/*********************************************************************
*
* Main application
*
*********************************************************************
* FileName: Main.c
*
* Author Date Comment
*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
* Johan Böhlin 21-10-06 Original (Rev 1.0)
********************************************************************/
#include "../Include/compiler.h"
#include "../Include/stackTasks.h"
#include "../Include/Tick.h"
#ifdef USE_CAN
#include "../Include/CAN.h"
#endif
#ifdef USE_UART
#include "../Include/uart.h"
#endif
static void mainInit(void);
static BOOL heartBeatEnabled = FALSE;
void main()
{
static TICK t = 0;
// Inits
mainInit();
#ifdef USE_CAN
canInit();
#endif
#ifdef USE_UART
uartInit();
#endif
tickInit();
while(1)
{
if ((tickGet()-t)>=5*TICK_SECOND && heartBeatEnabled==TRUE)
{
CAN_MESSAGE cm;
t = tickGet();
// Send heartbeat
cm.ident=0x00000666;
cm.extended=FALSE;
cm.data_length=1;
cm.data[0]='H';
while(!canSendMessage(cm));
}
}
}
#pragma interruptlow HighISR
void HighISR(void)
{
#ifdef USE_CAN
canISR();
#endif
#ifdef USE_UART
uartISR();
#endif
tickUpdate();
}
#pragma code highVector=0x08
void HighVector (void)
{
_asm goto HighISR _endasm
}
#pragma code // Return to default code section
#pragma interruptlow LowISR
void LowISR(void)
{
}
#pragma code lowVector=0x18
void LowVector (void)
{
_asm goto LowISR _endasm
}
#pragma code // Return to default code section
/*
* Function: mainInit
*
* Input: none
* Output: none
* Pre-conditions: none
* Affects: Se code
* Depends: none.
*/
void mainInit()
{
LED0_TRIS=0;
// Enable internal PORTB pull-ups
INTCON2bits.RBPU = 0;
// Enable Interrupts
INTCONbits.GIEH = 1;
INTCONbits.GIEL = 1;
}
/*
* Function: canParse
*
* Input: Received can message
* Output: none
* Pre-conditions: canInit and received packet.
* Affects: Sensors/actuators/etc. See code.
* Depends: none.
*/
#ifdef USE_CAN
void canParse(CAN_MESSAGE cm)
{
int i=0;
uartPutc(UART_START_BYTE);
uartPutc((BYTE)(cm.ident));
uartPutc((BYTE)(cm.ident>>8));
uartPutc((BYTE)(cm.ident>>16));
uartPutc((BYTE)(cm.ident>>24));
uartPutc(cm.extended);
uartPutc(cm.data_length);
for(i=0;i<8;i++) uartPutc(cm.data[i]);
uartPutc(UART_END_BYTE);
}
#endif
/*
* Function: uartParse
*
* Input: Received uart message
* Output: none
* Pre-conditions: uartInit and received byte.
* Affects: Sensors/actuators/etc. See code.
* Depends: none.
*/
#ifdef USE_UART
void uartParse(BYTE c)
{
BYTE i;
unsigned int wait = 0;
CAN_MESSAGE cm;
static BOOL waitingMessage = FALSE;
static TICK timeout=0;
static BYTE count=0;
if (waitingMessage==TRUE && (tickGet()-timeout)>TICK_SECOND/20)
{
waitingMessage=FALSE;
}
if (waitingMessage==TRUE)
{
timeout=tickGet();
// UART END
if(count>=14)
{
if (c==UART_END_BYTE)
{
while(!canSendMessage(cm));
}
waitingMessage=FALSE;
return;
}
// data
if(count>=6)
{
cm.data[count-6]=c;
count++;
return;
}
// data length
if(count>=5)
{
cm.data_length=c;
count++;
return;
}
// extended
if(count>=4)
{
cm.extended=c;
count++;
return;
}
// ident
if(count>=0)
{
cm.ident+=((DWORD)c<<(count*8));
count++;
return;
}
}
if (c==UART_START_BYTE && waitingMessage==FALSE)
{
waitingMessage=TRUE;
timeout=tickGet();
count=0;
cm.ident=0;
return;
}
if(c=='1' && waitingMessage==FALSE)
{
cm.ident=0x00000123;
cm.extended=FALSE;
cm.data_length=4;
cm.data[3]='H';
cm.data[2]='e';
cm.data[1]='j';
cm.data[0]='!';
while(!canSendMessage(cm));
}
if(c=='2' && waitingMessage==FALSE)
{
cm.ident=0x0ABCDEF0;
cm.extended=TRUE;
cm.data_length=8;
cm.data[7]='G';
cm.data[6]='o';
cm.data[5]='d';
cm.data[4]=' ';
cm.data[3]='d';
cm.data[2]='a';
cm.data[1]='g';
cm.data[0]='!';
while(!canSendMessage(cm));
}
if(c=='3' && waitingMessage==FALSE)
{
cm.ident=0x00000010;
cm.extended=FALSE;
cm.data_length=6;
cm.data[5]='5';
cm.data[4]='4';
cm.data[3]='3';
cm.data[2]='2';
cm.data[1]='1';
cm.data[0]='0';
while(!canSendMessage(cm));
}
}
#endif