WebSVN – HomeAutomation – Diff – /trunk/EmbeddedSoftware/PIC/canLCD/Source/Main.c


/*********************************************************************
 *
 *                  Main application
 *
 *********************************************************************
 * FileName:        $HeadURL: https://svn.auml.se/svn/HomeAutomation/trunk/EmbeddedSoftware/PIC/canLCD/Source/Main.c $
 * Last changed:    $LastChangedDate: 2006-11-21 10:28:39 +0100 (Tue, 21 Nov 2006) $
 * By:              $LastChangedBy: johboh $
 * Revision:        $Revision: 140 $
 ********************************************************************/
 
 
#include <compiler.h>
#include <stackTasks.h>
#include <Tick.h>
#include <funcdefs.h>
#include <EEaccess.h>
 
#ifdef USE_LCD
    #include "lcd.h"
#endif
 
#ifdef USE_CAN
    #include <CAN.h>
#endif
 
static void mainInit(void);
 
 
static int MY_ID = DEFAULT_ID;
static BYTE MY_NID = DEFAULT_NID;
 
void main()
{
    static TICK t = 0;
    CAN_MESSAGE outCm;
 
    // Inits
 
    mainInit();
 
    #ifdef USE_CAN
        canInit();
    #endif
 
    #ifdef USE_LCD
        lcdInit();
        lcdClear();
        lcdPutrs("Welcome!");
    #endif
 
    tickInit();
 
    // Read ID and NID if exist.
    if (EERead(NODE_ID_EE)==NODE_HAS_ID)
    {
        MY_ID=(((WORD)EERead(NODE_ID_EE + 1))<<8)+EERead(NODE_ID_EE + 2);
        MY_NID=EERead(NODE_ID_EE + 3);
    }
 
    // Send user program startup heatbeat
    outCm.funct                     = FUNCT_BOOTLOADER;
    outCm.funcc                     = FUNCC_BOOT_HEARTBEAT;
    outCm.nid                       = MY_NID;
    outCm.sid                       = MY_ID;
    outCm.data_length               = 1;
    outCm.data[BOOT_DATA_HEARTBEAT_INDEX] = HEARTBEAT_USER_STARTUP;
    while(!canSendMessage(outCm,PRIO_HIGH));
 
 
    while(1)
    {
        static TICK t = 0;
        static TICK heartbeat = 0;
 
       
        if ((tickGet()-heartbeat)>TICK_SECOND*5)
        {
            // Send alive heartbeat
            outCm.funct                     = FUNCT_BOOTLOADER;
            outCm.funcc                     = FUNCC_BOOT_HEARTBEAT;
            outCm.nid                       = MY_NID;
            outCm.sid                       = MY_ID;
            outCm.data_length               = 1;
            outCm.data[BOOT_DATA_HEARTBEAT_INDEX] = HEARTBEAT_ALIVE;
            while(!canSendMessage(outCm,PRIO_HIGH));
           
            heartbeat = tickGet();
        }
        if ((tickGet()-t)>TICK_SECOND)
        {
            LED0_IO=~LED0_IO;
            t = tickGet();
        }
    }
}
 
 
#pragma interrupt high_isr
void high_isr(void)
{
    ClrWdt();
 
    #ifdef USE_CAN
        canISR();
    #endif
 
    tickUpdate();
 
}
 
 
#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;   
 
    // 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.
*/
#ifdef USE_CAN
void canParse(CAN_MESSAGE cm)
{
    CAN_MESSAGE outCm;
 
    ClrWdt();
 
    switch(cm.funct)
    {
        case FUNCT_BOOTLOADER:
            if (cm.nid==MY_NID && ((((unsigned int)cm.data[BOOT_DATA_RID_HIGH_INDEX])<<8)+cm.data[BOOT_DATA_RID_LOW_INDEX])==MY_ID)
            {
                switch(cm.funcc)
                {
                    case FUNCC_BOOT_INIT: Reset(); break; //User whant to program me, reset me.
                    case FUNCC_BOOT_SET_ID:
                        // Change my ID and NID
                        MY_ID=(((WORD)cm.data[BOOT_DATA_NEW_ID_HIGH_INDEX])<<8)+cm.data[BOOT_DATA_NEW_ID_LOW_INDEX];
                        MY_NID=cm.data[BOOT_DATA_NEW_NID_INDEX];
                        EEWrite(NODE_ID_EE+1,cm.data[BOOT_DATA_NEW_ID_HIGH_INDEX]);
                        EEWrite(NODE_ID_EE+2,cm.data[BOOT_DATA_NEW_ID_LOW_INDEX]);
                        EEWrite(NODE_ID_EE+3,cm.data[BOOT_DATA_NEW_NID_INDEX]);
                        EEWrite(NODE_ID_EE,NODE_HAS_ID);
                        // Send ack with new id.
                        outCm.funct                     = FUNCT_BOOTLOADER;
                        outCm.funcc                     = FUNCC_BOOT_ACK;
                        outCm.nid                       = MY_NID;
                        outCm.sid                       = MY_ID;
                        outCm.data_length               = 8;
                        outCm.data[BOOT_DATA_ERR_INDEX] = ACK_ERR_NO_ERROR;
                        while(!canSendMessage(outCm,PRIO_HIGH));
                    break;
                }
            }
 
