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 17:32:31 +0100 (Wed, 15 Nov 2006) $
		8	* By: $LastChangedBy: johboh $
		9	* Revision: $Revision: 108 $
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;
108	johboh	32	CAN_MESSAGE outCm;
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
85	johboh	51	while(1)
		52	{
86	johboh	53	static TICK t = 0;
108	johboh	54	static TICK heartbeat = 0;
		55
		56
		57	if ((tickGet()-heartbeat)>TICK_SECOND*5)
		58	{
		59	outCm.funct = FUNCT_BOOTLOADER;
		60	outCm.funcc = FUNCC_BOOT_HEARTBEAT;
		61	outCm.nid = MY_NID;
		62	outCm.sid = MY_ID;
		63	outCm.data_length = 0;
		64	while(!canSendMessage(outCm,PRIO_HIGH));
		65
		66	heartbeat = tickGet();
		67	}
87	johboh	68	if ((tickGet()-t)>TICK_SECOND)
85	johboh	69	{
86	johboh	70	LED0_IO=~LED0_IO;
87	johboh	71	t = tickGet();
85	johboh	72	}
		73	}
		74	}
		75
		76
		77	#pragma interrupt high_isr
		78	void high_isr(void)
		79	{
89	johboh	80	ClrWdt();
85	johboh	81
		82	#ifdef USE_CAN
		83	canISR();
		84	#endif
		85
		86	tickUpdate();
89	johboh	87
85	johboh	88	}
		89
		90
		91	#pragma interrupt low_isr
		92	void low_isr(void)
		93	{
		94
		95	}
		96
		97
		98
		99	/*
		100	* Function: mainInit
		101	*
		102	* Input: none
		103	* Output: none
		104	* Pre-conditions: none
		105	* Affects: Se code
		106	* Depends: none.
		107	*/
		108	void mainInit()
		109	{
		110	LED0_TRIS=0;
		111
		112	// Enable Interrupts
		113	INTCONbits.GIEH = 1;
		114	INTCONbits.GIEL = 1;
		115
		116	// Enable interrupt prirority
		117	RCONbits.IPEN=1;
		118
		119
		120	}
		121
		122	/*
		123	* Function: canParse
		124	*
		125	* Input: Received can message
		126	* Output: none
		127	* Pre-conditions: canInit and received packet.
		128	* Affects: Sensors/actuators/etc. See code.
		129	* Depends: none.
		130	*/
		131	#ifdef USE_CAN
		132	void canParse(CAN_MESSAGE cm)
		133	{
108	johboh	134	CAN_MESSAGE outCm;
		135
89	johboh	136	ClrWdt();
		137
86	johboh	138	switch(cm.funct)
		139	{
		140	case FUNCT_BOOTLOADER:
103	johboh	141	if (cm.nid==MY_NID && ((((unsigned int)cm.data[BOOT_DATA_RID_HIGH_INDEX])<<8)+cm.data[BOOT_DATA_RID_LOW_INDEX])==MY_ID)
		142	{
		143	switch(cm.funcc)
		144	{
		145	case FUNCC_BOOT_INIT: Reset(); break; //User whant to program me, reset me.
		146	case FUNCC_BOOT_SET_ID:
		147	// Change my ID and NID
		148	MY_ID=(((WORD)cm.data[BOOT_DATA_NEW_ID_HIGH])<<8)+cm.data[BOOT_DATA_NEW_ID_LOW];
		149	MY_NID=cm.data[BOOT_DATA_NEW_NID];
		150	EEWrite(NODE_ID_EE+1,cm.data[BOOT_DATA_NEW_ID_HIGH]);
		151	EEWrite(NODE_ID_EE+2,cm.data[BOOT_DATA_NEW_ID_LOW]);
		152	EEWrite(NODE_ID_EE+3,cm.data[BOOT_DATA_NEW_NID]);
		153	EEWrite(NODE_ID_EE,NODE_HAS_ID);
108	johboh	154	// Send ack with new id.
		155	outCm.funct = FUNCT_BOOTLOADER;
		156	outCm.funcc = FUNCC_BOOT_ACK;
		157	outCm.nid = MY_NID;
		158	outCm.sid = MY_ID;
		159	outCm.data_length = 8;
		160	outCm.data[BOOT_DATA_ERR_INDEX] = ACK_ERR_NO_ERROR;
		161	while(!canSendMessage(outCm,PRIO_HIGH));
103	johboh	162	break;
		163	}
		164	}
		165
		166
86	johboh	167	break;
		168	}
		169	}
		170	#endif
85	johboh	171
		172
86	johboh	173	// Below are mandantory when using bootloader
		174	// define DEBUG_MODE to use without bootloader.
85	johboh	175
		176	#ifndef DEBUG_MODE
		177	extern void _startup (void);
		178	#pragma code _RESET_INTERRUPT_VECTOR = 0x001000
		179	void _reset (void)
		180	{
		181	_asm goto _startup _endasm
		182	}
		183	#pragma code
		184	#endif
		185
		186	#pragma code _HIGH_INTERRUPT_VECTOR = 0x001008
		187	void _high_ISR (void)
		188	{
		189	_asm GOTO high_isr _endasm
		190	}
		191	#pragma code
		192
		193	#pragma code _LOW_INTERRUPT_VECTOR = 0x001018
		194	void _low_ISR (void)
		195	{
		196	_asm GOTO low_isr _endasm
		197	}
		198	#pragma code

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