
| 226 | } |
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| 227 | #endif |