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