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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: 2006-11-14 10:55:38 +0100 (Tue, 14 Nov 2006) $ |
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| 8 | * By: $LastChangedBy: johboh $ |
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| 9 | * Revision: $Revision: 86 $ |
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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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| 16 | |||
| 17 | #ifdef USE_CAN |
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| 18 | #include <CAN.h> |
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| 19 | #endif |
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| 20 | |||
| 21 | static void mainInit(void); |
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| 22 | |||
| 23 | |||
| 24 | void main() |
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| 25 | { |
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| 26 | static TICK t = 0; |
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| 27 | |||
| 28 | // Inits |
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| 29 | |||
| 30 | mainInit(); |
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| 31 | |||
| 32 | #ifdef USE_CAN |
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| 33 | canInit(); |
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| 34 | #endif |
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| 35 | |||
| 36 | tickInit(); |
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| 37 | |||
| 38 | while(1) |
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| 39 | { |
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| 86 | johboh | 40 | static TICK t = 0; |
| 41 | if ((tickGet()-t)>TICK_SECOND/2) |
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| 85 | johboh | 42 | { |
| 86 | johboh | 43 | LED0_IO=~LED0_IO; |
| 85 | johboh | 44 | } |
| 45 | } |
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| 46 | } |
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| 47 | |||
| 48 | |||
| 49 | #pragma interrupt high_isr |
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| 50 | void high_isr(void) |
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| 51 | { |
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| 52 | |||
| 53 | #ifdef USE_CAN |
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| 54 | canISR(); |
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| 55 | #endif |
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| 56 | |||
| 57 | tickUpdate(); |
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| 58 | } |
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| 59 | |||
| 60 | |||
| 61 | #pragma interrupt low_isr |
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| 62 | void low_isr(void) |
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| 63 | { |
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| 64 | |||
| 65 | } |
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| 66 | |||
| 67 | |||
| 68 | |||
| 69 | /* |
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| 70 | * Function: mainInit |
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| 71 | * |
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| 72 | * Input: none |
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| 73 | * Output: none |
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| 74 | * Pre-conditions: none |
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| 75 | * Affects: Se code |
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| 76 | * Depends: none. |
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| 77 | */ |
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| 78 | void mainInit() |
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| 79 | { |
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| 80 | LED0_TRIS=0; |
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| 81 | |||
| 82 | // Enable Interrupts |
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| 83 | INTCONbits.GIEH = 1; |
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| 84 | INTCONbits.GIEL = 1; |
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| 85 | |||
| 86 | // Enable interrupt prirority |
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| 87 | RCONbits.IPEN=1; |
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| 88 | |||
| 89 | |||
| 90 | } |
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| 91 | |||
| 92 | /* |
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| 93 | * Function: canParse |
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| 94 | * |
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| 95 | * Input: Received can message |
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| 96 | * Output: none |
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| 97 | * Pre-conditions: canInit and received packet. |
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| 98 | * Affects: Sensors/actuators/etc. See code. |
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| 99 | * Depends: none. |
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| 100 | */ |
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| 101 | #ifdef USE_CAN |
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| 102 | void canParse(CAN_MESSAGE cm) |
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| 103 | { |
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| 86 | johboh | 104 | switch(cm.funct) |
| 105 | { |
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| 106 | case FUNCT_BOOTLOADER: |
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| 107 | if (cm.funcc==FUNCC_BOOT_INIT) { _asm goto 0x0 _endasm } |
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| 108 | break; |
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| 109 | } |
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| 110 | } |
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| 111 | #endif |
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| 85 | johboh | 112 | |
| 113 | |||
| 86 | johboh | 114 | // Below are mandantory when using bootloader |
| 115 | // define DEBUG_MODE to use without bootloader. |
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| 85 | johboh | 116 | |
| 117 | #ifndef DEBUG_MODE |
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| 118 | extern void _startup (void); |
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| 119 | #pragma code _RESET_INTERRUPT_VECTOR = 0x001000 |
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| 120 | void _reset (void) |
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| 121 | { |
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| 122 | _asm goto _startup _endasm |
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| 123 | } |
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| 124 | #pragma code |
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| 125 | #endif |
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| 126 | |||
| 127 | #pragma code _HIGH_INTERRUPT_VECTOR = 0x001008 |
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| 128 | void _high_ISR (void) |
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| 129 | { |
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| 130 | _asm GOTO high_isr _endasm |
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| 131 | } |
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| 132 | #pragma code |
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| 133 | |||
| 134 | #pragma code _LOW_INTERRUPT_VECTOR = 0x001018 |
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| 135 | void _low_ISR (void) |
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| 136 | { |
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| 137 | _asm GOTO low_isr _endasm |
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| 138 | } |
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| 139 | #pragma code |