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Rev	Author	Line No.	Line
129	johboh	1	/*********************************************************************
		2	*
		3	* Main application
		4	*
		5	*********************************************************************
		6	* FileName: $HeadURL: https://svn.auml.se/svn/HomeAutomation/trunk/EmbeddedSoftware/PIC/canEthernet/Source/Main.c $
		7	* Last changed: $LastChangedDate: 2007-01-28 14:58:11 +0100 (Sun, 28 Jan 2007) $
		8	* By: $LastChangedBy: johboh $
		9	* Revision: $Revision: 260 $
		10	********************************************************************/
		11
		12
		13	#include <compiler.h>
		14	#include <stackTasks.h>
		15	#include <Tick.h>
		16	#include <funcdefs.h>
260	johboh	17	#include <CAN.h>
129	johboh	18
		19
		20	static void mainInit(void);
		21
		22
		23	void main()
		24	{
		25	static TICK t = 0;
		26	CAN_MESSAGE outCm;
		27
		28	// Inits
		29
		30	mainInit();
		31
260	johboh	32	canInit();
129	johboh	33
		34
		35	while(1)
		36	{
		37	static TICK t = 0;
		38	static TICK heartbeat = 0;
		39
		40	if ((tickGet()-t)>TICK_SECOND)
		41	{
		42	LED0_IO=~LED0_IO;
		43	t = tickGet();
		44	}
		45	}
		46	}
		47
		48
		49	#pragma interrupt high_isr
		50	void high_isr(void)
		51	{
260	johboh	52	canISR();
129	johboh	53	}
		54
		55
		56	#pragma interrupt low_isr
		57	void low_isr(void)
		58	{
		59
		60	}
		61
		62
		63
		64	/*
		65	* Function: mainInit
		66	*
		67	* Input: none
		68	* Output: none
		69	* Pre-conditions: none
		70	* Affects: Se code
		71	* Depends: none.
		72	*/
		73	void mainInit()
		74	{
		75	LED0_TRIS=0;
		76
		77	// Enable Interrupts
		78	INTCONbits.GIEH = 1;
		79	INTCONbits.GIEL = 1;
		80
		81	// Enable interrupt prirority
		82	RCONbits.IPEN=1;
		83
		84
		85	}
		86
		87	/*
		88	* Function: canParse
		89	*
		90	* Input: Received can message
		91	* Output: none
		92	* Pre-conditions: canInit and received packet.
		93	* Affects: Sensors/actuators/etc. See code.
		94	* Depends: none.
		95	*/
		96	void canParse(CAN_MESSAGE cm)
		97	{
		98	CAN_MESSAGE outCm;
		99
		100	}
		101
		102
		103	// Below are mandantory when using bootloader
		104	// define DEBUG_MODE to use without bootloader.
		105
		106	#ifndef DEBUG_MODE
		107	extern void _startup (void);
		108	#pragma code _RESET_INTERRUPT_VECTOR = 0x001000
		109	void _reset (void)
		110	{
		111	_asm goto _startup _endasm
		112	}
		113	#pragma code
		114	#endif
		115
		116	#pragma code _HIGH_INTERRUPT_VECTOR = 0x001008
		117	void _high_ISR (void)
		118	{
		119	_asm GOTO high_isr _endasm
		120	}
		121	#pragma code
		122
		123	#pragma code _LOW_INTERRUPT_VECTOR = 0x001018
		124	void _low_ISR (void)
		125	{
		126	_asm GOTO low_isr _endasm
		127	}
		128	#pragma code

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