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

Subversion Repositories HomeAutomation

(root)/trunk/EmbeddedSoftware/PIC/canBase/Source/Main.c @ 90 – Rev 89 → 90