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 11:44:48 +0100 (Tue, 14 Nov 2006) $
 * By:              $LastChangedBy: johboh $
 * Revision:        $Revision: 89 $
 ********************************************************************/
 
 
#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)
{
    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) { 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 87	Rev 89
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 11:20:48 +0100 (Tue, 14 Nov 2006) $	7	* Last changed: $LastChangedDate: 2006-11-14 11:44:48 +0100 (Tue, 14 Nov 2006) $
8	* By: $LastChangedBy: johboh $	8	* By: $LastChangedBy: johboh $
9	* Revision: $Revision: 87 $	9	* Revision: $Revision: 89 $
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	CAN_MESSAGE cm2;
28		28
29	// Inits	29	// Inits
30		30
31	mainInit();	31	mainInit();
32		32
33	#ifdef USE_CAN	33	#ifdef USE_CAN
34	canInit();	34	canInit();
35	#endif	35	#endif
36		36
37	tickInit();	37	tickInit();
38		38
39	// Dummy bootmessage	39	// Dummy bootmessage
40	cm2.data[0]=0x91;	40	cm2.data[0]=0x91;
41	cm2.data_length=1;	41	cm2.data_length=1;
42	canSendMessage(cm2,PRIO_HIGH);	42	canSendMessage(cm2,PRIO_HIGH);
43		43
44		44
45	while(1)	45	while(1)
46	{	46	{
47	static TICK t = 0;	47	static TICK t = 0;
48	if ((tickGet()-t)>TICK_SECOND)	48	if ((tickGet()-t)>TICK_SECOND)
49	{	49	{
50	LED0_IO=~LED0_IO;	50	LED0_IO=~LED0_IO;
51	t = tickGet();	51	t = tickGet();
52	}	52	}
53	}	53	}
54	}	54	}
55		55
56		56
57	#pragma interrupt high_isr	57	#pragma interrupt high_isr
58	void high_isr(void)	58	void high_isr(void)
59	{	59	{
-		60	ClrWdt();
60		61
61	#ifdef USE_CAN	62	#ifdef USE_CAN
62	canISR();	63	canISR();
63	#endif	64	#endif
64		65
65	tickUpdate();	66	tickUpdate();
-		67
66	}	68	}
67		69
68		70
69	#pragma interrupt low_isr	71	#pragma interrupt low_isr
70	void low_isr(void)	72	void low_isr(void)
71	{	73	{
72		74
73	}	75	}
74		76
75		77
76		78
77	/*	79	/*
78	* Function: mainInit	80	* Function: mainInit
79	*	81	*
80	* Input: none	82	* Input: none
81	* Output: none	83	* Output: none
82	* Pre-conditions: none	84	* Pre-conditions: none
83	* Affects: Se code	85	* Affects: Se code
84	* Depends: none.	86	* Depends: none.
85	*/	87	*/
86	void mainInit()	88	void mainInit()
87	{	89	{
88	LED0_TRIS=0;	90	LED0_TRIS=0;
89		91
90	// Enable Interrupts	92	// Enable Interrupts
91	INTCONbits.GIEH = 1;	93	INTCONbits.GIEH = 1;
92	INTCONbits.GIEL = 1;	94	INTCONbits.GIEL = 1;
93		95
94	// Enable interrupt prirority	96	// Enable interrupt prirority
95	RCONbits.IPEN=1;	97	RCONbits.IPEN=1;
96		98
97		99
98	}	100	}
99		101
100	/*	102	/*
101	* Function: canParse	103	* Function: canParse
102	*	104	*
103	* Input: Received can message	105	* Input: Received can message
104	* Output: none	106	* Output: none
105	* Pre-conditions: canInit and received packet.	107	* Pre-conditions: canInit and received packet.
106	* Affects: Sensors/actuators/etc. See code.	108	* Affects: Sensors/actuators/etc. See code.
107	* Depends: none.	109	* Depends: none.
108	*/	110	*/
109	#ifdef USE_CAN	111	#ifdef USE_CAN
110	void canParse(CAN_MESSAGE cm)	112	void canParse(CAN_MESSAGE cm)
111	{	113	{
-		114	ClrWdt();
-		115
112	switch(cm.funct)	116	switch(cm.funct)
113	{	117	{
114	case FUNCT_BOOTLOADER:	118	case FUNCT_BOOTLOADER:
115	if (cm.funcc==FUNCC_BOOT_INIT) { Reset(); }	119	if (cm.funcc==FUNCC_BOOT_INIT) { Reset(); }
116	break;	120	break;
117	}	121	}
118	}	122	}
119	#endif	123	#endif
120		124
121		125
122	// Below are mandantory when using bootloader	126	// Below are mandantory when using bootloader
123	// define DEBUG_MODE to use without bootloader.	127	// define DEBUG_MODE to use without bootloader.
124		128
125	#ifndef DEBUG_MODE	129	#ifndef DEBUG_MODE
126	extern void _startup (void);	130	extern void _startup (void);
127	#pragma code _RESET_INTERRUPT_VECTOR = 0x001000	131	#pragma code _RESET_INTERRUPT_VECTOR = 0x001000
128	void _reset (void)	132	void _reset (void)
129	{	133	{
130	_asm goto _startup _endasm	134	_asm goto _startup _endasm
131	}	135	}
132	#pragma code	136	#pragma code
133	#endif	137	#endif
134		138
135	#pragma code _HIGH_INTERRUPT_VECTOR = 0x001008	139	#pragma code _HIGH_INTERRUPT_VECTOR = 0x001008
136	void _high_ISR (void)	140	void _high_ISR (void)
137	{	141	{
138	_asm GOTO high_isr _endasm	142	_asm GOTO high_isr _endasm
139	}	143	}
140	#pragma code	144	#pragma code
141		145
142	#pragma code _LOW_INTERRUPT_VECTOR = 0x001018	146	#pragma code _LOW_INTERRUPT_VECTOR = 0x001018
143	void _low_ISR (void)	147	void _low_ISR (void)
144	{	148	{
145	_asm GOTO low_isr _endasm	149	_asm GOTO low_isr _endasm
146	}	150	}
147	#pragma code	151	#pragma code
148		152

Subversion Repositories HomeAutomation

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