Rev 103 | Show entire file | Regard whitespace | Details | Blame | Last modification | View Log | SVN | RSS feed
| Rev 103 | Rev 108 | ||
|---|---|---|---|
| Line 2... | Line 2... | ||
| 2 | * |
2 | * |
| 3 | * Main application |
3 | * Main application |
| 4 | * |
4 | * |
| 5 | ********************************************************************* |
5 | ********************************************************************* |
| 6 | * FileName: $HeadURL: https://svn.auml.se/svn/HomeAutomation/trunk/EmbeddedSoftware/PIC/canBase/Source/Main.c $ |
6 | * FileName: $HeadURL: https://svn.auml.se/svn/HomeAutomation/trunk/EmbeddedSoftware/PIC/canBase/Source/Main.c $ |
| 7 | * Last changed: $LastChangedDate: 2006-11-15 |
7 | * Last changed: $LastChangedDate: 2006-11-15 17:32:31 +0100 (Wed, 15 Nov 2006) $ |
| 8 | * By: $LastChangedBy: johboh $ |
8 | * By: $LastChangedBy: johboh $ |
| 9 | * Revision: $Revision: |
9 | * Revision: $Revision: 108 $ |
| 10 | ********************************************************************/ |
10 | ********************************************************************/ |
| 11 | 11 | ||
| 12 | 12 | ||
| 13 | #include <compiler.h> |
13 | #include <compiler.h> |
| 14 | #include <stackTasks.h> |
14 | #include <stackTasks.h> |
| Line 27... | Line 27... | ||
| 27 | static BYTE MY_NID = DEFAULT_NID; |
27 | static BYTE MY_NID = DEFAULT_NID; |
| 28 | 28 | ||
| 29 | void main() |
29 | void main() |
| 30 | { |
30 | { |
| 31 | static TICK t = 0; |
31 | static TICK t = 0; |
| 32 | CAN_MESSAGE |
32 | CAN_MESSAGE outCm; |
| 33 | 33 | ||
| 34 | // Inits |
34 | // Inits |
| 35 | 35 | ||
| 36 | mainInit(); |
36 | mainInit(); |
| 37 | 37 | ||
| Line 45... | Line 45... | ||
| 45 | if (EERead(NODE_ID_EE)==NODE_HAS_ID) |
45 | if (EERead(NODE_ID_EE)==NODE_HAS_ID) |
| 46 | { |
46 | { |
| 47 | MY_ID=(((WORD)EERead(NODE_ID_EE + 1))<<8)+EERead(NODE_ID_EE + 2); |
47 | MY_ID=(((WORD)EERead(NODE_ID_EE + 1))<<8)+EERead(NODE_ID_EE + 2); |
| 48 | MY_NID=EERead(NODE_ID_EE + 3); |
48 | MY_NID=EERead(NODE_ID_EE + 3); |
| 49 | } |
49 | } |
| 50 | - | ||
| 51 | // Dummy bootmessage |
- | |
| 52 | cm2.data[0]=0x91; |
- | |
| 53 | cm2.data_length=1; |
- | |
| 54 | canSendMessage(cm2,PRIO_HIGH); |
- | |
| 55 | - | ||
| 56 | 50 | ||
| 57 | while(1) |
51 | while(1) |
| 58 | { |
52 | { |
| 59 | static TICK t = 0; |
53 | static TICK t = 0; |
| - | 54 | static TICK heartbeat = 0; |
|
| - | 55 | ||
| - | 56 | ||
| - | 57 | if ((tickGet()-heartbeat)>TICK_SECOND*5) |
|
| - | 58 | { |
|
| - | 59 | outCm.funct = FUNCT_BOOTLOADER; |
|
| - | 60 | outCm.funcc = FUNCC_BOOT_HEARTBEAT; |
|
| - | 61 | outCm.nid = MY_NID; |
|
| - | 62 | outCm.sid = MY_ID; |
|
| - | 63 | outCm.data_length = 0; |
|
| - | 64 | while(!canSendMessage(outCm,PRIO_HIGH)); |
|
| - | 65 | ||
| - | 66 | heartbeat = tickGet(); |
