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  1. /*********************************************************************
  2.  *
  3.  *                  Main application
  4.  *
  5.  *********************************************************************
  6.  * FileName:        Main.c
  7.  *
  8.  * Author               Date    Comment
  9.  *~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  10.  * Johan Böhlin     21-10-06    Original        (Rev 1.0)
  11.  ********************************************************************/
  12.  
  13. #include <compiler.h>
  14. #include <stackTasks.h>
  15.  
  16. #ifdef USE_CAN
  17.     #include <CAN.h>
  18. #endif
  19.  
  20. static void mainInit(void);
  21.  
  22. void main()
  23. {
  24.  
  25.     // Inits
  26.  
  27.     mainInit();
  28.  
  29.     #ifdef USE_CAN
  30.         canInit();
  31.     #endif
  32.  
  33.  
  34.     while(1)
  35.     {
  36.     }
  37. }
  38.  
  39.  
  40. #pragma interruptlow HighISR
  41. void HighISR(void)
  42. {
  43.  
  44.  
  45.     #ifdef USE_CAN
  46.         canISR();
  47.     #endif
  48.  
  49. }
  50. #pragma code highVector=0x08
  51. void HighVector (void)
  52. {
  53.     _asm goto HighISR _endasm
  54. }
  55. #pragma code // Return to default code section
  56.  
  57.  
  58.  
  59. #pragma interruptlow LowISR
  60. void LowISR(void)
  61. {
  62.  
  63. }
  64. #pragma code lowVector=0x18
  65. void LowVector (void)
  66. {
  67.     _asm goto LowISR _endasm
  68. }
  69. #pragma code // Return to default code section
  70.  
  71.  
  72. /*
  73. *   Function: mainInit
  74. *
  75. *   Input:  none
  76. *   Output: none
  77. *   Pre-conditions: none
  78. *   Affects: Se code
  79. *   Depends: none.
  80. */
  81. void mainInit()
  82. {
  83.     LED0_TRIS=0;   
  84.  
  85.     // Enable internal PORTB pull-ups
  86.     INTCON2bits.RBPU = 0;
  87.    
  88.     // Enable Interrupts
  89.     INTCONbits.GIEH = 1;
  90.     INTCONbits.GIEL = 1;
  91.  
  92.     // Enable interrupt prirority
  93.     RCONbits.IPEN=1;
  94.    
  95.  
  96. }
  97.  
  98. /*
  99. *   Function: canParse
  100. *
  101. *   Input:  Received can message
  102. *   Output: none
  103. *   Pre-conditions: canInit and received packet.
  104. *   Affects: Sensors/actuators/etc. See code.
  105. *   Depends: none.
  106. */
  107. #ifdef USE_CAN
  108. void canParse(CAN_MESSAGE cm)
  109. {
  110.  
  111. }
  112. #endif
  113.  
  114.