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: 2006-11-14 11:20:48 +0100 (Tue, 14 Nov 2006) $
 * By:              $LastChangedBy: johboh $
 * Revision:        $Revision: 87 $
 ********************************************************************/
 
 
#include <compiler.h>
#include <stackTasks.h>
#include <Tick.h>
 
#ifdef USE_CAN
    #include <CAN.h>
#endif
 
static void mainInit(void);
 
 
void main()
{
    static TICK t = 0;
    CAN_MESSAGE cm2;
 
    // Inits
 
    mainInit();
 
    #ifdef USE_CAN
        canInit();
    #endif
 
    tickInit();
 
    // 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)
{
 
    #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)
{
    switch(cm.funct)
    {
        case FUNCT_BOOTLOADER:
            if (cm.funcc==FUNCC_BOOT_INIT) { 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 86	Rev 87
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 10:55:38 +0100 (Tue, 14 Nov 2006) $	7	* Last changed: $LastChangedDate: 2006-11-14 11:20:48 +0100 (Tue, 14 Nov 2006) $
8	* By: $LastChangedBy: johboh $	8	* By: $LastChangedBy: johboh $
9	* Revision: $Revision: 86 $	9	* Revision: $Revision: 87 $
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		16
17	#ifdef USE_CAN	17	#ifdef USE_CAN
18	#include <CAN.h>	18	#include <CAN.h>
19	#endif	19	#endif
20		20
21	static void mainInit(void);	21	static void mainInit(void);
22		22
23		23
24	void main()	24	void main()
25	{	25	{
26	static TICK t = 0;	26	static TICK t = 0;
-		27	CAN_MESSAGE cm2;
27		28
28	// Inits	29	// Inits
29		30
30	mainInit();	31	mainInit();
31		32
32	#ifdef USE_CAN	33	#ifdef USE_CAN
33	canInit();	34	canInit();
34	#endif	35	#endif
35		36
36	tickInit();	37	tickInit();
-		38
-		39	// Dummy bootmessage
-		40	cm2.data[0]=0x91;
-		41	cm2.data_length=1;
-		42	canSendMessage(cm2,PRIO_HIGH);
-		43
37		44
38	while(1)	45	while(1)
39	{	46	{
40	static TICK t = 0;	47	static TICK t = 0;
41	if ((tickGet()-t)>TICK_SECOND/2)	48	if ((tickGet()-t)>TICK_SECOND)
42	{	49	{
43	LED0_IO=~LED0_IO;	50	LED0_IO=~LED0_IO;
-		51	t = tickGet();
44	}	52	}
45	}	53	}
46	}	54	}
47		55
48		56
49	#pragma interrupt high_isr	57	#pragma interrupt high_isr
50	void high_isr(void)	58	void high_isr(void)
51	{	59	{
52		60
53	#ifdef USE_CAN	61	#ifdef USE_CAN
54	canISR();	62	canISR();
55	#endif	63	#endif
56		64
57	tickUpdate();	65	tickUpdate();
58	}	66	}
59		67
60		68
61	#pragma interrupt low_isr	69	#pragma interrupt low_isr
62	void low_isr(void)	70	void low_isr(void)
63	{	71	{
64		72
65	}	73	}
66		74
67		75
68		76
69	/*	77	/*
70	* Function: mainInit	78	* Function: mainInit
71	*	79	*
72	* Input: none	80	* Input: none
73	* Output: none	81	* Output: none
74	* Pre-conditions: none	82	* Pre-conditions: none
75	* Affects: Se code	83	* Affects: Se code
76	* Depends: none.	84	* Depends: none.
77	*/	85	*/
78	void mainInit()	86	void mainInit()
79	{	87	{
80	LED0_TRIS=0;	88	LED0_TRIS=0;
81		89
82	// Enable Interrupts	90	// Enable Interrupts
83	INTCONbits.GIEH = 1;	91	INTCONbits.GIEH = 1;
84	INTCONbits.GIEL = 1;	92	INTCONbits.GIEL = 1;
85		93
86	// Enable interrupt prirority	94	// Enable interrupt prirority
87	RCONbits.IPEN=1;	95	RCONbits.IPEN=1;
88		96
89		97
90	}	98	}
91		99
92	/*	100	/*
93	* Function: canParse	101	* Function: canParse
94	*	102	*
95	* Input: Received can message	103	* Input: Received can message
96	* Output: none	104	* Output: none
97	* Pre-conditions: canInit and received packet.	105	* Pre-conditions: canInit and received packet.
98	* Affects: Sensors/actuators/etc. See code.	106	* Affects: Sensors/actuators/etc. See code.
99	* Depends: none.	107	* Depends: none.
100	*/	108	*/
101	#ifdef USE_CAN	109	#ifdef USE_CAN
102	void canParse(CAN_MESSAGE cm)	110	void canParse(CAN_MESSAGE cm)
103	{	111	{
104	switch(cm.funct)	112	switch(cm.funct)
105	{	113	{
106	case FUNCT_BOOTLOADER:	114	case FUNCT_BOOTLOADER:
107	if (cm.funcc==FUNCC_BOOT_INIT) { ~~_asm goto~~ ~~0x0~~ ~~_endasm~~ }	115	if (cm.funcc==FUNCC_BOOT_INIT) { Reset(); }
108	break;	116	break;
109	}	117	}
110	}	118	}
111	#endif	119	#endif
112		120
113		121
114	// Below are mandantory when using bootloader	122	// Below are mandantory when using bootloader
115	// define DEBUG_MODE to use without bootloader.	123	// define DEBUG_MODE to use without bootloader.
116		124
117	#ifndef DEBUG_MODE	125	#ifndef DEBUG_MODE
118	extern void _startup (void);	126	extern void _startup (void);
119	#pragma code _RESET_INTERRUPT_VECTOR = 0x001000	127	#pragma code _RESET_INTERRUPT_VECTOR = 0x001000
120	void _reset (void)	128	void _reset (void)
121	{	129	{
122	_asm goto _startup _endasm	130	_asm goto _startup _endasm
123	}	131	}
124	#pragma code	132	#pragma code
125	#endif	133	#endif
126		134
127	#pragma code _HIGH_INTERRUPT_VECTOR = 0x001008	135	#pragma code _HIGH_INTERRUPT_VECTOR = 0x001008
128	void _high_ISR (void)	136	void _high_ISR (void)
129	{	137	{
130	_asm GOTO high_isr _endasm	138	_asm GOTO high_isr _endasm
131	}	139	}
132	#pragma code	140	#pragma code
133		141
134	#pragma code _LOW_INTERRUPT_VECTOR = 0x001018	142	#pragma code _LOW_INTERRUPT_VECTOR = 0x001018
135	void _low_ISR (void)	143	void _low_ISR (void)
136	{	144	{
137	_asm GOTO low_isr _endasm	145	_asm GOTO low_isr _endasm
138	}	146	}
139	#pragma code	147	#pragma code
140		148

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