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


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

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