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Rev 129 Rev 260
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/*********************************************************************
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/*********************************************************************
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 *
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 *
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 *                  Main application
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 *                  Main application
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 *
 4 
 *
5 
 *********************************************************************
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 *********************************************************************
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 * FileName:        $HeadURL: https://svn.auml.se/svn/HomeAutomation/trunk/EmbeddedSoftware/PIC/canDimmer/Source/Main.c $
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 * FileName:        $HeadURL: https://svn.auml.se/svn/HomeAutomation/trunk/EmbeddedSoftware/PIC/canDimmer/Source/Main.c $
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 * Last changed:    $LastChangedDate: 2006-11-20 17:54:03 +0100 (Mon, 20 Nov 2006) $
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 * Last changed:    $LastChangedDate: 2007-01-28 14:58:11 +0100 (Sun, 28 Jan 2007) $
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 * By:              $LastChangedBy: johboh $
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 * By:              $LastChangedBy: johboh $
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 * Revision:        $Revision: 129 $
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 * Revision:        $Revision: 260 $
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 ********************************************************************/
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 ********************************************************************/
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#include <compiler.h>
 13 
#include <compiler.h>
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#include <stackTasks.h>
 14 
#include <stackTasks.h>
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#include <Tick.h>
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#include <Tick.h>
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#include <funcdefs.h>
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#include <funcdefs.h>
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#include <EEaccess.h>
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 - 
 
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#ifdef USE_CAN
 - 
 
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    #include <CAN.h>
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#include <CAN.h>
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#endif
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 18 
 
23 
static void mainInit(void);
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static void mainInit(void);
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- 
 
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/*
- 
 
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    Features (support upto 8 dimmers).
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- 
 
 25 
    need to define funcc to each channel.
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    need to define funcc to all in this node.
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 27 
 
- 
 
 28 
    channel = 0 to 7
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    value = 0 to 255
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    place = 1 to 10
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- 
 
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    NO FADE
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    set channel to value.
- 
 
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    set channel off.
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    set channel last.
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    set channel on.
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    set all to value.
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    set all off.
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    set all last.
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    set all on.
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 41 
 
- 
 
 42 
    FADE
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 43 
    fade channel to value.
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 44 
    fade channel off.
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 45 
    fade channel last.
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    fade channel on.
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    fade all to value.
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    fade all off.
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    fade all last.
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    fade all on.
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 51 
 
- 
 
 52 
    MEMORY:
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 53 
    Save current values to M[place].
26 
static int MY_ID = DEFAULT_ID;
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    Set current values to M[place].
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static BYTE MY_NID = DEFAULT_NID;
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    Fade current values to M[place].
- 
 
 56 
 
- 
 
 57 
 
- 
 
 58 
    settings:
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 59 
    buttons, default fadespeed, stepping. (Get and set)
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 60 
*/
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 61 
 
- 
 
 62 
 
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 63 
 
29 
void main()
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void main()
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{
 65 
{
31 
    static TICK t = 0;
 66 
    static TICK t = 0;
32 
    CAN_MESSAGE outCm;
 67 
    CAN_MESSAGE outCm;
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 68 
 
34 
    // Inits
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    // Inits
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 70 
    mainInit();
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 71 
 
36 
    mainInit();
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 - 
 
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    #ifdef USE_CAN
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39 
        canInit();
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    canInit();
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    #endif
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41 
 
 73 
 
42 
    tickInit();
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43 
 
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44 
    // Read ID and NID if exist.
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    if (EERead(NODE_ID_EE)==NODE_HAS_ID)
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46 
    {
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47 
        MY_ID=(((WORD)EERead(NODE_ID_EE + 1))<<8)+EERead(NODE_ID_EE + 2);
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48 
        MY_NID=EERead(NODE_ID_EE + 3);
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49 
    }
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50 
 
 - 
 
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    // Send user program startup heatbeat
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52 
    outCm.funct                     = FUNCT_BOOTLOADER;
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53 
    outCm.funcc                     = FUNCC_BOOT_HEARTBEAT;
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54 
    outCm.nid                       = MY_NID;
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    outCm.sid                       = MY_ID;
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56 
    outCm.data_length               = 1;
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57 
    outCm.data[BOOT_DATA_HEARTBEAT_INDEX] = HEARTBEAT_USER_STARTUP;
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58 
    while(!canSendMessage(outCm,PRIO_HIGH));
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 - 
 