 
        break;
    }
}
#endif
 
 
 
// 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 = 0x001000
void _reset (void)
{
    _asm goto _startup _endasm
}
#pragma code
#endif
 
#pragma code _HIGH_INTERRUPT_VECTOR = 0x001008
void _high_ISR (void)
{
    _asm GOTO high_isr _endasm
}
#pragma code
 
#pragma code _LOW_INTERRUPT_VECTOR = 0x001018
void _low_ISR (void)
{
    _asm GOTO low_isr _endasm
}
#pragma code
 

Rev 129	Rev 140
1	/*********************************************************************	1	/*********************************************************************
2	*	2	*
3	* Main application	3	* Main application
4	*	4	*
5	*********************************************************************	5	*********************************************************************
6	* FileName: $HeadURL: https://svn.auml.se/svn/HomeAutomation/trunk/EmbeddedSoftware/PIC/canLCD/Source/Main.c $	6	* FileName: $HeadURL: https://svn.auml.se/svn/HomeAutomation/trunk/EmbeddedSoftware/PIC/canLCD/Source/Main.c $
7	* Last changed: $LastChangedDate: 2006-11-20 17:54:03 +0100 (~~Mon,~~ 20 Nov 2006) $	7	* Last changed: $LastChangedDate: 2006-11-21 10:28:39 +0100 (Tue, 21 Nov 2006) $
8	* By: $LastChangedBy: johboh $	8	* By: $LastChangedBy: johboh $
9	* Revision: $Revision: ~~129~~ $	9	* Revision: $Revision: 140 $
10	********************************************************************/	10	********************************************************************/
11		11
12		12
13	#include <compiler.h>	13	#include <compiler.h>
14	#include <stackTasks.h>	14	#include <stackTasks.h>
15	#include <Tick.h>	15	#include <Tick.h>
16	#include <funcdefs.h>	16	#include <funcdefs.h>
17	#include <EEaccess.h>	17	#include <EEaccess.h>
-		18
-		19	#ifdef USE_LCD
-		20	#include "lcd.h"
-		21	#endif
18		22
19	#ifdef USE_CAN	23	#ifdef USE_CAN
20	#include <CAN.h>	24	#include <CAN.h>
21	#endif	25	#endif
22		26
23	static void mainInit(void);	27	static void mainInit(void);
24		28
25		29
26	static int MY_ID = DEFAULT_ID;	30	static int MY_ID = DEFAULT_ID;
27	static BYTE MY_NID = DEFAULT_NID;	31	static BYTE MY_NID = DEFAULT_NID;
28		32
29	void main()	33	void main()
30	{	34	{
31	static TICK t = 0;	35	static TICK t = 0;
32	CAN_MESSAGE outCm;	36	CAN_MESSAGE outCm;
33		37
34	// Inits	38	// Inits
35		39
36	mainInit();	40	mainInit();
37		41
38	#ifdef USE_CAN	42	#ifdef USE_CAN
39	canInit();	43	canInit();
-		44	#endif
-		45
-		46	#ifdef USE_LCD
-		47	lcdInit();
-		48	lcdClear();
-		49	lcdPutrs("Welcome!");
40	#endif	50	#endif
41		51
42	tickInit();	52	tickInit();
43		53
44	// Read ID and NID if exist.	54	// Read ID and NID if exist.
45	if (EERead(NODE_ID_EE)==NODE_HAS_ID)	55	if (EERead(NODE_ID_EE)==NODE_HAS_ID)
46	{	56	{
47	MY_ID=(((WORD)EERead(NODE_ID_EE + 1))<<8)+EERead(NODE_ID_EE + 2);	57	MY_ID=(((WORD)EERead(NODE_ID_EE + 1))<<8)+EERead(NODE_ID_EE + 2);
48	MY_NID=EERead(NODE_ID_EE + 3);	58	MY_NID=EERead(NODE_ID_EE + 3);
49	}	59	}
50		60
51	// Send user program startup heatbeat	61	// Send user program startup heatbeat
52	outCm.funct = FUNCT_BOOTLOADER;	62	outCm.funct = FUNCT_BOOTLOADER;
53	outCm.funcc = FUNCC_BOOT_HEARTBEAT;	63	outCm.funcc = FUNCC_BOOT_HEARTBEAT;
