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/*********************************************************************
 *
 *                  Main application
 *
 *********************************************************************
 * FileName:        $HeadURL: https://svn.auml.se/svn/HomeAutomation/trunk/EmbeddedSoftware/PIC/canBase/Source/Main.c $
 * Last changed:    $LastChangedDate: 2006-11-15 10:04:20 +0100 (Wed, 15 Nov 2006) $
 * By:              $LastChangedBy: johboh $
 * Revision:        $Revision: 103 $
 ********************************************************************/
 
 
#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.nid==MY_NID && ((((unsigned int)cm.data[BOOT_DATA_RID_HIGH_INDEX])<<8)+cm.data[BOOT_DATA_RID_LOW_INDEX])==MY_ID)
            {
                switch(cm.funcc)
                {
                    case FUNCC_BOOT_INIT: Reset(); break; //User whant to program me, reset me.
                    case FUNCC_BOOT_SET_ID:
                        // Change my ID and NID
                        MY_ID=(((WORD)cm.data[BOOT_DATA_NEW_ID_HIGH])<<8)+cm.data[BOOT_DATA_NEW_ID_LOW];
                        MY_NID=cm.data[BOOT_DATA_NEW_NID];
                        EEWrite(NODE_ID_EE+1,cm.data[BOOT_DATA_NEW_ID_HIGH]);
                        EEWrite(NODE_ID_EE+2,cm.data[BOOT_DATA_NEW_ID_LOW]);
                        EEWrite(NODE_ID_EE+3,cm.data[BOOT_DATA_NEW_NID]);
                        EEWrite(NODE_ID_EE,NODE_HAS_ID);
                    break;
                }
            }
 
