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: 2006-11-14 11:20:48 +0100 (Tue, 14 Nov 2006) $
		8	* By: $LastChangedBy: johboh $
		9	* Revision: $Revision: 87 $
85	johboh	10	********************************************************************/
		11
		12
		13	#include <compiler.h>
		14	#include <stackTasks.h>
		15	#include <Tick.h>
		16
		17	#ifdef USE_CAN
		18	#include <CAN.h>
		19	#endif
		20
		21	static void mainInit(void);
		22
		23
		24	void main()
		25	{
		26	static TICK t = 0;
87	johboh	27	CAN_MESSAGE cm2;
85	johboh	28
		29	// Inits
		30
		31	mainInit();
		32
		33	#ifdef USE_CAN
		34	canInit();
		35	#endif
		36
		37	tickInit();
		38
87	johboh	39	// Dummy bootmessage
		40	cm2.data[0]=0x91;
		41	cm2.data_length=1;
		42	canSendMessage(cm2,PRIO_HIGH);
		43
		44
85	johboh	45	while(1)
		46	{
86	johboh	47	static TICK t = 0;
87	johboh	48	if ((tickGet()-t)>TICK_SECOND)
85	johboh	49	{
86	johboh	50	LED0_IO=~LED0_IO;
87	johboh	51	t = tickGet();
85	johboh	52	}
		53	}
		54	}
		55
		56
		57	#pragma interrupt high_isr
		58	void high_isr(void)
		59	{
		60
		61	#ifdef USE_CAN
		62	canISR();
		63	#endif
		64
		65	tickUpdate();
		66	}
		67
		68
		69	#pragma interrupt low_isr
		70	void low_isr(void)
		71	{
		72
		73	}
		74
		75
		76
		77	/*
		78	* Function: mainInit
		79	*
		80	* Input: none
		81	* Output: none
		82	* Pre-conditions: none
		83	* Affects: Se code
		84	* Depends: none.
		85	*/
		86	void mainInit()
		87	{
		88	LED0_TRIS=0;
		89
		90	// Enable Interrupts
		91	INTCONbits.GIEH = 1;
		92	INTCONbits.GIEL = 1;
		93
		94	// Enable interrupt prirority
		95	RCONbits.IPEN=1;
		96
		97
		98	}
		99
		100	/*
		101	* Function: canParse
		102	*
		103	* Input: Received can message
		104	* Output: none
		105	* Pre-conditions: canInit and received packet.
		106	* Affects: Sensors/actuators/etc. See code.
		107	* Depends: none.
		108	*/
		109	#ifdef USE_CAN
		110	void canParse(CAN_MESSAGE cm)
		111	{
86	johboh	112	switch(cm.funct)
		113	{
		114	case FUNCT_BOOTLOADER:
87	johboh	115	if (cm.funcc==FUNCC_BOOT_INIT) { Reset(); }
86	johboh	116	break;
		117	}
		118	}
		119	#endif
85	johboh	120
		121
86	johboh	122	// Below are mandantory when using bootloader
		123	// define DEBUG_MODE to use without bootloader.
85	johboh	124
		125	#ifndef DEBUG_MODE
		126	extern void _startup (void);
		127	#pragma code _RESET_INTERRUPT_VECTOR = 0x001000
		128	void _reset (void)
		129	{
		130	_asm goto _startup _endasm
		131	}
		132	#pragma code
		133	#endif
		134
		135	#pragma code _HIGH_INTERRUPT_VECTOR = 0x001008
		136	void _high_ISR (void)
		137	{
		138	_asm GOTO high_isr _endasm
		139	}
		140	#pragma code
		141
		142	#pragma code _LOW_INTERRUPT_VECTOR = 0x001018
		143	void _low_ISR (void)
		144	{
		145	_asm GOTO low_isr _endasm
		146	}
		147	#pragma code

Subversion Repositories HomeAutomation

(root)/trunk/EmbeddedSoftware/PIC/canBase/Source/Main.c @ 87 – Rev