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 10:04:20 +0100 (Wed, 15 Nov 2006) $
+ * Last changed:    $LastChangedDate: 2006-11-15 17:32:31 +0100 (Wed, 15 Nov 2006) $
  * By:              $LastChangedBy: johboh $
- * Revision:        $Revision: 103 $
+ * Revision:        $Revision: 108 $
  ********************************************************************/
 #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;
+    CAN_MESSAGE outCm;
     // 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;
+        static TICK heartbeat = 0;
+        if ((tickGet()-heartbeat)>TICK_SECOND*5)
+        {
+            outCm.funct                     = FUNCT_BOOTLOADER;
+            outCm.funcc                     = FUNCC_BOOT_HEARTBEAT;
+            outCm.nid                       = MY_NID;
+            outCm.sid                       = MY_ID;
+            outCm.data_length               = 0;
+            while(!canSendMessage(outCm,PRIO_HIGH));
+            heartbeat = tickGet();
+        }
         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)
+{
+    CAN_MESSAGE outCm;
     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);
+                        // Send ack with new id.
+                        outCm.funct                     = FUNCT_BOOTLOADER;
+                        outCm.funcc                     = FUNCC_BOOT_ACK;
+                        outCm.nid                       = MY_NID;
+                        outCm.sid                       = MY_ID;
+                        outCm.data_length               = 8;
+                        outCm.data[BOOT_DATA_ERR_INDEX] = ACK_ERR_NO_ERROR;
+                        while(!canSendMessage(outCm,PRIO_HIGH));
                     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

Subversion Repositories HomeAutomation

(root)/trunk/EmbeddedSoftware/PIC/canBase/Source/Main.c @ 108 – Rev 103 → 108