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 11:44:48 +0100 (Tue, 14 Nov 2006) $
		8	* By: $LastChangedBy: johboh $
		9	* Revision: $Revision: 89 $
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	{
89	johboh	60	ClrWdt();
85	johboh	61
		62	#ifdef USE_CAN
		63	canISR();
		64	#endif
		65
		66	tickUpdate();
89	johboh	67
85	johboh	68	}
		69
		70
		71	#pragma interrupt low_isr
		72	void low_isr(void)
		73	{
		74
		75	}
		76
		77
		78
		79	/*
		80	* Function: mainInit
		81	*
		82	* Input: none
		83	* Output: none
		84	* Pre-conditions: none
		85	* Affects: Se code
		86	* Depends: none.
		87	*/
		88	void mainInit()
		89	{
		90	LED0_TRIS=0;
		91
		92	// Enable Interrupts
		93	INTCONbits.GIEH = 1;
		94	INTCONbits.GIEL = 1;
		95
		96	// Enable interrupt prirority
		97	RCONbits.IPEN=1;
		98
		99
		100	}
		101
		102	/*
		103	* Function: canParse
		104	*
		105	* Input: Received can message
		106	* Output: none
		107	* Pre-conditions: canInit and received packet.
		108	* Affects: Sensors/actuators/etc. See code.
		109	* Depends: none.
		110	*/
		111	#ifdef USE_CAN
		112	void canParse(CAN_MESSAGE cm)
		113	{
89	johboh	114	ClrWdt();
		115
86	johboh	116	switch(cm.funct)
		117	{
		118	case FUNCT_BOOTLOADER:
87	johboh	119	if (cm.funcc==FUNCC_BOOT_INIT) { Reset(); }
86	johboh	120	break;
		121	}
		122	}
		123	#endif
85	johboh	124
		125
86	johboh	126	// Below are mandantory when using bootloader
		127	// define DEBUG_MODE to use without bootloader.
85	johboh	128
		129	#ifndef DEBUG_MODE
		130	extern void _startup (void);
		131	#pragma code _RESET_INTERRUPT_VECTOR = 0x001000
		132	void _reset (void)
		133	{
		134	_asm goto _startup _endasm
		135	}
		136	#pragma code
		137	#endif
		138
		139	#pragma code _HIGH_INTERRUPT_VECTOR = 0x001008
		140	void _high_ISR (void)
		141	{
		142	_asm GOTO high_isr _endasm
		143	}
		144	#pragma code
		145
		146	#pragma code _LOW_INTERRUPT_VECTOR = 0x001018
		147	void _low_ISR (void)
		148	{
		149	_asm GOTO low_isr _endasm
		150	}
		151	#pragma code

Subversion Repositories HomeAutomation

(root)/trunk/EmbeddedSoftware/PIC/canBase/Source/Main.c @ 89 – Rev