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 21:11:28 +0100 (Tue, 14 Nov 2006) $
 * By:              $LastChangedBy: johboh $
 * Revision:        $Revision: 95 $
 ********************************************************************/
 
 
#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);
 
 
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 90	Rev 95
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 12:49:56 +0100 (Tue, 14 Nov 2006) $	7	* Last changed: $LastChangedDate: 2006-11-14 21:11:28 +0100 (Tue, 14 Nov 2006) $
8	* By: $LastChangedBy: johboh $	8	* By: $LastChangedBy: johboh $
9	* Revision: $Revision: 90 $	9	* Revision: $Revision: 95 $
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		18
18	#ifdef USE_CAN	19	#ifdef USE_CAN
19	#include <CAN.h>	20	#include <CAN.h>
20	#endif	21	#endif
21		22
22	static void mainInit(void);	23	static void mainInit(void);
23		24
24		25
25	void main()	26	void main()
26	{	27	{
27	static TICK t = 0;	28	static TICK t = 0;
28	CAN_MESSAGE cm2;	29	CAN_MESSAGE cm2;
29		30
30	// Inits	31	// Inits
31		32
32	mainInit();	33	mainInit();
33		34
34	#ifdef USE_CAN	35	#ifdef USE_CAN
35	canInit();	36	canInit();
36	#endif	37	#endif
37		38
38	tickInit();	39	tickInit();
39		40
40	// Dummy bootmessage	41	// Dummy bootmessage
41	cm2.data[0]=0x91;	42	cm2.data[0]=0x91;
42	cm2.data_length=1;	43	cm2.data_length=1;
43	canSendMessage(cm2,PRIO_HIGH);	44	canSendMessage(cm2,PRIO_HIGH);
44		45
45		46
46	while(1)	47	while(1)
47	{	48	{
48	static TICK t = 0;	49	static TICK t = 0;
49	if ((tickGet()-t)>TICK_SECOND)	50	if ((tickGet()-t)>TICK_SECOND)
50	{	51	{
51	LED0_IO=~LED0_IO;	52	LED0_IO=~LED0_IO;
52	t = tickGet();	53	t = tickGet();
53	}	54	}
54	}	55	}
55	}	56	}
56		57
57		58
58	#pragma interrupt high_isr	59	#pragma interrupt high_isr
59	void high_isr(void)	60	void high_isr(void)
60	{	61	{
61	ClrWdt();	62	ClrWdt();
62		63
63	#ifdef USE_CAN	64	#ifdef USE_CAN
64	canISR();	65	canISR();
65	#endif	66	#endif
66		67
67	tickUpdate();	68	tickUpdate();
68		69
69	}	70	}
70		71
71		72
72	#pragma interrupt low_isr	73	#pragma interrupt low_isr
73	void low_isr(void)	74	void low_isr(void)
74	{	75	{
75		76
76	}	77	}
77		78
78		79
79		80
80	/*	81	/*
81	* Function: mainInit	82	* Function: mainInit
82	*	83	*
83	* Input: none	84	* Input: none
84	* Output: none	85	* Output: none
85	* Pre-conditions: none	86	* Pre-conditions: none
86	* Affects: Se code	87	* Affects: Se code
87	* Depends: none.	88	* Depends: none.
88	*/	89	*/
89	void mainInit()	90	void mainInit()
90	{	91	{
91	LED0_TRIS=0;	92	LED0_TRIS=0;
92		93
93	// Enable Interrupts	94	// Enable Interrupts
94	INTCONbits.GIEH = 1;	95	INTCONbits.GIEH = 1;
95	INTCONbits.GIEL = 1;	96	INTCONbits.GIEL = 1;
96		97
97	// Enable interrupt prirority	98	// Enable interrupt prirority
98	RCONbits.IPEN=1;	99	RCONbits.IPEN=1;
99		100
100		101
101	}	102	}
102		103
103	/*	104	/*
104	* Function: canParse	105	* Function: canParse
105	*	106	*
106	* Input: Received can message	107	* Input: Received can message
107	* Output: none	108	* Output: none
108	* Pre-conditions: canInit and received packet.	109	* Pre-conditions: canInit and received packet.
109	* Affects: Sensors/actuators/etc. See code.	110	* Affects: Sensors/actuators/etc. See code.
110	* Depends: none.	111	* Depends: none.
111	*/	112	*/
112	#ifdef USE_CAN	113	#ifdef USE_CAN
113	void canParse(CAN_MESSAGE cm)	114	void canParse(CAN_MESSAGE cm)
114	{	115	{
115	ClrWdt();	116	ClrWdt();
116		117
117	switch(cm.funct)	118	switch(cm.funct)
118	{	119	{
119	case FUNCT_BOOTLOADER:	120	case FUNCT_BOOTLOADER:
120	if (cm.funcc==FUNCC_BOOT_INIT) { Reset(); }	121	if (cm.funcc==FUNCC_BOOT_INIT) { Reset(); }
121	break;	122	break;
122	}	123	}
123	}	124	}
124	#endif	125	#endif
125		126
126		127
127	// Below are mandantory when using bootloader	128	// Below are mandantory when using bootloader
128	// define DEBUG_MODE to use without bootloader.	129	// define DEBUG_MODE to use without bootloader.
129		130
130	#ifndef DEBUG_MODE	131	#ifndef DEBUG_MODE
131	extern void _startup (void);	132	extern void _startup (void);
132	#pragma code _RESET_INTERRUPT_VECTOR = 0x001000	133	#pragma code _RESET_INTERRUPT_VECTOR = 0x001000
133	void _reset (void)	134	void _reset (void)
134	{	135	{
135	_asm goto _startup _endasm	136	_asm goto _startup _endasm
136	}	137	}
137	#pragma code	138	#pragma code
138	#endif	139	#endif
139		140
140	#pragma code _HIGH_INTERRUPT_VECTOR = 0x001008	141	#pragma code _HIGH_INTERRUPT_VECTOR = 0x001008
141	void _high_ISR (void)	142	void _high_ISR (void)
142	{	143	{
143	_asm GOTO high_isr _endasm	144	_asm GOTO high_isr _endasm
144	}	145	}
145	#pragma code	146	#pragma code
146		147
147	#pragma code _LOW_INTERRUPT_VECTOR = 0x001018	148	#pragma code _LOW_INTERRUPT_VECTOR = 0x001018
148	void _low_ISR (void)	149	void _low_ISR (void)
149	{	150	{
150	_asm GOTO low_isr _endasm	151	_asm GOTO low_isr _endasm
151	}	152	}
152	#pragma code	153	#pragma code
153		154

Subversion Repositories HomeAutomation

(root)/trunk/EmbeddedSoftware/PIC/canBase/Source/Main.c @ 95 – Rev 90 → 95