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: 2007-02-03 16:58:13 +0100 (Sat, 03 Feb 2007) $
+ * Last changed:    $LastChangedDate: 2007-02-25 20:51:08 +0100 (Sun, 25 Feb 2007) $
  * By:              $LastChangedBy: johboh $
- * Revision:        $Revision: 282 $
+ * Revision:        $Revision: 339 $
  ********************************************************************/
 #include <CANdefs.h>
 #include <stackTasks.h>
 #include <CAN.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 CAN_PACKET outCp;
 static void canGetPacket(void);
 /*
     // 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);
+        MY_ID=+EERead(NODE_ID_EE + 1);
+    }
     // Send user program startup heatbeat
+    outCp.type=ptPGM;
-    outCm.funct                     = FUNCT_BOOTLOADER;
+    outCp.pgm.class=pcCTRL;
-    outCm.funcc                     = FUNCC_BOOT_HEARTBEAT;
+    outCp.pgm.id=pctAPPBOOT;
-    outCm.data_length               = 1;
+    outCp.length=0;
-    outCm.data[BOOT_DATA_HEARTBEAT_INDEX] = HEARTBEAT_USER_STARTUP;
-    canSendMessage(outCm,PRIO_HIGH);
+    while(!canSendMessage(outCp,PRIO_HIGH));
+}
 /*
 *   Function: canISR
+*
 *   Input:  none
 *   Affects: interrupt registers and receive data buffers
 *   Depends: ..
 */
 void canISR()
+{
+    ClrWdt();
     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;}
     tickUpdate();
     if ((tickGet()-heartbeat)>TICK_SECOND*5)
+    {
         // Send alive heartbeat
+        outCp.type=ptPGM;
-        outCm.funct                     = FUNCT_BOOTLOADER;
+        outCp.pgm.class=pcCTRL;
-        outCm.funcc                     = FUNCC_BOOT_HEARTBEAT;
+        outCp.pgm.id=pctHEARTBEAT;
-        outCm.data_length               = 1;
+        outCp.length=0;
-        outCm.data[BOOT_DATA_HEARTBEAT_INDEX] = HEARTBEAT_ALIVE;
-        canSendMessage(outCm,PRIO_HIGH);
+        canSendMessage(outCp,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;
+        CAN_PACKET cp;
         //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
+        cp.type = ((RXB0SIDH&0xC)>>6);
-        //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
+        if (cp.type==ptBOOT)
+        {
-        cm.funct=((RXB0SIDH & 0xF0)>>4);
+            cp.boot.type  = ((RXB0SIDH&0x38)>>3);
-        cm.funcc=(((WORD)(RXB0SIDH & 0x0F))<<6)+(((WORD)(RXB0SIDL & 0xE0))>>2)+(((WORD)(RXB0SIDL & 0x03))<<1)+(((WORD)(RXB0EIDH & 0x80))>>7);
+            cp.boot.offset= ((RXB0SIDH&0x7)<<5)+((RXB0SIDL&0xE0)>>3)+(RXB0SIDL&0x3);
+            cp.boot.rid   = RXB0EIDH;
+        }
+        else
+        {
-        cm.nid=((RXB0EIDH & 0x7E)>>1);
+            cp.pgm.class= ((RXB0SIDH&0x3C)>>2);
-        cm.sid=(((WORD)(RXB0EIDH & 0x01))<<8)+RXB0EIDL;
+            cp.pgm.id   = (((WORD)RXB0SIDH&0x3)<<13)+(((WORD)RXB0SIDL&0xE0)<<5)+((RXB0SIDL&0x3)<<8)+RXB0EIDH;
+        }
+        cp.sid   = RXB0EIDL;
         // Data length
-        cm.data_length=(RXB0DLCbits.DLC3<<3)+(RXB0DLCbits.DLC2<<2)+(RXB0DLCbits.DLC1<<1)+RXB0DLCbits.DLC0;
+        cp.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;
+        cp.data[0]=RXB0D0;  cp.data[1]=RXB0D1;
-        cm.data[2]=RXB0D2;  cm.data[3]=RXB0D3;
+        cp.data[2]=RXB0D2;  cp.data[3]=RXB0D3;
-        cm.data[4]=RXB0D4;  cm.data[5]=RXB0D5;
+        cp.data[4]=RXB0D4;  cp.data[5]=RXB0D5;
-        cm.data[6]=RXB0D6;  cm.data[7]=RXB0D7;
+        cp.data[6]=RXB0D6;  cp.data[7]=RXB0D7;
         // Clear ful status
         RXB0CONbits.RXFUL=0;
-        // Check if FUNCT_BOOTLOADER specific.
+        // Check if bootloader request specific.
         // reset and id change
-        if (cm.funct==FUNCT_BOOTLOADER)
+        if (cp.type==ptBOOT)
-        {
-            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 (cp.boot.rid==MY_ID)
+            {
-                if (cm.funcc==FUNCC_BOOT_INIT) Reset(); // Reset me.
+                if (cp.boot.type==btADDR) Reset(); // Reset me.
