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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 140 | johboh | 1 | /********************************************************************* |
| 129 | johboh | 2 | * |
| 3 | * Main application |
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| 4 | * |
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| 5 | ********************************************************************* |
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| 6 | * FileName: $HeadURL: https://svn.auml.se/svn/HomeAutomation/trunk/EmbeddedSoftware/PIC/canLCD/Source/Main.c $ |
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| 7 | * Last changed: $LastChangedDate: 2007-01-28 14:58:11 +0100 (Sun, 28 Jan 2007) $ |
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| 8 | * By: $LastChangedBy: johboh $ |
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| 9 | * Revision: $Revision: 260 $ |
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| 10 | ********************************************************************/ |
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| 11 | |||
| 12 | |||
| 13 | #include <compiler.h> |
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| 14 | #include <stackTasks.h> |
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| 15 | #include <Tick.h> |
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| 16 | #include <funcdefs.h> |
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| 260 | johboh | 17 | #include <CAN.h> |
| 129 | johboh | 18 | |
| 140 | johboh | 19 | #ifdef USE_LCD |
| 20 | #include "lcd.h" |
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| 21 | #endif |
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| 22 | |||
| 129 | johboh | 23 | |
| 24 | static void mainInit(void); |
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| 25 | |||
| 26 | |||
| 27 | void main() |
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| 28 | { |
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| 29 | static TICK t = 0; |
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| 30 | CAN_MESSAGE outCm; |
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| 31 | |||
| 32 | // Inits |
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| 33 | mainInit(); |
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| 260 | johboh | 34 | canInit(); |
| 129 | johboh | 35 | |
| 36 | |||
| 140 | johboh | 37 | #ifdef USE_LCD |
| 38 | lcdInit(); |
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| 39 | lcdClear(); |
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| 40 | lcdPutrs("Welcome!"); |
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| 41 | #endif |
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| 42 | |||
| 129 | johboh | 43 | while(1) |
| 44 | { |
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| 45 | static TICK t = 0; |
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| 46 | |||
| 47 | if ((tickGet()-t)>TICK_SECOND) |
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| 48 | { |
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| 49 | LED0_IO=~LED0_IO; |
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| 50 | t = tickGet(); |
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| 51 | } |
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| 52 | } |
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| 53 | } |
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| 54 | |||
| 55 | |||
| 56 | #pragma interrupt high_isr |
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| 57 | void high_isr(void) |
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| 58 | { |
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| 260 | johboh | 59 | canISR(); |
| 129 | johboh | 60 | } |
| 61 | |||
| 62 | |||
| 63 | #pragma interrupt low_isr |
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| 64 | void low_isr(void) |
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| 65 | { |
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| 66 | |||
| 67 | } |
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| 68 | |||
| 69 | |||
| 70 | |||
| 71 | /* |
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| 72 | * Function: mainInit |
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| 73 | * |
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| 74 | * Input: none |
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| 75 | * Output: none |
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| 76 | * Pre-conditions: none |
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| 77 | * Affects: Se code |
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| 78 | * Depends: none. |
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| 79 | */ |
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| 80 | void mainInit() |
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| 81 | { |
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| 82 | LED0_TRIS=0; |
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| 83 | |||
| 84 | // Enable Interrupts |
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| 85 | INTCONbits.GIEH = 1; |
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| 86 | INTCONbits.GIEL = 1; |
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| 87 | |||
| 88 | // Enable interrupt prirority |
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| 89 | RCONbits.IPEN=1; |
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| 90 | |||
| 91 | |||
| 92 | } |
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| 93 | |||
| 94 | /* |
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| 95 | * Function: canParse |
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| 96 | * |
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| 97 | * Input: Received can message |
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| 98 | * Output: none |
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| 99 | * Pre-conditions: canInit and received packet. |
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| 100 | * Affects: Sensors/actuators/etc. See code. |
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| 101 | * Depends: none. |
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| 102 | */ |
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| 103 | void canParse(CAN_MESSAGE cm) |
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| 104 | { |
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| 105 | CAN_MESSAGE outCm; |
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| 106 | } |
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| 107 | |||
| 108 | |||
| 109 | // Below are mandantory when using bootloader |
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| 110 | // define DEBUG_MODE to use without bootloader. |
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| 111 | |||
| 112 | #ifndef DEBUG_MODE |
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| 113 | extern void _startup (void); |
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| 114 | #pragma code _RESET_INTERRUPT_VECTOR = 0x001000 |
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| 115 | void _reset (void) |
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| 116 | { |
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| 117 | _asm goto _startup _endasm |
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| 118 | } |
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| 119 | #pragma code |
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| 120 | #endif |
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| 121 | |||
| 122 | #pragma code _HIGH_INTERRUPT_VECTOR = 0x001008 |
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| 123 | void _high_ISR (void) |
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| 124 | { |
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| 125 | _asm GOTO high_isr _endasm |
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| 126 | } |
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| 127 | #pragma code |
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| 128 | |||
| 129 | #pragma code _LOW_INTERRUPT_VECTOR = 0x001018 |
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| 130 | void _low_ISR (void) |
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| 131 | { |
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| 132 | _asm GOTO low_isr _endasm |
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| 133 | } |
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| 134 | #pragma code |