WebSVN – HomeAutomation – Diff – /trunk/EmbeddedSoftware/PIC/canBase/Source/CAN.c

 /*********************************************************************
+ *
  *                  CAN module
+ *
  *********************************************************************
  * FileName:        $HeadURL: https://svn.auml.se/svn/HomeAutomation/trunk/EmbeddedSoftware/PIC/canBase/Source/CAN.c $
- * Last changed:    $LastChangedDate: 2006-11-14 21:11:28 +0100 (Tue, 14 Nov 2006) $
+ * Last changed:    $LastChangedDate: 2007-01-28 14:58:11 +0100 (Sun, 28 Jan 2007) $
  * By:              $LastChangedBy: johboh $
- * Revision:        $Revision: 95 $
+ * Revision:        $Revision: 260 $
  ********************************************************************/
 #include <CANdefs.h>
 #include <stackTasks.h>
 #include <CAN.h>
+#include <EEaccess.h>
+#include <funcdefs.h>
+#include <Tick.h>
+TICK heartbeat;
+static int MY_ID = DEFAULT_ID;
+static BYTE MY_NID = DEFAULT_NID;
+static CAN_MESSAGE outCm;
 static void canGetPacket(void);
-#ifdef USE_CAN
 /*
 *   Function: canInit
+*
 *   Input:  none
 *   Output: none
 *   Pre-conditions: none
 *   Affects: Changes can registers.
 *   Depends: none.
 */
 void canInit()
+{
     CANCON = 0x80; //request config mode
     while ((CANSTAT & 0xE0) != 0x80 ); //wait for config mode request
     // BAUD AND TQS
+    // 500Khz@40Mhz (new by the book)
+    BRGCON1 = 0x04;
+    BRGCON2 = 0xD1;
+    BRGCON3 = 0x81;
-    BRGCON1=0;
+    //BRGCON1=0;
     // Sync_Seq = 2 x TQ = 1
-    BRGCON1bits.SJW1=0;
+    //BRGCON1bits.SJW1=0;
-    BRGCON1bits.SJW0=1;
+    //BRGCON1bits.SJW0=1;
     // Setting BRP.
-    BRGCON1=BRGCON1|CAN_BRP;
+    //BRGCON1=BRGCON1|CAN_BRP;
     // Maximum PHEG1
-    BRGCON2bits.SEG2PHTS = 1;
+    //BRGCON2bits.SEG2PHTS = 1;
     // Phase_Seg1 = 2 x TQ = 1
-    BRGCON2bits.SEG1PH2 = 0;
+    //BRGCON2bits.SEG1PH2 = 0;
-    BRGCON2bits.SEG1PH1 = 0;
+    //BRGCON2bits.SEG1PH1 = 0;
-    BRGCON2bits.SEG1PH0 = 1;
+    //BRGCON2bits.SEG1PH0 = 1;
     // Prop_Seq = 2 x TQ = 1
-    BRGCON2bits.PRSEG2 = 0;
+    //BRGCON2bits.PRSEG2 = 0;
-    BRGCON2bits.PRSEG1 = 0;
+    //BRGCON2bits.PRSEG1 = 0;
-    BRGCON2bits.PRSEG0 = 1;
+    //BRGCON2bits.PRSEG0 = 1;
     //  Enableing bus wake-up
-    BRGCON3bits.WAKDIS = 0;
+    //BRGCON3bits.WAKDIS = 0;
     // Dont use filter when wakeup
-    BRGCON3bits.WAKFIL = 0;
+    //BRGCON3bits.WAKFIL = 0;
     // Phase_Seg2 = 2 x TQ = 1
-    BRGCON3bits.SEG2PH2 = 0;
+    //BRGCON3bits.SEG2PH2 = 0;
-    BRGCON3bits.SEG2PH1 = 0;
+    //BRGCON3bits.SEG2PH1 = 0;
-    BRGCON3bits.SEG2PH0 = 1;
+    //BRGCON3bits.SEG2PH0 = 1;
     ECANCON=0;
     ECANCONbits.MDSEL1 = 1; // 0  For mode 1
     ECANCONbits.MDSEL0 = 0; // 1  For mode 1
     // FILTERS AND MASKS
     RXB0CONbits.RXM1=1;
     RXB0CONbits.RXM0=0;
     // INTERRUPTS
     // Diable transmit interrupt
     TXBIE = 0;
     //rx any interrupt
     PIR3 = 0;
     PIE3 = 0b00000011;
     // High interrupt
     IPR3 =0b00000011;
     // Programmable buffers interrupt
     BIE0  = 0xFF;
     //loopback mode or not
     #ifdef CAN_LOOPBACK_MODE
         CANCON = 0x40;//request loopback mode
         while ((CANSTAT & 0xE0) != 0x40 );//wait for loopback mode
     #else
         CANCON = 0x00;//request normal mode
         while ((CANSTAT & 0xE0) != 0x00 );//wait for normal mode
     #endif
+    // Init ticker service
+    tickInit();
+    // Read ID and NID if exist.