-                if (cm.funcc==FUNCC_BOOT_SET_ID)
+                if (cp.boot.type==btCHANGEID)
+                {
                         // 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];
+                        MY_ID=cp.data[0];
-                        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+1,cp.data[0]);
                         EEWrite(NODE_ID_EE,NODE_HAS_ID);
                         // Send ack with new id.
-                        outCm.funct                     = FUNCT_BOOTLOADER;
+                        outCp.type=ptBOOT;
-                        outCm.funcc                     = FUNCC_BOOT_ACK;
+                        outCp.boot.type=btACK;
-                        outCm.data_length               = 8;
+                        outCp.length=0;
-                        outCm.data[BOOT_DATA_ERR_INDEX] = ACK_ERR_NO_ERROR;
-                        while(!canSendMessage(outCm,PRIO_HIGH));
+                        while(!canSendMessage(outCp,PRIO_HIGH));
                 }
             }
         }
         //Call main parser
-        canParse(cm);
+        if (cp.type==ptPGM) canParse(cp);
+}
 /*
 *   Function: canSendMessage
 *   Output: True if packet scheduled sucess, false otherwise.
 *   Pre-conditions: canInit
 *   Affects: ..
 *   Depends: ..
 */
-BOOL canSendMessage(CAN_MESSAGE cm,CAN_PRIORITY prio)
+BOOL canSendMessage(CAN_PACKET cp, 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
+    //RXB0SIDH 28 27 26 25 24 23 22 21
-        //RXB0SIDL 20 19 18 xx xx xx 17 16
+    //RXB0SIDL 20 19 18 xx xx xx 17 16
-        //RXB0EIDH 15 14 13 12 11 10 09 08
+    //RXB0EIDH 15 14 13 12 11 10 09 08
-        //RXB0EIDL 07 06 05 04 03 02 01 00
+    //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
+    if (cp.type==ptBOOT)
+    {
-        RXB0SIDH = (BYTE)((cm.funct & 0x0F)<<4)+(BYTE)((cm.funcc & 0x03C0)>>6);
+        RXB0SIDH = ((cp.type&0x3)<<6)+((cp.boot.type&0x7)<<3)+((cp.boot.offset&0xE0)>>5);
-        RXB0SIDL = (BYTE)((cm.funcc & 0x003F)<<2)+(BYTE)((cm.funcc & 0x0006)>>1);
+        RXB0SIDL = ((cp.boot.offset&0x1C)<<3)+(cp.boot.offset&0x3);
+        RXB0EIDH = cp.boot.rid;
+    }
+    else
+    {
-        RXB0EIDH = (BYTE)((cm.funcc & 0x0001)<<7)+(BYTE)((cm.nid & 0x3F)<<1)+(BYTE)((cm.sid & 0x0100)>>8);
+        RXB0SIDH = ((cp.type&0x3)<<6)+((cp.pgm.class&0xF)<<2)+((cp.pgm.id&0x6000)>>13);
+        RXB0SIDL = ((cp.pgm.id&0x1C00)>>5)+((cp.pgm.id&0x300)>>8);
-        RXB0EIDL = (BYTE)((cm.sid & 0x00FF));
+        RXB0EIDH = (cp.pgm.id&0xFF);
+    }
+    RXB0EIDL = MY_ID;
-        // Data length
+    // Data length
-        RXB0DLC = 0;
+    RXB0DLC = 0;
-        if (cm.data_length>8) RXB0DLC=8; else RXB0DLC=cm.data_length;
+    if (cp.length>8) RXB0DLC=8; else RXB0DLC=cp.length;
-        // NOT Remote request
+    // NOT Remote request
-        _asm
+    _asm
-            bcf RXB0DLC, 6, 0
+        bcf RXB0DLC, 6, 0
-        _endasm
+    _endasm
-        // Data one bye one, for speed
+    // Data one bye one, for speed
-        RXB0D0=cm.data[0];  RXB0D1=cm.data[1];
+    RXB0D0=cp.data[0];  RXB0D1=cp.data[1];
-        RXB0D2=cm.data[2];  RXB0D3=cm.data[3];
+    RXB0D2=cp.data[2];  RXB0D3=cp.data[3];
-        RXB0D4=cm.data[4];  RXB0D5=cm.data[5];
+    RXB0D4=cp.data[4];  RXB0D5=cp.data[5];
-        RXB0D6=cm.data[6];  RXB0D7=cm.data[7];
+    RXB0D6=cp.data[6];  RXB0D7=cp.data[7];
-        // set extended
+    // set extended
-        RXB0SIDLbits.EXID=1;
+    RXB0SIDLbits.EXID=1;
-        // Priority
+    // Priority
-        RXB0CON = (RXB0CON & 0b11111100) | prio;
+    RXB0CON = (RXB0CON & 0b11111100) | prio;

Subversion Repositories HomeAutomation

(root)/trunk/EmbeddedSoftware/PIC/canBase/Source/CAN.c @ 339 – Rev 282 → 339