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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 51 | 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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| 51 | johboh | 16 | |
| 17 | #ifdef USE_CAN |
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| 53 | johboh | 18 | #include <CAN.h> |
| 51 | johboh | 19 | #endif |
| 20 | |||
| 21 | #ifdef USE_UART |
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| 53 | johboh | 22 | #include <uart.h> |
| 51 | johboh | 23 | #endif |
| 24 | |||
| 25 | |||
| 26 | |||
| 27 | static void mainInit(void); |
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| 28 | |||
| 29 | |||
| 30 | void main() |
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| 31 | { |
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| 32 | static TICK t = 0; |
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| 33 | |||
| 34 | // Inits |
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| 35 | |||
| 36 | mainInit(); |
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| 37 | |||
| 38 | #ifdef USE_CAN |
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| 39 | canInit(); |
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| 40 | #endif |
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| 41 | |||
| 42 | #ifdef USE_UART |
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| 43 | uartInit(); |
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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 | } |
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| 51 | |||
| 52 | } |
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| 53 | |||
| 54 | |||
| 55 | #pragma interruptlow HighISR |
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| 56 | void HighISR(void) |
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| 57 | { |
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| 58 | |||
| 59 | |||
| 60 | #ifdef USE_UART |
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| 61 | uartISR(); |
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| 62 | #endif |
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| 63 | |||
| 64 | #ifdef USE_CAN |
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| 65 | canISR(); |
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| 66 | #endif |
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| 67 | |||
| 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 | |||
| 114 | // Enable interrupt prirority |
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| 115 | RCONbits.IPEN=1; |
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| 116 | |||
| 117 | |||
| 118 | } |
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| 119 | |||
| 120 | /* |
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| 121 | * Function: canParse |
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| 122 | * |
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| 123 | * Input: Received can message |
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| 124 | * Output: none |
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| 125 | * Pre-conditions: canInit and received packet. |
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| 126 | * Affects: Sensors/actuators/etc. See code. |
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| 127 | * Depends: none. |
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| 128 | */ |
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| 129 | #ifdef USE_CAN |
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| 130 | void canParse(CAN_MESSAGE cm) |
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| 131 | { |
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| 132 | int i=0; |
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| 133 | |||
| 134 | uartPutc(UART_START_BYTE); |
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| 135 | uartPutc((BYTE)(cm.ident)); |
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| 136 | uartPutc((BYTE)(cm.ident>>8)); |
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| 137 | uartPutc((BYTE)(cm.ident>>16)); |
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| 138 | uartPutc((BYTE)(cm.ident>>24)); |
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| 139 | uartPutc(cm.extended); |
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| 140 | uartPutc(cm.data_length); |
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| 141 | for(i=0;i<8;i++) uartPutc(cm.data[i]); |
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| 142 | uartPutc(UART_END_BYTE); |
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| 143 | |||
| 144 | } |
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| 145 | #endif |
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| 146 | |||
| 147 | |||
| 148 | /* |
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| 149 | * Function: uartParse |
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| 150 | * |
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| 151 | * Input: Received uart message |
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| 152 | * Output: none |
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| 153 | * Pre-conditions: uartInit and received byte. |
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| 154 | * Affects: Sensors/actuators/etc. See code. |
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| 155 | * Depends: none. |
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| 156 | */ |
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| 157 | #ifdef USE_UART |
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| 158 | void uartParse(BYTE c) |
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| 159 | { |
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| 160 | BYTE i; |
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| 161 | unsigned int wait = 0; |
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| 162 | CAN_MESSAGE cm; |
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| 163 | static BOOL waitingMessage = FALSE; |
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| 164 | static TICK timeout=0; |
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| 165 | static BYTE count=0; |
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| 166 | |||
| 167 | |||
| 168 | if (waitingMessage==TRUE && (tickGet()-timeout)>TICK_SECOND/20) |
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| 169 | { |
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| 170 | waitingMessage=FALSE; |
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| 171 | } |
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| 172 | |||
| 173 | |||
| 174 | if (waitingMessage==TRUE) |
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| 175 | { |
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| 176 | |||
| 177 | timeout=tickGet(); |
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| 178 | |||
| 179 | // UART END |
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| 180 | if(count>=14) |
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| 181 | { |
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| 182 | if (c==UART_END_BYTE) |
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| 183 | { |
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| 184 | while(!canSendMessage(cm)); |
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| 185 | } |
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| 186 | waitingMessage=FALSE; |
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| 187 | return; |
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| 188 | } |
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| 189 | |||
| 190 | // data |
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| 191 | if(count>=6) |
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| 192 | { |
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| 193 | cm.data[count-6]=c; |
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| 194 | count++; |
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| 195 | return; |
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| 196 | } |
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| 197 | |||
| 198 | // data length |
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| 199 | if(count>=5) |
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| 200 | { |
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| 201 | cm.data_length=c; |
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| 202 | count++; |
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| 203 | return; |
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| 204 | } |
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| 205 | |||
| 206 | // extended |
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| 207 | if(count>=4) |
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| 208 | { |
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| 209 | cm.extended=c; |
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| 210 | count++; |
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| 211 | return; |
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| 212 | } |
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| 213 | |||
| 214 | // ident |
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| 215 | if(count>=0) |
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| 216 | { |
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| 217 | cm.ident+=((DWORD)c<<(count*8)); |
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| 218 | count++; |
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| 219 | return; |
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| 220 | } |
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| 221 | |||
| 222 | } |
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| 223 | |||
| 224 | |||
| 225 | if (c==UART_START_BYTE && waitingMessage==FALSE) |
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| 226 | { |
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| 227 | waitingMessage=TRUE; |
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| 228 | timeout=tickGet(); |
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| 229 | count=0; |
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| 230 | cm.ident=0; |
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| 231 | return; |
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| 232 | } |
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| 233 | |||
| 234 | |||
| 235 | } |
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| 236 | #endif |