54	outCm.nid = MY_NID;	64	outCm.nid = MY_NID;
55	outCm.sid = MY_ID;	65	outCm.sid = MY_ID;
56	outCm.data_length = 1;	66	outCm.data_length = 1;
57	outCm.data[BOOT_DATA_HEARTBEAT_INDEX] = HEARTBEAT_USER_STARTUP;	67	outCm.data[BOOT_DATA_HEARTBEAT_INDEX] = HEARTBEAT_USER_STARTUP;
58	while(!canSendMessage(outCm,PRIO_HIGH));	68	while(!canSendMessage(outCm,PRIO_HIGH));
59		69
60		70
61	while(1)	71	while(1)
62	{	72	{
63	static TICK t = 0;	73	static TICK t = 0;
64	static TICK heartbeat = 0;	74	static TICK heartbeat = 0;
65		75
66		76
67	if ((tickGet()-heartbeat)>TICK_SECOND*5)	77	if ((tickGet()-heartbeat)>TICK_SECOND*5)
68	{	78	{
69	// Send alive heartbeat	79	// Send alive heartbeat
70	outCm.funct = FUNCT_BOOTLOADER;	80	outCm.funct = FUNCT_BOOTLOADER;
71	outCm.funcc = FUNCC_BOOT_HEARTBEAT;	81	outCm.funcc = FUNCC_BOOT_HEARTBEAT;
72	outCm.nid = MY_NID;	82	outCm.nid = MY_NID;
73	outCm.sid = MY_ID;	83	outCm.sid = MY_ID;
74	outCm.data_length = 1;	84	outCm.data_length = 1;
75	outCm.data[BOOT_DATA_HEARTBEAT_INDEX] = HEARTBEAT_ALIVE;	85	outCm.data[BOOT_DATA_HEARTBEAT_INDEX] = HEARTBEAT_ALIVE;
76	while(!canSendMessage(outCm,PRIO_HIGH));	86	while(!canSendMessage(outCm,PRIO_HIGH));
77		87
78	heartbeat = tickGet();	88	heartbeat = tickGet();
79	}	89	}
80	if ((tickGet()-t)>TICK_SECOND)	90	if ((tickGet()-t)>TICK_SECOND)
81	{	91	{
82	LED0_IO=~LED0_IO;	92	LED0_IO=~LED0_IO;
83	t = tickGet();	93	t = tickGet();
84	}	94	}
85	}	95	}
86	}	96	}
87		97
88		98
89	#pragma interrupt high_isr	99	#pragma interrupt high_isr
90	void high_isr(void)	100	void high_isr(void)
91	{	101	{
92	ClrWdt();	102	ClrWdt();
93		103
94	#ifdef USE_CAN	104	#ifdef USE_CAN
95	canISR();	105	canISR();
96	#endif	106	#endif
97		107
98	tickUpdate();	108	tickUpdate();
99		109
100	}	110	}
101		111
102		112
103	#pragma interrupt low_isr	113	#pragma interrupt low_isr
104	void low_isr(void)	114	void low_isr(void)
105	{	115	{
106		116
107	}	117	}
108		118
109		119
110		120
111	/*	121	/*
112	* Function: mainInit	122	* Function: mainInit
113	*	123	*
114	* Input: none	124	* Input: none
115	* Output: none	125	* Output: none
116	* Pre-conditions: none	126	* Pre-conditions: none
117	* Affects: Se code	127	* Affects: Se code
118	* Depends: none.	128	* Depends: none.
119	*/	129	*/
120	void mainInit()	130	void mainInit()
121	{	131	{
122	LED0_TRIS=0;	132	LED0_TRIS=0;
123		133
124	// Enable Interrupts	134	// Enable Interrupts
125	INTCONbits.GIEH = 1;	135	INTCONbits.GIEH = 1;
126	INTCONbits.GIEL = 1;	136	INTCONbits.GIEL = 1;
127		137
128	// Enable interrupt prirority	138	// Enable interrupt prirority
129	RCONbits.IPEN=1;	139	RCONbits.IPEN=1;
130		140
131		141
132	}	142	}
133		143
134	/*	144	/*
135	* Function: canParse	145	* Function: canParse
136	*	146	*
137	* Input: Received can message	147	* Input: Received can message
138	* Output: none	148	* Output: none
139	* Pre-conditions: canInit and received packet.	149	* Pre-conditions: canInit and received packet.
140	* Affects: Sensors/actuators/etc. See code.	150	* Affects: Sensors/actuators/etc. See code.
141	* Depends: none.	151	* Depends: none.
142	*/	152	*/
143	#ifdef USE_CAN	153	#ifdef USE_CAN
