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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 25 | 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 | |||
| 24 | johboh | 13 | #include "../Include/compiler.h" |
| 14 | #include "../Include/stackTasks.h" |
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| 15 | #include "../Include/Tick.h" |
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| 16 | |||
| 17 | #ifdef USE_CAN |
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| 18 | #include "../Include/CAN.h" |
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| 19 | #endif |
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| 20 | |||
| 21 | #ifdef USE_UART |
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| 22 | #include "../Include/uart.h" |
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| 23 | #endif |
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| 24 | |||
| 25 | |||
| 26 | |||
| 27 | static void mainInit(void); |
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| 28 | |||
| 29 | void main() |
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| 30 | { |
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| 31 | static TICK t = 0; |
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| 32 | |||
| 33 | // Inits |
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| 34 | |||
| 35 | mainInit(); |
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| 36 | |||
| 37 | #ifdef USE_CAN |
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| 38 | canInit(); |
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| 39 | #endif |
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| 40 | |||
| 41 | #ifdef USE_UART |
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| 42 | uartInit(); |
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| 43 | uartPutrs("BOOT OK!"); |
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| 44 | #endif |
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| 45 | |||
| 46 | tickInit(); |
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| 47 | |||
| 48 | while(1) |
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| 49 | { |
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| 50 | if ((tickGet()-t)>=10*TICK_SECOND) |
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| 51 | { |
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| 52 | CAN_MESSAGE cm; |
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| 53 | |||
| 54 | t = tickGet(); |
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| 55 | |||
| 56 | // Send heartbeat |
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| 57 | cm.ident=0x00000707; |
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| 58 | cm.extended=FALSE; |
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| 59 | cm.data_length=1; |
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| 60 | cm.data[0]='H'; |
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| 61 | |||
| 62 | while(!canSendMessage(cm)); |
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| 63 | |||
| 64 | |||
| 65 | } |
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| 66 | } |
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| 67 | } |
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| 68 | |||
| 69 | |||
| 70 | #pragma interruptlow HighISR |
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| 71 | void HighISR(void) |
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| 72 | { |
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| 73 | #ifdef USE_CAN |
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| 74 | canISR(); |
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| 75 | #endif |
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| 76 | |||
| 77 | #ifdef USE_UART |
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| 78 | uartISR(); |
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| 79 | #endif |
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| 80 | |||
| 81 | tickUpdate(); |
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| 82 | } |
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| 83 | #pragma code highVector=0x08 |
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| 84 | void HighVector (void) |
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| 85 | { |
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| 86 | _asm goto HighISR _endasm |
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| 87 | } |
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| 88 | #pragma code // Return to default code section |
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| 89 | |||
| 90 | |||
| 91 | |||
| 92 | #pragma interruptlow LowISR |
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| 93 | void LowISR(void) |
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| 94 | { |
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| 95 | |||
| 96 | } |
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| 97 | #pragma code lowVector=0x18 |
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| 98 | void LowVector (void) |
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| 99 | { |
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| 100 | _asm goto LowISR _endasm |
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| 101 | } |
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| 102 | #pragma code // Return to default code section |
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| 103 | |||
| 104 | |||
| 105 | /* |
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| 106 | * Function: mainInit |
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| 107 | * |
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| 108 | * Input: none |
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| 109 | * Output: none |
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| 110 | * Pre-conditions: none |
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| 111 | * Affects: Se code |
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| 112 | * Depends: none. |
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| 113 | */ |
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| 114 | void mainInit() |
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| 115 | { |
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| 116 | LED0_TRIS=0; |
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| 117 | |||
| 118 | // Enable internal PORTB pull-ups |
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| 119 | INTCON2bits.RBPU = 0; |
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| 120 | |||
| 121 | // Enable Interrupts |
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| 122 | INTCONbits.GIEH = 1; |
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| 123 | INTCONbits.GIEL = 1; |
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| 124 | |||
| 125 | } |
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| 126 | |||
| 127 | /* |
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| 128 | * Function: canParse |
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| 129 | * |
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| 130 | * Input: Received can message |
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| 131 | * Output: none |
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| 132 | * Pre-conditions: canInit and received packet. |
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| 133 | * Affects: Sensors/actuators/etc. See code. |
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| 134 | * Depends: none. |
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| 135 | */ |
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| 136 | #ifdef USE_CAN |
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| 137 | void canParse(CAN_MESSAGE cm) |
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| 138 | { |
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| 139 | int i=0; |
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| 140 | |||
| 141 | if (cm.extended==TRUE) |
