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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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| 6 | * FileName: Main.c |
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| 7 | * |
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| 8 | * Author Date Comment |
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| 9 | *~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
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| 10 | * Johan Böhlin 21-10-06 Original (Rev 1.0) |
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| 11 | ********************************************************************/ |
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| 12 | |||
| 13 | |||
| 14 | #include <compiler.h> |
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| 15 | #include <stackTasks.h> |
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| 16 | #include <Tick.h> |
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| 17 | |||
| 18 | #ifdef USE_CAN |
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| 19 | #include <CAN.h> |
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| 20 | #endif |
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| 21 | |||
| 22 | static void mainInit(void); |
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| 23 | |||
| 24 | unsigned int heartcnt=0; |
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| 25 | |||
| 26 | void main() |
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| 27 | { |
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| 28 | static TICK t = 0; |
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| 29 | |||
| 30 | // Inits |
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| 31 | |||
| 32 | mainInit(); |
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| 33 | |||
| 34 | #ifdef USE_CAN |
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| 35 | canInit(); |
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| 36 | #endif |
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| 37 | |||
| 38 | tickInit(); |
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| 39 | |||
| 40 | while(1) |
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| 41 | { |
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| 42 | #ifdef USE_CAN |
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| 43 | if ((tickGet()-t)>=5*TICK_SECOND) |
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| 44 | { |
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| 45 | CAN_MESSAGE cm; |
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| 46 | |||
| 47 | t = tickGet(); |
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| 48 | |||
| 49 | // Send heartbeat |
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| 50 | cm.ident=0x00000666; |
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| 51 | cm.extended=FALSE; |
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| 52 | cm.data_length=5; |
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| 53 | cm.data[0]='H'; |
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| 54 | cm.data[1]=(BYTE)((heartcnt & 0x000000FF)); |
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| 55 | cm.data[2]=(BYTE)((heartcnt & 0x0000FF00)>>1); |
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| 56 | cm.data[3]=(BYTE)((heartcnt & 0x00FF0000)>>2); |
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| 57 | cm.data[4]=(BYTE)((heartcnt & 0xFF000000)>>3); |
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| 58 | |||
| 59 | heartcnt++; |
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| 60 | |||
| 61 | while(!canSendMessage(cm,PRIO_LOW)); |
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| 62 | } |
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| 63 | #endif |
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| 64 | } |
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| 65 | } |
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| 66 | |||
| 67 | |||
| 68 | #pragma interrupt high_isr |
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| 69 | void high_isr(void) |
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| 70 | { |
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| 71 | |||
| 72 | #ifdef USE_CAN |
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| 73 | canISR(); |
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| 74 | #endif |
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| 75 | |||
| 76 | |||
| 77 | if (INTCONbits.INT0IE && INTCONbits.INT0IF) |
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| 78 | { |
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| 79 | static TICK t = 0; |
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| 80 | CAN_MESSAGE cm; |
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| 81 | |||
| 82 | if ((tickGet()-t)>TICK_SECOND/2) |
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| 83 | { |
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| 84 | |||
| 85 | LED0_IO=~LED0_IO; |
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| 86 | |||
| 87 | // Send heartbeat |
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| 88 | cm.ident=0x1F910091; |
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| 89 | cm.extended=TRUE; |
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| 90 | cm.remote_request=TRUE; |
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| 91 | cm.data_length=1; |
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| 92 | cm.data[0]=0x01; |
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| 93 | cm.data[1]=0x07; |
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| 94 | cm.data[2]=0x09; |
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| 95 | cm.data[3]=0x08; |
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| 96 | cm.data[4]=0x03; |
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| 97 | |||
| 98 | while(!canSendMessage(cm,PRIO_LOW)); |
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| 99 | |||
| 100 | t=tickGet(); |
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| 101 | } |
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| 102 | |||
| 103 | INTCONbits.INT0IF=0; |
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| 104 | } |
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| 105 | |||
| 106 | |||
| 107 | tickUpdate(); |
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| 108 | } |
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| 109 | |||
| 110 | |||
| 111 | #pragma interrupt low_isr |
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| 112 | void low_isr(void) |
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| 113 | { |
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| 114 | |||
| 115 | } |
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| 116 | |||
| 117 | |||
| 118 | |||
| 119 | /* |
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| 120 | * Function: mainInit |
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| 121 | * |
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| 122 | * Input: none |
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| 123 | * Output: none |
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| 124 | * Pre-conditions: none |
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| 125 | * Affects: Se code |
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| 126 | * Depends: none. |
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| 127 | */ |
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| 128 | void mainInit() |
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| 129 | { |
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| 130 | LED0_TRIS=0; |
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| 131 | |||
| 132 | // Enable internal PORTB pull-ups |
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| 133 | INTCON2bits.RBPU = 0; |
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| 134 | |||
| 135 | // Enable Interrupts |
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| 136 | INTCONbits.GIEH = 1; |
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| 137 | INTCONbits.GIEL = 1; |
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| 138 | |||
| 139 | |||
| 140 | // RB0 interrupt |
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| 141 | INTCON2bits.INTEDG0 = 1; //rising edge |
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| 142 | INTCONbits.INT0IE = 1; |
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| 143 | |||
| 144 | // Enable interrupt prirority |
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| 145 | RCONbits.IPEN=1; |
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| 146 | |||
| 147 | |||
| 148 | } |
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| 149 | |||
| 150 | /* |
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| 151 | * Function: canParse |
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| 152 | * |
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| 153 | * Input: Received can message |
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| 154 | * Output: none |
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| 155 | * Pre-conditions: canInit and received packet. |
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| 156 | * Affects: Sensors/actuators/etc. See code. |
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| 157 | * Depends: none. |
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| 158 | */ |
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| 159 | #ifdef USE_CAN |
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| 160 | void canParse(CAN_MESSAGE cm) |
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| 161 | { |
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| 162 | if (cm.ident==0x00000304) |
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| 163 | { |
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| 164 | if (cm.data[0]==0x20) LED0_IO=1; |
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| 165 | if (cm.data[0]==0x40) LED0_IO=0; |
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| 166 | if (cm.data[0]==0x80) |
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| 167 | { |
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| 168 | cm.ident=0x00000303; |
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| 169 | cm.extended=FALSE; |
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| 170 | cm.data_length=1; |
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| 171 | cm.data[0]=LED0_IO; |
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| 172 | while(!canSendMessage(cm,PRIO_LOW)); |
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| 173 | |||
| 174 | } |
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| 175 | } |
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| 176 | |||
| 177 | |||
| 178 | } |
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| 179 | #endif |
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| 180 | |||
| 181 | #ifndef DEBUG_MODE |
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| 182 | extern void _startup (void); |
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| 183 | #pragma code _RESET_INTERRUPT_VECTOR = 0x001000 |
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| 184 | void _reset (void) |
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| 185 | { |
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| 186 | _asm goto _startup _endasm |
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| 187 | } |
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| 188 | #pragma code |
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| 189 | #endif |
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| 190 | |||
| 191 | #pragma code _HIGH_INTERRUPT_VECTOR = 0x001008 |
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| 192 | void _high_ISR (void) |
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| 193 | { |
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| 194 | _asm GOTO high_isr _endasm |
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| 195 | } |
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| 196 | #pragma code |
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| 197 | |||
| 198 | #pragma code _LOW_INTERRUPT_VECTOR = 0x001018 |
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| 199 | void _low_ISR (void) |
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| 200 | { |
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| 201 | _asm GOTO low_isr _endasm |
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| 202 | } |
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| 203 | #pragma code |