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