144	void canParse(CAN_MESSAGE cm)	154	void canParse(CAN_MESSAGE cm)
145	{	155	{
146	CAN_MESSAGE outCm;	156	CAN_MESSAGE outCm;
147		157
148	ClrWdt();	158	ClrWdt();
149		159
150	switch(cm.funct)	160	switch(cm.funct)
151	{	161	{
152	case FUNCT_BOOTLOADER:	162	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)	163	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	{	164	{
155	switch(cm.funcc)	165	switch(cm.funcc)
156	{	166	{
157	case FUNCC_BOOT_INIT: Reset(); break; //User whant to program me, reset me.	167	case FUNCC_BOOT_INIT: Reset(); break; //User whant to program me, reset me.
158	case FUNCC_BOOT_SET_ID:	168	case FUNCC_BOOT_SET_ID:
159	// Change my ID and NID	169	// 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];	170	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];	171	MY_NID=cm.data[BOOT_DATA_NEW_NID_INDEX];
162	EEWrite(NODE_ID_EE+1,cm.data[BOOT_DATA_NEW_ID_HIGH_INDEX]);	172	EEWrite(NODE_ID_EE+1,cm.data[BOOT_DATA_NEW_ID_HIGH_INDEX]);
163	EEWrite(NODE_ID_EE+2,cm.data[BOOT_DATA_NEW_ID_LOW_INDEX]);	173	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]);	174	EEWrite(NODE_ID_EE+3,cm.data[BOOT_DATA_NEW_NID_INDEX]);
165	EEWrite(NODE_ID_EE,NODE_HAS_ID);	175	EEWrite(NODE_ID_EE,NODE_HAS_ID);
166	// Send ack with new id.	176	// Send ack with new id.
167	outCm.funct = FUNCT_BOOTLOADER;	177	outCm.funct = FUNCT_BOOTLOADER;
168	outCm.funcc = FUNCC_BOOT_ACK;	178	outCm.funcc = FUNCC_BOOT_ACK;
169	outCm.nid = MY_NID;	179	outCm.nid = MY_NID;
170	outCm.sid = MY_ID;	180	outCm.sid = MY_ID;
171	outCm.data_length = 8;	181	outCm.data_length = 8;
172	outCm.data[BOOT_DATA_ERR_INDEX] = ACK_ERR_NO_ERROR;	182	outCm.data[BOOT_DATA_ERR_INDEX] = ACK_ERR_NO_ERROR;
173	while(!canSendMessage(outCm,PRIO_HIGH));	183	while(!canSendMessage(outCm,PRIO_HIGH));
174	break;	184	break;
175	}	185	}
176	}	186	}
177		187
178		188
179	break;	189	break;
180	}	190	}
181	}	191	}
182	#endif	192	#endif
183		193
184		194
185		195
186	// Below are mandantory when using bootloader	196	// Below are mandantory when using bootloader
187	// define DEBUG_MODE to use without bootloader.	197	// define DEBUG_MODE to use without bootloader.
188		198
189	#ifndef DEBUG_MODE	199	#ifndef DEBUG_MODE
190	extern void _startup (void);	200	extern void _startup (void);
191	#pragma code _RESET_INTERRUPT_VECTOR = 0x001000	201	#pragma code _RESET_INTERRUPT_VECTOR = 0x001000
192	void _reset (void)	202	void _reset (void)
193	{	203	{
194	_asm goto _startup _endasm	204	_asm goto _startup _endasm
195	}	205	}
196	#pragma code	206	#pragma code
197	#endif	207	#endif
198		208
199	#pragma code _HIGH_INTERRUPT_VECTOR = 0x001008	209	#pragma code _HIGH_INTERRUPT_VECTOR = 0x001008
200	void _high_ISR (void)	210	void _high_ISR (void)
201	{	211	{
202	_asm GOTO high_isr _endasm	212	_asm GOTO high_isr _endasm
203	}	213	}
204	#pragma code	214	#pragma code
205		215
206	#pragma code _LOW_INTERRUPT_VECTOR = 0x001018	216	#pragma code _LOW_INTERRUPT_VECTOR = 0x001018
207	void _low_ISR (void)	217	void _low_ISR (void)
208	{	218	{
209	_asm GOTO low_isr _endasm	219	_asm GOTO low_isr _endasm
210	}	220	}
211	#pragma code	221	#pragma code
212		222

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