WebSVN – HomeAutomation – Blame – /trunk/EmbeddedSoftware/PIC/canBase/Source/Main.c

Rev	Author	Line No.	Line
85	johboh	1	/*********************************************************************
		2	*
		3	* Main application
		4	*
		5	*********************************************************************
86	johboh	6	* FileName: $HeadURL: https://svn.auml.se/svn/HomeAutomation/trunk/EmbeddedSoftware/PIC/canBase/Source/Main.c $
		7	* Last changed: $LastChangedDate: 2006-11-15 09:40:52 +0100 (Wed, 15 Nov 2006) $
		8	* By: $LastChangedBy: johboh $
		9	* Revision: $Revision: 100 $
85	johboh	10	********************************************************************/
		11
		12
		13	#include <compiler.h>
		14	#include <stackTasks.h>
		15	#include <Tick.h>
90	johboh	16	#include <funcdefs.h>
95	johboh	17	#include <EEaccess.h>
85	johboh	18
		19	#ifdef USE_CAN
		20	#include <CAN.h>
		21	#endif
		22
		23	static void mainInit(void);
		24
		25
100	johboh	26	static int MY_ID = DEFAULT_ID;
		27	static BYTE MY_NID = DEFAULT_NID;
		28
85	johboh	29	void main()
		30	{
		31	static TICK t = 0;
87	johboh	32	CAN_MESSAGE cm2;
85	johboh	33
		34	// Inits
		35
		36	mainInit();
		37
		38	#ifdef USE_CAN
		39	canInit();
		40	#endif
		41
		42	tickInit();
		43
100	johboh	44	// Read ID and NID if exist.
		45	if (EERead(NODE_ID_EE)==NODE_HAS_ID)
		46	{
		47	MY_ID=(((WORD)EERead(NODE_ID_EE + 1))<<8)+EERead(NODE_ID_EE + 2);
		48	MY_NID=EERead(NODE_ID_EE + 3);
		49	}
		50
87	johboh	51	// Dummy bootmessage
		52	cm2.data[0]=0x91;
		53	cm2.data_length=1;
		54	canSendMessage(cm2,PRIO_HIGH);
		55
		56
85	johboh	57	while(1)
		58	{
86	johboh	59	static TICK t = 0;
87	johboh	60	if ((tickGet()-t)>TICK_SECOND)
85	johboh	61	{
86	johboh	62	LED0_IO=~LED0_IO;
87	johboh	63	t = tickGet();
85	johboh	64	}
		65	}
		66	}
		67
		68
		69	#pragma interrupt high_isr
		70	void high_isr(void)
		71	{
89	johboh	72	ClrWdt();
85	johboh	73
		74	#ifdef USE_CAN
		75	canISR();
		76	#endif
		77
		78	tickUpdate();
89	johboh	79
85	johboh	80	}
		81
		82
		83	#pragma interrupt low_isr
		84	void low_isr(void)
		85	{
		86
		87	}
		88
		89
		90
		91	/*
		92	* Function: mainInit
		93	*
		94	* Input: none
		95	* Output: none
		96	* Pre-conditions: none
		97	* Affects: Se code
		98	* Depends: none.
		99	*/
		100	void mainInit()
		101	{
		102	LED0_TRIS=0;
		103
		104	// Enable Interrupts
		105	INTCONbits.GIEH = 1;
		106	INTCONbits.GIEL = 1;
		107
		108	// Enable interrupt prirority
		109	RCONbits.IPEN=1;
		110
		111
		112	}
		113
		114	/*
		115	* Function: canParse
		116	*
		117	* Input: Received can message
		118	* Output: none
		119	* Pre-conditions: canInit and received packet.
		120	* Affects: Sensors/actuators/etc. See code.
		121	* Depends: none.
		122	*/
		123	#ifdef USE_CAN
		124	void canParse(CAN_MESSAGE cm)
		125	{
89	johboh	126	ClrWdt();
		127
86	johboh	128	switch(cm.funct)
		129	{
		130	case FUNCT_BOOTLOADER:
100	johboh	131	if (cm.funcc==FUNCC_BOOT_INIT && cm.nid==MY_NID && ((((unsigned int)cm.data[BOOT_DATA_RID_HIGH_INDEX])<<8)+cm.data[BOOT_DATA_RID_LOW_INDEX])==MY_ID) { Reset(); }
86	johboh	132	break;
		133	}
		134	}
		135	#endif
85	johboh	136
		137
86	johboh	138	// Below are mandantory when using bootloader
		139	// define DEBUG_MODE to use without bootloader.
85	johboh	140
		141	#ifndef DEBUG_MODE
		142	extern void _startup (void);
		143	#pragma code _RESET_INTERRUPT_VECTOR = 0x001000
		144	void _reset (void)
		145	{
		146	_asm goto _startup _endasm
		147	}
		148	#pragma code
		149	#endif
		150
		151	#pragma code _HIGH_INTERRUPT_VECTOR = 0x001008
		152	void _high_ISR (void)
		153	{
		154	_asm GOTO high_isr _endasm
		155	}
		156	#pragma code
		157
		158	#pragma code _LOW_INTERRUPT_VECTOR = 0x001018
		159	void _low_ISR (void)
		160	{
		161	_asm GOTO low_isr _endasm
		162	}
		163	#pragma code

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