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 12:49:56 +0100 (Tue, 14 Nov 2006) $
		8	* By: $LastChangedBy: johboh $
		9	* Revision: $Revision: 90 $
85	johboh	10	********************************************************************/
		11
		12
		13	#include <compiler.h>
		14	#include <stackTasks.h>
		15	#include <Tick.h>
90	johboh	16	#include <funcdefs.h>
85	johboh	17
		18	#ifdef USE_CAN
		19	#include <CAN.h>
		20	#endif
		21
		22	static void mainInit(void);
		23
		24
		25	void main()
		26	{
		27	static TICK t = 0;
87	johboh	28	CAN_MESSAGE cm2;
85	johboh	29
		30	// Inits
		31
		32	mainInit();
		33
		34	#ifdef USE_CAN
		35	canInit();
		36	#endif
		37
		38	tickInit();
		39
87	johboh	40	// Dummy bootmessage
		41	cm2.data[0]=0x91;
		42	cm2.data_length=1;
		43	canSendMessage(cm2,PRIO_HIGH);
		44
		45
85	johboh	46	while(1)
		47	{
86	johboh	48	static TICK t = 0;
87	johboh	49	if ((tickGet()-t)>TICK_SECOND)
85	johboh	50	{
86	johboh	51	LED0_IO=~LED0_IO;
87	johboh	52	t = tickGet();
85	johboh	53	}
		54	}
		55	}
		56
		57
		58	#pragma interrupt high_isr
		59	void high_isr(void)
		60	{
89	johboh	61	ClrWdt();
85	johboh	62
		63	#ifdef USE_CAN
		64	canISR();
		65	#endif
		66
		67	tickUpdate();
89	johboh	68
85	johboh	69	}
		70
		71
		72	#pragma interrupt low_isr
		73	void low_isr(void)
		74	{
		75
		76	}
		77
		78
		79
		80	/*
		81	* Function: mainInit
		82	*
		83	* Input: none
		84	* Output: none
		85	* Pre-conditions: none
		86	* Affects: Se code
		87	* Depends: none.
		88	*/
		89	void mainInit()
		90	{
		91	LED0_TRIS=0;
		92
		93	// Enable Interrupts
		94	INTCONbits.GIEH = 1;
		95	INTCONbits.GIEL = 1;
		96
		97	// Enable interrupt prirority
		98	RCONbits.IPEN=1;
		99
		100
		101	}
		102
		103	/*
		104	* Function: canParse
		105	*
		106	* Input: Received can message
		107	* Output: none
		108	* Pre-conditions: canInit and received packet.
		109	* Affects: Sensors/actuators/etc. See code.
		110	* Depends: none.
		111	*/
		112	#ifdef USE_CAN
		113	void canParse(CAN_MESSAGE cm)
		114	{
89	johboh	115	ClrWdt();
		116
86	johboh	117	switch(cm.funct)
		118	{
		119	case FUNCT_BOOTLOADER:
87	johboh	120	if (cm.funcc==FUNCC_BOOT_INIT) { Reset(); }
86	johboh	121	break;
		122	}
		123	}
		124	#endif
85	johboh	125
		126
86	johboh	127	// Below are mandantory when using bootloader
		128	// define DEBUG_MODE to use without bootloader.
85	johboh	129
		130	#ifndef DEBUG_MODE
		131	extern void _startup (void);
		132	#pragma code _RESET_INTERRUPT_VECTOR = 0x001000
		133	void _reset (void)
		134	{
		135	_asm goto _startup _endasm
		136	}
		137	#pragma code
		138	#endif
		139
		140	#pragma code _HIGH_INTERRUPT_VECTOR = 0x001008
		141	void _high_ISR (void)
		142	{
		143	_asm GOTO high_isr _endasm
		144	}
		145	#pragma code
		146
		147	#pragma code _LOW_INTERRUPT_VECTOR = 0x001018
		148	void _low_ISR (void)
		149	{
		150	_asm GOTO low_isr _endasm
		151	}
		152	#pragma code

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