60 
 
 74 
 
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    while(1)
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    while(1)
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    {
 76 
    {
63 
        static TICK t = 0;
 77 
        static TICK t = 0;
64 
        static TICK heartbeat = 0;
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65 
 
 78 
 
66 
       
 - 
 
67 
        if ((tickGet()-heartbeat)>TICK_SECOND*5)
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68 
        {
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            // Send alive heartbeat
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            outCm.funct                     = FUNCT_BOOTLOADER;
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            outCm.funcc                     = FUNCC_BOOT_HEARTBEAT;
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            outCm.nid                       = MY_NID;
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73 
            outCm.sid                       = MY_ID;
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74 
            outCm.data_length               = 1;
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75 
            outCm.data[BOOT_DATA_HEARTBEAT_INDEX] = HEARTBEAT_ALIVE;
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76 
            while(!canSendMessage(outCm,PRIO_HIGH));
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77 
           
 - 
 
78 
            heartbeat = tickGet();
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79 
        }
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80 
        if ((tickGet()-t)>TICK_SECOND)
 79 
        if ((tickGet()-t)>TICK_SECOND)
81 
        {
 80 
        {
82 
            LED0_IO=~LED0_IO;
 81 
            LED0_IO=~LED0_IO;
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            t = tickGet();
 82 
            t = tickGet();
84 
        }
 83 
        }
85 
    }
 84 
    }
86 
}
 85 
}
87 
 
 86 
 
88 
 
 87 
 
89 
#pragma interrupt high_isr
 88 
#pragma interrupt high_isr
90 
void high_isr(void)
 89 
void high_isr(void)
91 
{
 90 
{
92 
    ClrWdt();
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93 
 
 - 
 
94 
    #ifdef USE_CAN
 - 
 
95 
        canISR();
 91 
    canISR();
96 
    #endif
 - 
 
97 
 
 - 
 
98 
    tickUpdate();
 - 
 
99 
 
 - 
 
100 
}
 92 
}
101 
 
 93 
 
102 
 
 94 
 
103 
#pragma interrupt low_isr
 95 
#pragma interrupt low_isr
104 
void low_isr(void)
 96 
void low_isr(void)
105 
{
 97 
{
106 
 
 98 
 
107 
}
 99 
}
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 101 
 
110 
 
 102 
 
111 
/*
 103 
/*
112 
*   Function: mainInit
 104 
*   Function: mainInit
113 
*
 105 
*
114 
*   Input:  none
 106 
*   Input:  none
115 
*   Output: none
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*   Output: none
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*   Pre-conditions: none
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*   Pre-conditions: none
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*   Affects: Se code
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*   Affects: Se code
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*   Depends: none.
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*   Depends: none.
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*/
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*/
120 
void mainInit()
 112 
void mainInit()
121 
{
 113 
{
122 
    LED0_TRIS=0;   
 114 
    LED0_TRIS=0;   
123 
 
 115 
 
124 
    // Enable Interrupts
 116 
    // Enable Interrupts
125 
    INTCONbits.GIEH = 1;
 117 
    INTCONbits.GIEH = 1;
126 
    INTCONbits.GIEL = 1;
 118 
    INTCONbits.GIEL = 1;
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 119 
 
128 
    // Enable interrupt prirority
 120 
    // Enable interrupt prirority
129 
    RCONbits.IPEN=1;
 121 
    RCONbits.IPEN=1;
130 
   
 122 
   
131 
 
 123 
 
132 
}
 124 
}
133 
 
 125 
 
134 
/*
 126 
/*
135 
*   Function: canParse
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*   Function: canParse
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*
 128 
*
137 
*   Input:  Received can message
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*   Input:  Received can message
138 
*   Output: none
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*   Output: none
139 
*   Pre-conditions: canInit and received packet.
 131 
*   Pre-conditions: canInit and received packet.
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*   Affects: Sensors/actuators/etc. See code.
 132 
*   Affects: Sensors/actuators/etc. See code.
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*   Depends: none.
 133 
*   Depends: none.
142 
*/
 134 
*/
143 
#ifdef USE_CAN
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144 
void canParse(CAN_MESSAGE cm)
 135 
void canParse(CAN_MESSAGE cm)
145 
{
 136 
{
146 
    CAN_MESSAGE outCm;
 137 
    CAN_MESSAGE outCm;
147 
 