|
| - | 67 | } |
|
| 60 | if ((tickGet()-t)>TICK_SECOND) |
68 | if ((tickGet()-t)>TICK_SECOND) |
| 61 | { |
69 | { |
| 62 | LED0_IO=~LED0_IO; |
70 | LED0_IO=~LED0_IO; |
| 63 | t = tickGet(); |
71 | t = tickGet(); |
| 64 | } |
72 | } |
| Line 75... | Line 83... | ||
| 75 | canISR(); |
83 | canISR(); |
| 76 | #endif |
84 | #endif |
| 77 | 85 | ||
| 78 | tickUpdate(); |
86 | tickUpdate(); |
| 79 | 87 | ||
| 80 | } |
88 | } |
| 81 | 89 | ||
| 82 | 90 | ||
| 83 | #pragma interrupt low_isr |
91 | #pragma interrupt low_isr |
| 84 | void low_isr(void) |
92 | void low_isr(void) |
| 85 | { |
93 | { |
| 86 | 94 | ||
| 87 | } |
95 | } |
| 88 | 96 | ||
| 89 | 97 | ||
| 90 | 98 | ||
| 91 | /* |
99 | /* |
| 92 | * Function: mainInit |
100 | * Function: mainInit |
| 93 | * |
101 | * |
| 94 | * Input: none |
102 | * Input: none |
| 95 | * Output: none |
103 | * Output: none |
| 96 | * Pre-conditions: none |
104 | * Pre-conditions: none |
| 97 | * Affects: Se code |
105 | * Affects: Se code |
| 98 | * Depends: none. |
106 | * Depends: none. |
| 99 | */ |
107 | */ |
| 100 | void mainInit() |
108 | void mainInit() |
| 101 | { |
109 | { |
| 102 | LED0_TRIS=0; |
110 | LED0_TRIS=0; |
| 103 | 111 | ||
| 104 | // Enable Interrupts |
112 | // Enable Interrupts |
| Line 121... | Line 129... | ||
| 121 | * Depends: none. |
129 | * Depends: none. |
| 122 | */ |
130 | */ |
| 123 | #ifdef USE_CAN |
131 | #ifdef USE_CAN |
| 124 | void canParse(CAN_MESSAGE cm) |
132 | void canParse(CAN_MESSAGE cm) |
| 125 | { |
133 | { |
| - | 134 | CAN_MESSAGE outCm; |
|
| - | 135 | ||
| 126 | ClrWdt(); |
136 | ClrWdt(); |
| 127 | 137 | ||
| 128 | switch(cm.funct) |
138 | switch(cm.funct) |
| 129 | { |
139 | { |
| 130 | case FUNCT_BOOTLOADER: |
140 | case FUNCT_BOOTLOADER: |
| Line 139... | Line 149... | ||
| 139 | MY_NID=cm.data[BOOT_DATA_NEW_NID]; |
149 | MY_NID=cm.data[BOOT_DATA_NEW_NID]; |
| 140 | EEWrite(NODE_ID_EE+1,cm.data[BOOT_DATA_NEW_ID_HIGH]); |
150 | EEWrite(NODE_ID_EE+1,cm.data[BOOT_DATA_NEW_ID_HIGH]); |
| 141 | EEWrite(NODE_ID_EE+2,cm.data[BOOT_DATA_NEW_ID_LOW]); |
151 | EEWrite(NODE_ID_EE+2,cm.data[BOOT_DATA_NEW_ID_LOW]); |
| 142 | EEWrite(NODE_ID_EE+3,cm.data[BOOT_DATA_NEW_NID]); |
152 | EEWrite(NODE_ID_EE+3,cm.data[BOOT_DATA_NEW_NID]); |
| 143 | EEWrite(NODE_ID_EE,NODE_HAS_ID); |
153 | EEWrite(NODE_ID_EE,NODE_HAS_ID); |
| - | 154 | // Send ack with new id. |
|
| - | 155 | outCm.funct = FUNCT_BOOTLOADER; |
|
| - | 156 | outCm.funcc = FUNCC_BOOT_ACK; |
|
| - | 157 | outCm.nid = MY_NID; |
|
| - | 158 | outCm.sid = MY_ID; |
|
| - | 159 | outCm.data_length = 8; |
|
| - | 160 | outCm.data[BOOT_DATA_ERR_INDEX] = ACK_ERR_NO_ERROR; |
|
| - | 161 | while(!canSendMessage(outCm,PRIO_HIGH)); |
|
| 144 | break; |
162 | break; |
| 145 | } |
163 | } |
| 146 | } |
164 | } |
| 147 | 165 | ||
| 148 | 166 | ||