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

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