 138 
 
148 
    ClrWdt();
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149 
 
 - 
 
150 
    switch(cm.funct)
 - 
 
151 
    {
 - 
 
152 
        case FUNCT_BOOTLOADER:
 - 
 
153 
            if (cm.nid==MY_NID && ((((unsigned int)cm.data[BOOT_DATA_RID_HIGH_INDEX])<<8)+cm.data[BOOT_DATA_RID_LOW_INDEX])==MY_ID)
 - 
 
154 
            {
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155 
                switch(cm.funcc)
 - 
 
156 
                {
 - 
 
157 
                    case FUNCC_BOOT_INIT: Reset(); break; //User whant to program me, reset me.
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158 
                    case FUNCC_BOOT_SET_ID:
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159 
                        // Change my ID and NID
 - 
 
160 
                        MY_ID=(((WORD)cm.data[BOOT_DATA_NEW_ID_HIGH_INDEX])<<8)+cm.data[BOOT_DATA_NEW_ID_LOW_INDEX];
 - 
 
161 
                        MY_NID=cm.data[BOOT_DATA_NEW_NID_INDEX];
 - 
 
162 
                        EEWrite(NODE_ID_EE+1,cm.data[BOOT_DATA_NEW_ID_HIGH_INDEX]);
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163 
                        EEWrite(NODE_ID_EE+2,cm.data[BOOT_DATA_NEW_ID_LOW_INDEX]);
 - 
 
164 
                        EEWrite(NODE_ID_EE+3,cm.data[BOOT_DATA_NEW_NID_INDEX]);
 - 
 
165 
                        EEWrite(NODE_ID_EE,NODE_HAS_ID);
 - 
 
166 
                        // Send ack with new id.
 - 
 
167 
                        outCm.funct                     = FUNCT_BOOTLOADER;
 - 
 
168 
                        outCm.funcc                     = FUNCC_BOOT_ACK;
 - 
 
169 
                        outCm.nid                       = MY_NID;
 - 
 
170 
                        outCm.sid                       = MY_ID;
 - 
 
171 
                        outCm.data_length               = 8;
 - 
 
172 
                        outCm.data[BOOT_DATA_ERR_INDEX] = ACK_ERR_NO_ERROR;
 - 
 
173 
                        while(!canSendMessage(outCm,PRIO_HIGH));
 - 
 
174 
                    break;
 - 
 
175 
                }
 - 
 
176 
            }
 - 
 
177 
 
 - 
 
178 
 
 - 
 
179 
        break;
 - 
 
180 
    }
 - 
 
181 
}
 139 
}
182 
#endif
 - 
 
183 
 
 - 
 
184 
 
 140 
 
185 
 
 141 
 
186 
// Below are mandantory when using bootloader
 142 
// Below are mandantory when using bootloader
187 
// define DEBUG_MODE to use without bootloader.
 143 
// define DEBUG_MODE to use without bootloader.
188 
 
 144 
 
189 
#ifndef DEBUG_MODE
 145 
#ifndef DEBUG_MODE
190 
extern void _startup (void);
 146 
extern void _startup (void);
191 
#pragma code _RESET_INTERRUPT_VECTOR = 0x001000
 147 
#pragma code _RESET_INTERRUPT_VECTOR = 0x001000
192 
void _reset (void)
 148 
void _reset (void)
193 
{
 149 
{
194 
    _asm goto _startup _endasm
 150 
    _asm goto _startup _endasm
195 
}
 151 
}
196 
#pragma code
 152 
#pragma code
197 
#endif
 153 
#endif
198 
 
 154 
 
199 
#pragma code _HIGH_INTERRUPT_VECTOR = 0x001008
 155 
#pragma code _HIGH_INTERRUPT_VECTOR = 0x001008
200 
void _high_ISR (void)
 156 
void _high_ISR (void)
201 
{
 157 
{
202 
    _asm GOTO high_isr _endasm
 158 
    _asm GOTO high_isr _endasm
203 
}
 159 
}
204 
#pragma code
 160 
#pragma code
205 
 
 161 
 
206 
#pragma code _LOW_INTERRUPT_VECTOR = 0x001018
 162 
#pragma code _LOW_INTERRUPT_VECTOR = 0x001018
207 
void _low_ISR (void)
 163 
void _low_ISR (void)
208 
{
 164 
{
209 
    _asm GOTO low_isr _endasm
 165 
    _asm GOTO low_isr _endasm
210 
}
 166 
}
211 
#pragma code
 167 
#pragma code
212 
 
 168