+    if (EERead(NODE_ID_EE)==NODE_HAS_ID)
+    {
+        MY_ID=(((WORD)EERead(NODE_ID_EE + 1))<<8)+EERead(NODE_ID_EE + 2);
+        MY_NID=EERead(NODE_ID_EE + 3);
+    }
+    // Send user program startup heatbeat
+    outCm.funct                     = FUNCT_BOOTLOADER;
+    outCm.funcc                     = FUNCC_BOOT_HEARTBEAT;
+    outCm.data_length               = 1;
+    outCm.data[BOOT_DATA_HEARTBEAT_INDEX] = HEARTBEAT_USER_STARTUP;
+    while(!canSendMessage(outCm,PRIO_HIGH));
+}
 /*
 *   Function: canISR
+*
 *   Input:  none
 *   Output: none
 *   Pre-conditions: a call to canInit()
 *   Affects: interrupt registers and receive data buffers
 *   Depends: ..
 */
 void canISR()
+{
     if (PIR3bits.RXBnIF || PIR3bits.RXB1IF || PIR3bits.RXB0IF)
+    {
         ECANCON=(ECANCON&0b00000)|(0b10000|(CANCON&0x0F));
         if (RXB0CONbits.RXFUL) canGetPacket();
         if (PIR3bits.RXBnIF) {PIR3bits.RXBnIF = 0; return;}
         if (PIR3bits.RXB1IF) {PIR3bits.RXB1IF = 0; return;}
         if (PIR3bits.RXB0IF) {PIR3bits.RXB0IF = 0; return;}
+    }
+    tickUpdate();
+    if ((tickGet()-heartbeat)>TICK_SECOND*5)
+    {
+        // Send alive heartbeat
+        outCm.funct                     = FUNCT_BOOTLOADER;
+        outCm.funcc                     = FUNCC_BOOT_HEARTBEAT;
+        outCm.data_length               = 1;
+        outCm.data[BOOT_DATA_HEARTBEAT_INDEX] = HEARTBEAT_ALIVE;
+        while(!canSendMessage(outCm,PRIO_HIGH));
+        heartbeat = tickGet();
+    }
+    ClrWdt();
+}
 /*
 *   Function: canGetPacket
+*
 *   Input:  none
 *   Output: none
 *   Pre-conditions: a call to canISR and an packet is available and banked to RXB0
 *   Affects: Calls canParse() function in main for parsing received packet.
 *   Depends: none.
 */
 void canGetPacket()
+{
         CAN_MESSAGE cm;
         //RXB0SIDH 28 27 26 25 24 23 22 21
         //RXB0SIDL 20 19 18 xx xx xx 17 16
         //RXB0EIDH 15 14 13 12 11 10 09 08
         //RXB0EIDL 07 06 05 04 03 02 01 00
         //funct xx xx xx xx 28 27 26 25
         //funcc xx xx xx xx xx xx 24 23 22 21 20 19 18 17 16 15
         //nid   xx xx 14 13 12 11 10 09
         //sid   xx xx xx xx xx xx xx 08 07 06 05 04 03 02 01 00
         cm.funct=((RXB0SIDH & 0xF0)>>4);
         cm.funcc=(((WORD)(RXB0SIDH & 0x0F))<<6)+(((WORD)(RXB0SIDL & 0xE0))>>2)+(((WORD)(RXB0SIDL & 0x03))<<1)+(((WORD)(RXB0EIDH & 0x80))>>7);
         cm.nid=((RXB0EIDH & 0x7E)>>1);
         cm.sid=(((WORD)(RXB0EIDH & 0x01))<<8)+RXB0EIDL;
         // Data length
         cm.data_length=(RXB0DLCbits.DLC3<<3)+(RXB0DLCbits.DLC2<<2)+(RXB0DLCbits.DLC1<<1)+RXB0DLCbits.DLC0;
         // Data one bye one, for speed
         cm.data[0]=RXB0D0;  cm.data[1]=RXB0D1;
         cm.data[2]=RXB0D2;  cm.data[3]=RXB0D3;
         cm.data[4]=RXB0D4;  cm.data[5]=RXB0D5;
         cm.data[6]=RXB0D6;  cm.data[7]=RXB0D7;
         // Clear ful status
         RXB0CONbits.RXFUL=0;
+        // Check if FUNCT_BOOTLOADER specific.