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| 142 | { |
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| 143 | uartPutc((BYTE)(cm.ident>>24)); |
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| 144 | uartPutc((BYTE)(cm.ident>>16)); |
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| 145 | } |
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| 146 | uartPutc((BYTE)(cm.ident>>8)); |
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| 147 | uartPutc((BYTE)(cm.ident)); |
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| 148 | |||
| 149 | for(i=0;i<cm.data_length && i<8;i++) |
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| 150 | uartPutc(cm.data[cm.data_length-i-1]); |
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| 151 | |||
| 152 | } |
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| 153 | #endif |
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| 154 | |||
| 155 | |||
| 156 | /* |
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| 157 | * Function: uartParse |
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| 158 | * |
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| 159 | * Input: Received uart message |
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| 160 | * Output: none |
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| 161 | * Pre-conditions: uartInit and received byte. |
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| 162 | * Affects: Sensors/actuators/etc. See code. |
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| 163 | * Depends: none. |
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| 164 | */ |
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| 165 | #ifdef USE_UART |
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| 166 | void uartParse(BYTE c) |
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| 167 | { |
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| 168 | |||
| 169 | |||
| 170 | if (c=='1') |
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| 171 | { |
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| 172 | CAN_MESSAGE cm; |
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| 26 | johboh | 173 | cm.ident=0x00000123; |
| 174 | cm.extended=FALSE; |
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| 175 | cm.data_length=4; |
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| 176 | cm.data[0]='!'; |
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| 177 | cm.data[1]='j'; |
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| 178 | cm.data[2]='e'; |
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| 179 | cm.data[3]='H'; |
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| 180 | |||
| 181 | while(!canSendMessage(cm)); |
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| 182 | } |
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| 183 | |||
| 184 | if (c=='2') |
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| 185 | { |
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| 186 | CAN_MESSAGE cm; |
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| 187 | cm.ident=0x0ABCDEF0; |
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| 24 | johboh | 188 | cm.extended=TRUE; |
| 26 | johboh | 189 | cm.data_length=8; |
| 190 | cm.data[0]='!'; |
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| 191 | cm.data[1]='g'; |
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| 192 | cm.data[2]='a'; |
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| 24 | johboh | 193 | cm.data[3]='d'; |
| 26 | johboh | 194 | cm.data[4]=' '; |
| 195 | cm.data[5]='d'; |
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| 196 | cm.data[6]='o'; |
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| 197 | cm.data[7]='G'; |
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| 24 | johboh | 198 | |
| 26 | johboh | 199 | |
| 24 | johboh | 200 | while(!canSendMessage(cm)); |
| 201 | } |
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| 202 | |||
| 203 | if (c=='d') |
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| 204 | { |
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| 205 | uartPutc('D'); |
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| 206 | } |
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| 207 | |||
| 208 | if (c=='D') |
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| 209 | { |
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| 210 | uartPutrs("Debug? Debug!"); |
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| 211 | } |
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| 212 | |||
| 26 | johboh | 213 | if (c=='3') |
| 24 | johboh | 214 | { |
| 215 | uartPutc(RXB0CON); |
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| 216 | uartPutc(RXB1CON); |
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| 217 | uartPutc(123); |
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| 218 | uartPutc(B0CON); |
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| 219 | uartPutc(B1CON); |
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| 220 | uartPutc(B2CON); |
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| 221 | uartPutc(123); |
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| 222 | uartPutc(B3CON); |
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| 223 | uartPutc(B4CON); |
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| 224 | uartPutc(B5CON); |
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| 225 | uartPutc(123); |
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| 226 | uartPutc(CANSTAT); |
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| 227 | uartPutc(COMSTAT); |
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| 228 | uartPutc(ECANCON); |
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| 229 | uartPutc(123); |
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| 230 | uartPutc(TXB0CON); |
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| 231 | uartPutc(TXB1CON); |
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| 232 | uartPutc(TXB2CON); |
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| 233 | uartPutc(123); |
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| 234 | uartPutc(PIR3); |
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| 235 | uartPutc(PIE3); |
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| 236 | uartPutc(123); |
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| 237 | uartPutc(BRGCON1); |
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| 238 | uartPutc(BRGCON2); |
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| 239 | uartPutc(BRGCON3); |
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| 240 | uartPutc(123); |
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| 241 | uartPutc(RXFCON0); |
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| 242 | uartPutc(RXFCON1); |
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| 243 | uartPutc(123); |
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| 244 | uartPutc(RXFBCON0); |
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| 245 | uartPutc(RXFBCON1); |
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| 246 | uartPutc(RXFBCON2); |
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| 247 | uartPutc(RXFBCON3); |
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| 248 | uartPutc(RXFBCON4); |
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| 249 | uartPutc(RXFBCON5); |
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| 250 | uartPutc(RXFBCON6); |
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| 251 | uartPutc(RXFBCON7); |
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| 252 | uartPutc(123); |
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| 253 | uartPutc(TXBIE); |
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| 254 | uartPutc(BIE0); |
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| 255 | } |
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| 256 | |||
| 257 | } |
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| 258 | #endif |