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


/*********************************************************************
 *
 *                  Main application
 *
 *********************************************************************
 * FileName:        $HeadURL: https://svn.auml.se/svn/HomeAutomation/trunk/EmbeddedSoftware/PIC/canBase/Source/Main.c $
 * Last changed:    $LastChangedDate: 2006-11-15 09:40:52 +0100 (Wed, 15 Nov 2006) $
 * By:              $LastChangedBy: johboh $
 * Revision:        $Revision: 100 $
 ********************************************************************/
 
 
#include <compiler.h>
#include <stackTasks.h>
#include <Tick.h>
#include <funcdefs.h>
#include <EEaccess.h>
 
#ifdef USE_CAN
    #include <CAN.h>
#endif
 
static void mainInit(void);
 
 
static int MY_ID = DEFAULT_ID;
static BYTE MY_NID = DEFAULT_NID;
 
void main()
{
    static TICK t = 0;
    CAN_MESSAGE cm2;
 
    // Inits
 
    mainInit();
 
    #ifdef USE_CAN
        canInit();
    #endif
 
    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);
    }
 
    // Dummy bootmessage
    cm2.data[0]=0x91;
    cm2.data_length=1;
    canSendMessage(cm2,PRIO_HIGH);
 
 
    while(1)
    {
        static TICK t = 0;
        if ((tickGet()-t)>TICK_SECOND)
        {
            LED0_IO=~LED0_IO;
            t = tickGet();
        }
    }
}
 
 
#pragma interrupt high_isr
void high_isr(void)
{
    ClrWdt();
 
    #ifdef USE_CAN
        canISR();
    #endif
 
    tickUpdate();
 
}
 
 
#pragma interrupt low_isr
void low_isr(void)
{
 
}
 
 
 
/*
*   Function: mainInit
*
*   Input:  none
*   Output: none
*   Pre-conditions: none
*   Affects: Se code
*   Depends: none.
*/
void mainInit()
{
    LED0_TRIS=0;   
 
    // Enable Interrupts
    INTCONbits.GIEH = 1;
    INTCONbits.GIEL = 1;
 
    // Enable interrupt prirority
    RCONbits.IPEN=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)
{
    ClrWdt();
 
    switch(cm.funct)
    {
        case FUNCT_BOOTLOADER:
            if (cm.funcc==FUNCC_BOOT_INIT && cm.nid==MY_NID && ((((unsigned int)cm.data[BOOT_DATA_RID_HIGH_INDEX])<<8)+cm.data[BOOT_DATA_RID_LOW_INDEX])==MY_ID) { Reset(); }
        break;
    }
}
#endif
 
 
// Below are mandantory when using bootloader
// define DEBUG_MODE to use without bootloader.
 
#ifndef DEBUG_MODE
extern void _startup (void);
#pragma code _RESET_INTERRUPT_VECTOR = 0x001000
void _reset (void)
{
    _asm goto _startup _endasm
}
#pragma code
#endif
 
#pragma code _HIGH_INTERRUPT_VECTOR = 0x001008
void _high_ISR (void)
{
    _asm GOTO high_isr _endasm
}
#pragma code
 
#pragma code _LOW_INTERRUPT_VECTOR = 0x001018
void _low_ISR (void)
{
    _asm GOTO low_isr _endasm
}
#pragma code
 

