WebSVN – HomeAutomation – Blame – /trunk/EmbeddedSoftware/PIC/canToSerial/Source/Main.c

Rev	Author	Line No.	Line
51	johboh	1	/*********************************************************************
		2	*
		3	* Main application
		4	*
		5	*********************************************************************
97	johboh	6	* FileName: $HeadURL: https://svn.auml.se/svn/HomeAutomation/trunk/EmbeddedSoftware/PIC/canToSerial/Source/Main.c $
		7	* Last changed: $LastChangedDate: 2006-11-14 21:22:17 +0100 (Tue, 14 Nov 2006) $
		8	* By: $LastChangedBy: johboh $
		9	* Revision: $Revision: 97 $
51	johboh	10	********************************************************************/
		11
53	johboh	12	#include <compiler.h>
		13	#include <stackTasks.h>
		14	#include <Tick.h>
51	johboh	15
		16	#ifdef USE_CAN
53	johboh	17	#include <CAN.h>
51	johboh	18	#endif
		19
		20	#ifdef USE_UART
53	johboh	21	#include <uart.h>
51	johboh	22	#endif
		23
		24
		25
		26	static void mainInit(void);
		27
		28	void main()
		29	{
		30	static TICK t = 0;
		31
		32	// Inits
		33
		34	mainInit();
		35
		36	#ifdef USE_CAN
		37	canInit();
		38	#endif
		39
		40	#ifdef USE_UART
		41	uartInit();
		42	#endif
		43
		44	tickInit();
		45
64	johboh	46
		47
51	johboh	48	while(1)
64	johboh	49	{
51	johboh	50	}
		51
		52	}
		53
		54
		55	#pragma interruptlow HighISR
		56	void HighISR(void)
		57	{
		58
		59
		60	#ifdef USE_UART
		61	uartISR();
		62	#endif
		63
		64	#ifdef USE_CAN
		65	canISR();
		66	#endif
		67
		68
		69	tickUpdate();
		70	}
		71	#pragma code highVector=0x08
		72	void HighVector (void)
		73	{
		74	_asm goto HighISR _endasm
		75	}
		76	#pragma code // Return to default code section
		77
		78
		79
		80	#pragma interruptlow LowISR
		81	void LowISR(void)
		82	{
		83
		84	}
		85	#pragma code lowVector=0x18
		86	void LowVector (void)
		87	{
		88	_asm goto LowISR _endasm
		89	}
		90	#pragma code // Return to default code section
		91
		92
		93	/*
		94	* Function: mainInit
		95	*
		96	* Input: none
		97	* Output: none
		98	* Pre-conditions: none
		99	* Affects: Se code
		100	* Depends: none.
		101	*/
		102	void mainInit()
		103	{
		104	LED0_TRIS=0;
		105
		106	// Enable internal PORTB pull-ups
		107	INTCON2bits.RBPU = 0;
		108
		109	// Enable Interrupts
		110	INTCONbits.GIEH = 1;
		111	INTCONbits.GIEL = 1;
		112
		113
		114	// Enable interrupt prirority
		115	RCONbits.IPEN=1;
		116
		117
		118	}
		119
		120	/*
		121	* Function: canParse
		122	*
		123	* Input: Received can message
		124	* Output: none
		125	* Pre-conditions: canInit and received packet.
		126	* Affects: Sensors/actuators/etc. See code.
		127	* Depends: none.
		128	*/
		129	#ifdef USE_CAN
		130	void canParse(CAN_MESSAGE cm)
		131	{
		132	int i=0;
		133
		134	uartPutc(UART_START_BYTE);
		135	uartPutc((BYTE)(cm.ident));
		136	uartPutc((BYTE)(cm.ident>>8));
		137	uartPutc((BYTE)(cm.ident>>16));
		138	uartPutc((BYTE)(cm.ident>>24));
		139	uartPutc(cm.extended);
56	johboh	140	uartPutc(cm.remote_request);
51	johboh	141	uartPutc(cm.data_length);
		142	for(i=0;i<8;i++) uartPutc(cm.data[i]);
		143	uartPutc(UART_END_BYTE);
		144
		145	}
		146	#endif
		147
		148
		149	/*
		150	* Function: uartParse
		151	*
		152	* Input: Received uart message
		153	* Output: none
		154	* Pre-conditions: uartInit and received byte.
		155	* Affects: Sensors/actuators/etc. See code.
		156	* Depends: none.
		157	*/
		158	#ifdef USE_UART
		159	void uartParse(BYTE c)
		160	{
		161	BYTE i;
		162	unsigned int wait = 0;
		163	CAN_MESSAGE cm;
		164	static BOOL waitingMessage = FALSE;
		165	static TICK timeout=0;
		166	static BYTE count=0;
		167
		168	if (waitingMessage==TRUE && (tickGet()-timeout)>TICK_SECOND/20)
		169	{
		170	waitingMessage=FALSE;
		171	}
		172
		173
		174	if (waitingMessage==TRUE)
		175	{
		176
		177	timeout=tickGet();
		178
56	johboh	179
51	johboh	180	// UART END
56	johboh	181	if(count>=15)
51	johboh	182	{
		183	if (c==UART_END_BYTE)
		184	{
56	johboh	185	LED0_IO=~LED0_IO;
64	johboh	186	//canParse(cm);
		187	while(!canSendMessage(cm,PRIO_HIGEST));
51	johboh	188	}
		189	waitingMessage=FALSE;
		190	return;
		191	}
		192
		193	// data
56	johboh	194	if(count>=7)
51	johboh	195	{
56	johboh	196	cm.data[count-7]=c;
51	johboh	197	count++;
		198	return;
		199	}
		200
		201	// data length
56	johboh	202	if(count>=6)
51	johboh	203	{
		204	cm.data_length=c;
		205	count++;
		206	return;
		207	}
		208
56	johboh	209	// remote request
		210	if(count>=5)
		211	{
		212	cm.remote_request=c;
		213	count++;
		214	return;
		215	}
		216
51	johboh	217	// extended
		218	if(count>=4)
		219	{
		220	cm.extended=c;
		221	count++;
		222	return;
		223	}
		224
		225	// ident
		226	if(count>=0)
		227	{
		228	cm.ident+=((DWORD)c<<(count*8));
		229	count++;
		230	return;
		231	}
		232
		233	}
		234
		235
		236	if (c==UART_START_BYTE && waitingMessage==FALSE)
		237	{
		238	waitingMessage=TRUE;
		239	timeout=tickGet();
		240	count=0;
		241	cm.ident=0;
		242	return;
		243	}
		244
		245
		246	}
		247	#endif

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