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/*********************************************************************

 *

 *                  Main application

 *

 *********************************************************************

 * FileName:        $HeadURL: https://svn.auml.se/svn/HomeAutomation/trunk/EmbeddedSoftware/PIC/canFreezer/Source/Main.c $

 * Last changed:    $LastChangedDate: 2007-03-04 15:13:16 +0100 (Sun, 04 Mar 2007) $

 * By:              $LastChangedBy: johboh $

 * Revision:        $Revision: 359 $

 ********************************************************************/

#include <compiler.h>

#include <stackTasks.h>

#include <Tick.h>

#include <funcdefs.h>

#include <CAN.h>

#include "..\canBoot\Include\boot.h"

#ifdef USE_ADC

    #include <adc.h>

#endif

static void mainInit(void);

void main()

{

    // Inits

    mainInit();

    canInit();

    #ifdef USE_ADC

        adcInit(TRUE,0b1011);

    #endif

    while(1)

    {

        TICK currentTick = tickGet();

        static TICK tick_led = 0;

        static TICK tick_temperature = 0;

        static TICK tick_FreezerDoor = 0;

        static TICK tick_RefrigeratorDoor = 0;

        static TICK bounce_FreezerDoor = 0;

        static TICK bounce_RefrigeratorDoor = 0;

        static BYTE lastTemperature = TEMPERATURE_FREEZER;

        static BYTE lastFreezerDoor = DOOR_CLOSED;

        static BYTE lastRefrigeratorDoor = DOOR_CLOSED;

        static BOOL getNewTemperature = TRUE;

        #ifdef USE_DOOR_SW

        if ((currentTick-bounce_FreezerDoor)>(3*TICK_100MS) && lastFreezerDoor != DOOR_FREEZER_IO)

        {

            lastFreezerDoor = DOOR_FREEZER_IO;

            tick_FreezerDoor = 0;

            bounce_FreezerDoor = currentTick;

        }

        if ((currentTick-bounce_RefrigeratorDoor)>(3*TICK_100MS) && lastRefrigeratorDoor != DOOR_REFRIGERATOR_IO)

        {

            lastRefrigeratorDoor = DOOR_REFRIGERATOR_IO;

            tick_RefrigeratorDoor = 0;

            bounce_RefrigeratorDoor = currentTick;

        }

        if ((currentTick-tick_FreezerDoor)>(3*TICK_1S))

        {

            CAN_PACKET outCp;  

            outCp.type      = ptPGM;

            outCp.pgm.class = pcSENSOR;

            outCp.pgm.id    = pstDOOR_FREEZER;

            outCp.length    = 1;

            outCp.data[0]   = (DOOR_FREEZER_IO==DOOR_CLOSED?0:1);

            while(!canSendMessage(outCp,PRIO_HIGH));

            tick_FreezerDoor = currentTick;

        }

        if ((currentTick-tick_RefrigeratorDoor)>(3*TICK_1S))

        {

            CAN_PACKET outCp;  

            outCp.type      = ptPGM;

            outCp.pgm.class = pcSENSOR;

            outCp.pgm.id    = pstDOOR_REFRIGERATOR;

            outCp.length    = 1;

            outCp.data[0]   = (DOOR_REFRIGERATOR_IO==DOOR_CLOSED?0:1);

            while(!canSendMessage(outCp,PRIO_HIGH));

            tick_RefrigeratorDoor = currentTick;

        }

        #endif

        if ((currentTick-tick_led)>TICK_1S)

        {

            LED0_IO=~LED0_IO;

            tick_led = currentTick;

        }

        #ifdef USE_ADC

        if ((currentTick-tick_temperature)>(2*TICK_1S) && getNewTemperature==TRUE) // Each 2 second, read temperature.

        {

            if (lastTemperature==TEMPERATURE_FREEZER) lastTemperature=TEMPERATURE_REFRIGERATOR; else lastTemperature=TEMPERATURE_FREEZER;

            adcConvert(lastTemperature);

            tick_temperature = currentTick;

        }

        #endif

        #ifdef USE_ADC

        if (adcDone()) // Has temperature, send it to the bus

        {

            CAN_PACKET outCp;

            BYTE decimal;

            signed char tenth;

            temperatureRead(&tenth,&decimal);

            outCp.type      = ptPGM;

            outCp.pgm.class = pcSENSOR;

            outCp.pgm.id    = (lastTemperature==TEMPERATURE_FREEZER?pstTEMP_FREEZER:pstTEMP_REFRIGERATOR);

            outCp.length    = 2;

            outCp.data[1]   = tenth; //  signed 10 an 1 decimal.

            outCp.data[0]   = decimal; //  Decimal value, 0-9

            while(!canSendMessage(outCp,PRIO_HIGH));

            tick_temperature = currentTick;

            getNewTemperature = TRUE;

        }

        #endif

    }

}

#pragma interrupt high_isr

void high_isr(void)

{

    canISR();

    #ifdef USE_ADC

        adcISR();

    #endif

}

#pragma interrupt low_isr

void low_isr(void)

{

}

/*

*   Function: mainInit

*

*   Input:  none

*   Output: none

*   Pre-conditions: none

*   Affects: Se code

*   Depends: none.

*/

void mainInit()

{

    LED0_TRIS=0;   

    DOOR_FREEZER_TRIS=1;

    DOOR_REFRIGERATOR_TRIS=1;

    // Enable Interrupts

    INTCONbits.GIEH = 1;

    INTCONbits.GIEL = 1;

    // Enable interrupt prirority

    RCONbits.IPEN=1;

}

/*

*   Function: canParse

*

*   Input:  Received can message

*   Output: none

*   Pre-conditions: canInit and received packet.

*   Affects: Sensors/actuators/etc. See code.

*   Depends: none.

*/

void canParse(CAN_PACKET cp)

{

}

// Below are mandantory when using bootloader

// define DEBUG_MODE to use without bootloader.

#ifndef DEBUG_MODE

extern void _startup (void);

#pragma code _RESET_INTERRUPT_VECTOR = RM_RESET_VECTOR

void _reset (void)

{

    _asm goto _startup _endasm

}

#pragma code

#endif

#pragma code _HIGH_INTERRUPT_VECTOR = RM_HIGH_INTERRUPT_VECTOR

void _high_ISR (void)

{

    _asm GOTO high_isr _endasm

}

#pragma code

#pragma code _LOW_INTERRUPT_VECTOR = RM_LOW_INTERRUPT_VECTOR

void _low_ISR (void)

{

    _asm GOTO low_isr _endasm

}

#pragma code