Rev 95	Rev 100
1	/*********************************************************************	1	/*********************************************************************
2	*	2	*
3	* Main application	3	* Main application
4	*	4	*
5	*********************************************************************	5	*********************************************************************
6	* FileName: $HeadURL: https://svn.auml.se/svn/HomeAutomation/trunk/EmbeddedSoftware/PIC/canBase/Source/Main.c $	6	* FileName: $HeadURL: https://svn.auml.se/svn/HomeAutomation/trunk/EmbeddedSoftware/PIC/canBase/Source/Main.c $
7	* Last changed: $LastChangedDate: 2006-11-14 21:11:28 +0100 (~~Tue,~~ 14 Nov 2006) $	7	* Last changed: $LastChangedDate: 2006-11-15 09:40:52 +0100 (Wed, 15 Nov 2006) $
8	* By: $LastChangedBy: johboh $	8	* By: $LastChangedBy: johboh $
9	* Revision: $Revision: 95 $	9	* Revision: $Revision: 100 $
10	********************************************************************/	10	********************************************************************/
11		11
12		12
13	#include <compiler.h>	13	#include <compiler.h>
14	#include <stackTasks.h>	14	#include <stackTasks.h>
15	#include <Tick.h>	15	#include <Tick.h>
16	#include <funcdefs.h>	16	#include <funcdefs.h>
17	#include <EEaccess.h>	17	#include <EEaccess.h>
18		18
19	#ifdef USE_CAN	19	#ifdef USE_CAN
20	#include <CAN.h>	20	#include <CAN.h>
21	#endif	21	#endif
22		22
23	static void mainInit(void);	23	static void mainInit(void);
24		24
-		25
-		26	static int MY_ID = DEFAULT_ID;
-		27	static BYTE MY_NID = DEFAULT_NID;
25		28
26	void main()	29	void main()
27	{	30	{
28	static TICK t = 0;	31	static TICK t = 0;
29	CAN_MESSAGE cm2;	32	CAN_MESSAGE cm2;
30		33
31	// Inits	34	// Inits
32		35
33	mainInit();	36	mainInit();
34		37
35	#ifdef USE_CAN	38	#ifdef USE_CAN
36	canInit();	39	canInit();
37	#endif	40	#endif
38		41
39	tickInit();	42	tickInit();
-		43
-		44	// Read ID and NID if exist.
-		45	if (EERead(NODE_ID_EE)==NODE_HAS_ID)
-		46	{
-		47	MY_ID=(((WORD)EERead(NODE_ID_EE + 1))<<8)+EERead(NODE_ID_EE + 2);
-		48	MY_NID=EERead(NODE_ID_EE + 3);
-		49	}
40		50
41	// Dummy bootmessage	51	// Dummy bootmessage
42	cm2.data[0]=0x91;	52	cm2.data[0]=0x91;
43	cm2.data_length=1;	53	cm2.data_length=1;
44	canSendMessage(cm2,PRIO_HIGH);	54	canSendMessage(cm2,PRIO_HIGH);
45		55
46		56
47	while(1)	57	while(1)
48	{	58	{
49	static TICK t = 0;	59	static TICK t = 0;
50	if ((tickGet()-t)>TICK_SECOND)	60	if ((tickGet()-t)>TICK_SECOND)
51	{	61	{
52	LED0_IO=~LED0_IO;	62	LED0_IO=~LED0_IO;
53	t = tickGet();	63	t = tickGet();
54	}	64	}
55	}	65	}
56	}	66	}
57		67
58		68
59	#pragma interrupt high_isr	69	#pragma interrupt high_isr
60	void high_isr(void)	70	void high_isr(void)
61	{	71	{
62	ClrWdt();	72	ClrWdt();
63		73
64	#ifdef USE_CAN	74	#ifdef USE_CAN
65	canISR();	75	canISR();
66	#endif	76	#endif
67		77
68	tickUpdate();	78	tickUpdate();
69		79
70	}	80	}
71		81
72		82
73	#pragma interrupt low_isr	83	#pragma interrupt low_isr
74	void low_isr(void)	84	void low_isr(void)
75	{	85	{
76		86
77	}	87	}
78		88
79		89
80		90
81	/*	91	/*
82	* Function: mainInit	92	* Function: mainInit
83	*	93	*
84	* Input: none	94	* Input: none
85	* Output: none	95	* Output: none
86	* Pre-conditions: none	96	* Pre-conditions: none
87	* Affects: Se code	97	* Affects: Se code
88	* Depends: none.	98	* Depends: none.
89	*/	99	*/
90	void mainInit()	100	void mainInit()
91	{	101	{
92	LED0_TRIS=0;	102	LED0_TRIS=0;
93		103
94	// Enable Interrupts	104	// Enable Interrupts
95	INTCONbits.GIEH = 1;	105	INTCONbits.GIEH = 1;
96	INTCONbits.GIEL = 1;	106	INTCONbits.GIEL = 1;
97		107
98	// Enable interrupt prirority	108	// Enable interrupt prirority
99	RCONbits.IPEN=1;	109	RCONbits.IPEN=1;
100		110
101		111
102	}	112	}
103		113
104	/*	114	/*
105	* Function: canParse	115	* Function: canParse
106	*	116	*
107	* Input: Received can message	117	* Input: Received can message
108	* Output: none	118	* Output: none
109	* Pre-conditions: canInit and received packet.	119	* Pre-conditions: canInit and received packet.
110	* Affects: Sensors/actuators/etc. See code.	120	* Affects: Sensors/actuators/etc. See code.
111	* Depends: none.	121	* Depends: none.
112	*/	122	*/
113	#ifdef USE_CAN	123	#ifdef USE_CAN
114	void canParse(CAN_MESSAGE cm)	124	void canParse(CAN_MESSAGE cm)
115	{	125	{
116	ClrWdt();	126	ClrWdt();
117		127
118	switch(cm.funct)	128	switch(cm.funct)
119	{	129	{
120	case FUNCT_BOOTLOADER:	130	case FUNCT_BOOTLOADER:
121	if (cm.funcc==FUNCC_BOOT_INIT) { Reset(); }	131	if (cm.funcc==FUNCC_BOOT_INIT && cm.nid==MY_NID && ((((unsigned int)cm.data[BOOT_DATA_RID_HIGH_INDEX])<<8)+cm.data[BOOT_DATA_RID_LOW_INDEX])==MY_ID) { Reset(); }
122	break;	132	break;
123	}	133	}
124	}	134	}
125	#endif	135	#endif
126		136
127		137
128	// Below are mandantory when using bootloader	138	// Below are mandantory when using bootloader
129	// define DEBUG_MODE to use without bootloader.	139	// define DEBUG_MODE to use without bootloader.
130		140
131	#ifndef DEBUG_MODE	141	#ifndef DEBUG_MODE
132	extern void _startup (void);	142	extern void _startup (void);
133	#pragma code _RESET_INTERRUPT_VECTOR = 0x001000	143	#pragma code _RESET_INTERRUPT_VECTOR = 0x001000
134	void _reset (void)	144	void _reset (void)
135	{	145	{
136	_asm goto _startup _endasm	146	_asm goto _startup _endasm
137	}	147	}
138	#pragma code	148	#pragma code
139	#endif	149	#endif
140		150
141	#pragma code _HIGH_INTERRUPT_VECTOR = 0x001008	151	#pragma code _HIGH_INTERRUPT_VECTOR = 0x001008
142	void _high_ISR (void)	152	void _high_ISR (void)
143	{	153	{
144	_asm GOTO high_isr _endasm	154	_asm GOTO high_isr _endasm
145	}	155	}
146	#pragma code	156	#pragma code
147		157
148	#pragma code _LOW_INTERRUPT_VECTOR = 0x001018	158	#pragma code _LOW_INTERRUPT_VECTOR = 0x001018
149	void _low_ISR (void)	159	void _low_ISR (void)
150	{	160	{
151	_asm GOTO low_isr _endasm	161	_asm GOTO low_isr _endasm
152	}	162	}
153	#pragma code	163	#pragma code
154		164

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