 
        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 100	Rev 103
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: 2006-11-15 09:40:52 +0100 (Wed, 15 Nov 2006) $	7	* Last changed: $LastChangedDate: 2006-11-15 10:04:20 +0100 (Wed, 15 Nov 2006) $
8	* By: $LastChangedBy: johboh $	8	* By: $LastChangedBy: johboh $
9	* Revision: $Revision: ~~100~~ $	9	* Revision: $Revision: 103 $
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		25
26	static int MY_ID = DEFAULT_ID;	26	static int MY_ID = DEFAULT_ID;
27	static BYTE MY_NID = DEFAULT_NID;	27	static BYTE MY_NID = DEFAULT_NID;
28		28
29	void main()	29	void main()
30	{	30	{
31	static TICK t = 0;	31	static TICK t = 0;
32	CAN_MESSAGE cm2;	32	CAN_MESSAGE cm2;
33		33
34	// Inits	34	// Inits
35		35
36	mainInit();	36	mainInit();
37		37
38	#ifdef USE_CAN	38	#ifdef USE_CAN
39	canInit();	39	canInit();
40	#endif	40	#endif
41		41
42	tickInit();	42	tickInit();
43		43
44	// Read ID and NID if exist.	44	// Read ID and NID if exist.
45	if (EERead(NODE_ID_EE)==NODE_HAS_ID)	45	if (EERead(NODE_ID_EE)==NODE_HAS_ID)
46	{	46	{
47	MY_ID=(((WORD)EERead(NODE_ID_EE + 1))<<8)+EERead(NODE_ID_EE + 2);	47	MY_ID=(((WORD)EERead(NODE_ID_EE + 1))<<8)+EERead(NODE_ID_EE + 2);
48	MY_NID=EERead(NODE_ID_EE + 3);	48	MY_NID=EERead(NODE_ID_EE + 3);
49	}	49	}
50		50
51	// Dummy bootmessage	51	// Dummy bootmessage
52	cm2.data[0]=0x91;	52	cm2.data[0]=0x91;
53	cm2.data_length=1;	53	cm2.data_length=1;
54	canSendMessage(cm2,PRIO_HIGH);	54	canSendMessage(cm2,PRIO_HIGH);
55		55
56		56
57	while(1)	57	while(1)
58	{	58	{
59	static TICK t = 0;	59	static TICK t = 0;
60	if ((tickGet()-t)>TICK_SECOND)	60	if ((tickGet()-t)>TICK_SECOND)
61	{	61	{
62	LED0_IO=~LED0_IO;	62	LED0_IO=~LED0_IO;
63	t = tickGet();	63	t = tickGet();
64	}	64	}
65	}	65	}
66	}	66	}
67		67
68		68
69	#pragma interrupt high_isr	69	#pragma interrupt high_isr
70	void high_isr(void)	70	void high_isr(void)
71	{	71	{
72	ClrWdt();	72	ClrWdt();
73		73
74	#ifdef USE_CAN	74	#ifdef USE_CAN
75	canISR();	75	canISR();
76	#endif	76	#endif
77		77
78	tickUpdate();	78	tickUpdate();
79		79
80	}	80	}
81		81
82		82
83	#pragma interrupt low_isr	83	#pragma interrupt low_isr
84	void low_isr(void)	84	void low_isr(void)
85	{	85	{
86		86
87	}	87	}
88		88
89		89
90		90
91	/*	91	/*
92	* Function: mainInit	92	* Function: mainInit
93	*	93	*
94	* Input: none	94	* Input: none
95	* Output: none	95	* Output: none
96	* Pre-conditions: none	96	* Pre-conditions: none
97	* Affects: Se code	97	* Affects: Se code
98	* Depends: none.	98	* Depends: none.
99	*/	99	*/
100	void mainInit()	100	void mainInit()
101	{	101	{
102	LED0_TRIS=0;	102	LED0_TRIS=0;
103		103
104	// Enable Interrupts	104	// Enable Interrupts
105	INTCONbits.GIEH = 1;	105	INTCONbits.GIEH = 1;
106	INTCONbits.GIEL = 1;	106	INTCONbits.GIEL = 1;
107		107
108	// Enable interrupt prirority	108	// Enable interrupt prirority
109	RCONbits.IPEN=1;	109	RCONbits.IPEN=1;
110		110
111		111
112	}	112	}
113		113
114	/*	114	/*
115	* Function: canParse	115	* Function: canParse
116	*	116	*
117	* Input: Received can message	117	* Input: Received can message
118	* Output: none	118	* Output: none
119	* Pre-conditions: canInit and received packet.	119	* Pre-conditions: canInit and received packet.
120	* Affects: Sensors/actuators/etc. See code.	120	* Affects: Sensors/actuators/etc. See code.
121	* Depends: none.	121	* Depends: none.
122	*/	122	*/
123	#ifdef USE_CAN	123	#ifdef USE_CAN
124	void canParse(CAN_MESSAGE cm)	124	void canParse(CAN_MESSAGE cm)
125	{	125	{
126	ClrWdt();	126	ClrWdt();
127		127
128	switch(cm.funct)	128	switch(cm.funct)
129	{	129	{
130	case FUNCT_BOOTLOADER:	130	case FUNCT_BOOTLOADER:
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(); }	131	if (cm.nid==MY_NID && ((((unsigned int)cm.data[BOOT_DATA_RID_HIGH_INDEX])<<8)+cm.data[BOOT_DATA_RID_LOW_INDEX])==MY_ID)
-		132	{
-		133	switch(cm.funcc)
-		134	{
-		135	case FUNCC_BOOT_INIT: Reset(); break; //User whant to program me, reset me.
-		136	case FUNCC_BOOT_SET_ID:
-		137	// Change my ID and NID
-		138	MY_ID=(((WORD)cm.data[BOOT_DATA_NEW_ID_HIGH])<<8)+cm.data[BOOT_DATA_NEW_ID_LOW];
-		139	MY_NID=cm.data[BOOT_DATA_NEW_NID];
-		140	EEWrite(NODE_ID_EE+1,cm.data[BOOT_DATA_NEW_ID_HIGH]);
-		141	EEWrite(NODE_ID_EE+2,cm.data[BOOT_DATA_NEW_ID_LOW]);
-		142	EEWrite(NODE_ID_EE+3,cm.data[BOOT_DATA_NEW_NID]);
-		143	EEWrite(NODE_ID_EE,NODE_HAS_ID);
-		144	break;
-		145	}
-		146	}
-		147
-		148
132	break;	149	break;
133	}	150	}
134	}	151	}
135	#endif	152	#endif
136		153
137		154
138	// Below are mandantory when using bootloader	155	// Below are mandantory when using bootloader
139	// define DEBUG_MODE to use without bootloader.	156	// define DEBUG_MODE to use without bootloader.
140		157
141	#ifndef DEBUG_MODE	158	#ifndef DEBUG_MODE
142	extern void _startup (void);	159	extern void _startup (void);
143	#pragma code _RESET_INTERRUPT_VECTOR = 0x001000	160	#pragma code _RESET_INTERRUPT_VECTOR = 0x001000
144	void _reset (void)	161	void _reset (void)
145	{	162	{
146	_asm goto _startup _endasm	163	_asm goto _startup _endasm
147	}	164	}
148	#pragma code	165	#pragma code
149	#endif	166	#endif
150		167
151	#pragma code _HIGH_INTERRUPT_VECTOR = 0x001008	168	#pragma code _HIGH_INTERRUPT_VECTOR = 0x001008
152	void _high_ISR (void)	169	void _high_ISR (void)
153	{	170	{
154	_asm GOTO high_isr _endasm	171	_asm GOTO high_isr _endasm
155	}	172	}
156	#pragma code	173	#pragma code
157		174
158	#pragma code _LOW_INTERRUPT_VECTOR = 0x001018	175	#pragma code _LOW_INTERRUPT_VECTOR = 0x001018
159	void _low_ISR (void)	176	void _low_ISR (void)
160	{	177	{
161	_asm GOTO low_isr _endasm	178	_asm GOTO low_isr _endasm
162	}	179	}
163	#pragma code	180	#pragma code
164		181

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