+        // reset and id change
+        if (cm.funct==FUNCT_BOOTLOADER)
+        {
+            if (cm.nid==MY_NID && ((((unsigned int)cm.data[BOOT_DATA_RID_HIGH_INDEX])<<8)+cm.data[BOOT_DATA_RID_LOW_INDEX])==MY_ID)
+            {
+                if (cm.funcc==FUNCC_BOOT_INIT) Reset(); // Reset me.
+                if (cm.funcc==FUNCC_BOOT_SET_ID)
+                {
+                        // Change my ID and NID
+                        MY_ID=(((WORD)cm.data[BOOT_DATA_NEW_ID_HIGH_INDEX])<<8)+cm.data[BOOT_DATA_NEW_ID_LOW_INDEX];
+                        MY_NID=cm.data[BOOT_DATA_NEW_NID_INDEX];
+                        EEWrite(NODE_ID_EE+1,cm.data[BOOT_DATA_NEW_ID_HIGH_INDEX]);
+                        EEWrite(NODE_ID_EE+2,cm.data[BOOT_DATA_NEW_ID_LOW_INDEX]);
+                        EEWrite(NODE_ID_EE+3,cm.data[BOOT_DATA_NEW_NID_INDEX]);
+                        EEWrite(NODE_ID_EE,NODE_HAS_ID);
+                        // Send ack with new id.
+                        outCm.funct                     = FUNCT_BOOTLOADER;
+                        outCm.funcc                     = FUNCC_BOOT_ACK;
+                        outCm.data_length               = 8;
+                        outCm.data[BOOT_DATA_ERR_INDEX] = ACK_ERR_NO_ERROR;
+                        while(!canSendMessage(outCm,PRIO_HIGH));
+                }
+            }
+        }
         //Call main parser
         canParse(cm);
+}
 /*
 *   Function: canSendMessage
+*
 *   Input:  CAN_MESSAGE to send
 *   Output: True if packet scheduled sucess, false otherwise.
 *   Pre-conditions: canInit
 *   Affects: ..
 *   Depends: ..
 */
 BOOL canSendMessage(CAN_MESSAGE cm,CAN_PRIORITY prio)
+{
     if ( TXB0CONbits.TXREQ == 0 )  { ECANCON=(ECANCON&0b00000)|0b00011; }
     if ( TXB1CONbits.TXREQ == 0 )  { ECANCON=(ECANCON&0b00000)|0b00100; }
     if ( TXB2CONbits.TXREQ == 0 )  { ECANCON=(ECANCON&0b00000)|0b00101; }
     // None of the transmit buffers were empty.
     else { return FALSE;}
     if (prio<0 || prio>3) prio = 0;
+        // Append my id and nid
+        cm.nid  = MY_NID;
+        cm.sid  = MY_ID;
         //RXB0SIDH 28 27 26 25 24 23 22 21
         //RXB0SIDL 20 19 18 xx xx xx 17 16
         //RXB0EIDH 15 14 13 12 11 10 09 08
         //RXB0EIDL 07 06 05 04 03 02 01 00
         //funct xx xx xx xx 28 27 26 25
         //funcc xx xx xx xx xx xx 24 23 22 21 20 19 18 17 16 15
         //nid   xx xx 14 13 12 11 10 09
         //sid   xx xx xx xx xx xx xx 08 07 06 05 04 03 02 01 00
         RXB0SIDH = (BYTE)((cm.funct & 0x0F)<<4)+(BYTE)((cm.funcc & 0x03C0)>>6);
         RXB0SIDL = (BYTE)((cm.funcc & 0x003F)<<2)+(BYTE)((cm.funcc & 0x0006)>>1);
         RXB0EIDH = (BYTE)((cm.funcc & 0x0001)<<7)+(BYTE)((cm.nid & 0x3F)<<1)+(BYTE)((cm.sid & 0x0100)>>8);
         RXB0EIDL = (BYTE)((cm.sid & 0x00FF));
         // Data length
         RXB0DLC = 0;
         if (cm.data_length>8) RXB0DLC=8; else RXB0DLC=cm.data_length;
         // NOT Remote request
         _asm
             bcf RXB0DLC, 6, 0
         _endasm
         // Data one bye one, for speed
         RXB0D0=cm.data[0];  RXB0D1=cm.data[1];
         RXB0D2=cm.data[2];  RXB0D3=cm.data[3];
         RXB0D4=cm.data[4];  RXB0D5=cm.data[5];
         RXB0D6=cm.data[6];  RXB0D7=cm.data[7];
         // set extended
         RXB0SIDLbits.EXID=1;
         // Priority
         RXB0CON = (RXB0CON & 0b11111100) | prio;
         // mark as redy to transmit
         _asm
             bsf RXB0CON, 3, 0
         _endasm
         return TRUE;
+}
-#endif //USE_CAN

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