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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 85 | johboh | 1 | /********************************************************************* |
| 2 | * |
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| 3 | * Main application |
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| 4 | * |
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| 5 | ********************************************************************* |
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| 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 10:04:20 +0100 (Wed, 15 Nov 2006) $ |
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| 8 | * By: $LastChangedBy: johboh $ |
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| 9 | * Revision: $Revision: 103 $ |
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| 85 | johboh | 10 | ********************************************************************/ |
| 11 | |||
| 12 | |||
| 13 | #include <compiler.h> |
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| 14 | #include <stackTasks.h> |
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| 15 | #include <Tick.h> |
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| 90 | johboh | 16 | #include <funcdefs.h> |
| 95 | johboh | 17 | #include <EEaccess.h> |
| 85 | johboh | 18 | |
| 19 | #ifdef USE_CAN |
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| 20 | #include <CAN.h> |
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| 21 | #endif |
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| 22 | |||
| 23 | static void mainInit(void); |
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| 24 | |||
| 25 | |||
| 100 | johboh | 26 | static int MY_ID = DEFAULT_ID; |
| 27 | static BYTE MY_NID = DEFAULT_NID; |
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| 28 | |||
| 85 | johboh | 29 | void main() |
| 30 | { |
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| 31 | static TICK t = 0; |
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| 87 | johboh | 32 | CAN_MESSAGE cm2; |
| 85 | johboh | 33 | |
| 34 | // Inits |
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| 35 | |||
| 36 | mainInit(); |
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| 37 | |||
| 38 | #ifdef USE_CAN |
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| 39 | canInit(); |
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| 40 | #endif |
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| 41 | |||
| 42 | tickInit(); |
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| 43 | |||
| 100 | johboh | 44 | // Read ID and NID if exist. |
| 45 | if (EERead(NODE_ID_EE)==NODE_HAS_ID) |
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| 46 | { |
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| 47 | MY_ID=(((WORD)EERead(NODE_ID_EE + 1))<<8)+EERead(NODE_ID_EE + 2); |
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| 48 | MY_NID=EERead(NODE_ID_EE + 3); |
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| 49 | } |
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| 50 | |||
| 87 | johboh | 51 | // Dummy bootmessage |
| 52 | cm2.data[0]=0x91; |
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| 53 | cm2.data_length=1; |
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| 54 | canSendMessage(cm2,PRIO_HIGH); |
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| 55 | |||
| 56 | |||
| 85 | johboh | 57 | while(1) |
| 58 | { |
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| 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 | } |
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| 66 | } |
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| 67 | |||
| 68 | |||
| 69 | #pragma interrupt high_isr |
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| 70 | void high_isr(void) |
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| 71 | { |
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| 89 | johboh | 72 | ClrWdt(); |
| 85 | johboh | 73 | |
| 74 | #ifdef USE_CAN |
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| 75 | canISR(); |
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| 76 | #endif |
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| 77 | |||
| 78 | tickUpdate(); |
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| 89 | johboh | 79 | |
| 85 | johboh | 80 | } |
| 81 | |||
| 82 | |||
| 83 | #pragma interrupt low_isr |
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| 84 | void low_isr(void) |
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| 85 | { |
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| 86 | |||
| 87 | } |
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| 88 | |||
| 89 | |||
| 90 | |||
| 91 | /* |
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| 92 | * Function: mainInit |
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| 93 | * |
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| 94 | * Input: none |
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| 95 | * Output: none |
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| 96 | * Pre-conditions: none |
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| 97 | * Affects: Se code |
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| 98 | * Depends: none. |
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| 99 | */ |
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| 100 | void mainInit() |
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| 101 | { |
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| 102 | LED0_TRIS=0; |
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| 103 | |||
| 104 | // Enable Interrupts |
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| 105 | INTCONbits.GIEH = 1; |
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| 106 | INTCONbits.GIEL = 1; |
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| 107 | |||
| 108 | // Enable interrupt prirority |
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| 109 | RCONbits.IPEN=1; |
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| 110 | |||
| 111 | |||
| 112 | } |
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| 113 | |||
| 114 | /* |
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| 115 | * Function: canParse |
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| 116 | * |
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| 117 | * Input: Received can message |
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| 118 | * Output: none |
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| 119 | * Pre-conditions: canInit and received packet. |
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| 120 | * Affects: Sensors/actuators/etc. See code. |
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| 121 | * Depends: none. |
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| 122 | */ |
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| 123 | #ifdef USE_CAN |
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| 124 | void canParse(CAN_MESSAGE cm) |
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| 125 | { |
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| 89 | johboh | 126 | ClrWdt(); |
| 127 | |||
| 86 | johboh | 128 | switch(cm.funct) |
| 129 | { |
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| 130 | case FUNCT_BOOTLOADER: |
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| 103 | johboh | 131 | if (cm.nid==MY_NID && ((((unsigned int)cm.data[BOOT_DATA_RID_HIGH_INDEX])<<8)+cm.data[BOOT_DATA_RID_LOW_INDEX])==MY_ID) |
| 132 | { |
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| 133 | switch(cm.funcc) |
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| 134 | { |
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| 135 | case FUNCC_BOOT_INIT: Reset(); break; //User whant to program me, reset me. |
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| 136 | case FUNCC_BOOT_SET_ID: |
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| 137 | // Change my ID and NID |
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| 138 | MY_ID=(((WORD)cm.data[BOOT_DATA_NEW_ID_HIGH])<<8)+cm.data[BOOT_DATA_NEW_ID_LOW]; |
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| 139 | MY_NID=cm.data[BOOT_DATA_NEW_NID]; |
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| 140 | EEWrite(NODE_ID_EE+1,cm.data[BOOT_DATA_NEW_ID_HIGH]); |
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| 141 | EEWrite(NODE_ID_EE+2,cm.data[BOOT_DATA_NEW_ID_LOW]); |
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| 142 | EEWrite(NODE_ID_EE+3,cm.data[BOOT_DATA_NEW_NID]); |
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| 143 | EEWrite(NODE_ID_EE,NODE_HAS_ID); |
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| 144 | break; |
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| 145 | } |
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| 146 | } |
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| 147 | |||
| 148 | |||
| 86 | johboh | 149 | break; |
| 150 | } |
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| 151 | } |
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| 152 | #endif |
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| 85 | johboh | 153 | |
| 154 | |||
| 86 | johboh | 155 | // Below are mandantory when using bootloader |
| 156 | // define DEBUG_MODE to use without bootloader. |
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| 85 | johboh | 157 | |
| 158 | #ifndef DEBUG_MODE |
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| 159 | extern void _startup (void); |
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| 160 | #pragma code _RESET_INTERRUPT_VECTOR = 0x001000 |
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| 161 | void _reset (void) |
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| 162 | { |
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| 163 | _asm goto _startup _endasm |
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| 164 | } |
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| 165 | #pragma code |
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| 166 | #endif |
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| 167 | |||
| 168 | #pragma code _HIGH_INTERRUPT_VECTOR = 0x001008 |
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| 169 | void _high_ISR (void) |
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| 170 | { |
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| 171 | _asm GOTO high_isr _endasm |
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| 172 | } |
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| 173 | #pragma code |
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| 174 | |||
| 175 | #pragma code _LOW_INTERRUPT_VECTOR = 0x001018 |
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| 176 | void _low_ISR (void) |
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| 177 | { |
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| 178 | _asm GOTO low_isr _endasm |
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| 179 | } |
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| 180 | #pragma code |