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

 *

 *                  Main application

 *

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

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

 * Last changed:    $LastChangedDate: 2007-03-13 18:29:20 +0100 (Tue, 13 Mar 2007) $

 * By:              $LastChangedBy: johboh $

 * Revision:        $Revision: 363 $

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

#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

#ifdef USE_BLINDS

    #include <blinds.h>

#endif

static void mainInit(void);

void main()

{

    // Inits

    mainInit();

    canInit();

    #ifdef USE_ADC

        adcInit(TRUE,0b1011);

    #endif

    #ifdef USE_BLINDS

        blindsInit();

        blindsTurn(0);

    #else

        BLINDS0P_IO=0;

    #endif

    while(1)

    {

        TICK currentTick = tickGet();

        static TICK tick_led = 0;

        static TICK tick_temperature = 0;

        static TICK tick_blinds = 0;   

        static BOOL getNewTemperature = TRUE;

        static BYTE lastTemperature = TEMPERATURE_INSIDE;

        if ((currentTick-tick_led)>(1*TICK_1S))

        {

            LED0_IO=~LED0_IO;

            tick_led = currentTick;

        }

        #ifdef USE_BLINDS

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

        {

            CAN_PACKET outCp;

            outCp.type=ptPGM;

            outCp.pgm.class=pcSENSOR;

            outCp.pgm.id=pstBLIND_TR;

            outCp.length=1;

            outCp.data[0]=blindsGetPrecent();

            while(!canSendMessage(outCp,PRIO_HIGH));

            tick_blinds = currentTick;         

        }

        #endif

        #ifdef USE_ADC

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

        {

            if (lastTemperature==TEMPERATURE_INSIDE) lastTemperature=TEMPERATURE_OUTSIDE; else lastTemperature=TEMPERATURE_INSIDE;

            adcConvert(lastTemperature);

            getNewTemperature=FALSE;

            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_INSIDE?pstTEMP_INSIDE:pstTEMP_OUTSIDE);

            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));

            getNewTemperature=TRUE;

            tick_temperature = currentTick;

        }

        #endif

    } // end while

} // end main

#pragma interrupt high_isr

void high_isr(void)

{

    canISR();

    #ifdef USE_BLINDS

        blindsISR();

    #endif

    #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;

    BLINDS0_TRIS=0;

    BLINDS0P_TRIS=0;

    // Enable interrupt prirority

    RCONbits.IPEN=1;

    // Enable Interrupts

    INTCONbits.GIEL = 1;

    INTCONbits.GIEH = 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)

{

    #ifdef USE_BLINDS

    if (cp.pgm.class==pcACTUATOR && cp.pgm.id==patBLIND_TR)

    {

        if (cp.data[1]==0x1)

        {

            signed char pre = (signed char)blindsGetPrecent()+(signed char)cp.data[0];

            blindsTurn((pre<0?0:pre));

        }

        else if (cp.data[1]==0x0)

        {

            blindsTurn(cp.data[0]);

        }

    }

    #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 = 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