Intial code push

Telem_Debug/Debug3/main.c

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+//
+// Telemetry
+//
+// Modified by Erik in 2010-2011
+//
+/* Modifications for 2013 by B. Bazuin
+ * - 2013v1
+ * - reworked to operate continuously with CAN at 250 kbps
+ * - no USB device code included
+ * - no ADC code
+ * - table values collected only the first time captured
+ * - 2014V2 MODIFICATIONS
+ * - Reordered and eliminated some messages
+ * - HF rate 10 sec, LF rate 30 sec, ST rate 60 sec
+ * - BP_PCDONE and BP_ISH added
+ * - Precharge Controller Removed
+ */
+/* Modifications for 2016 by B. Bazuin
+  * -New BPS and Array Controller
+  *
+ */
+
+#include "Sunseeker2021.h"
+
+// structures
+//message_fifo decode_queue;
+//char_fifo USB_FIFO, MODEM_FIFO;
+
+//hf_packet pckHF;
+//lf_packet pckLF;
+//status_packet pckST;
+
+unsigned volatile char forceread;
+
+unsigned int can_mask0, can_mask1;
+
+enum MODE {INIT, CANREAD, DECODE, MODEMTX, USBTX, LOWP, LOOP} ucMODE;
+unsigned volatile char can_status_test, can_rcv_status_test;
+unsigned long can_msg_count = 0, can_stall_cnt = 0;
+unsigned long can_err_count = 0, can_read_cnt = 0;
+int thrs, tmin, tsec;
+char ucFLAG,usbENABLE;
+char CAN1_INT_FLAG = FALSE;
+
+volatile unsigned char status_flag = FALSE;
+volatile unsigned char hs_comms_flag = FALSE;
+volatile unsigned char ls_comms_flag = FALSE;
+volatile unsigned char st_comms_flag = FALSE;
+
+static char init_msg_data[21] = "0xHHHHHHHH,0xHHHHHHHH";
+
+
+// General Variables
+
+// CAN Communication Variables
+volatile unsigned char cancomm_flag = FALSE;	//used for CAN transmission timing
+volatile unsigned char send_can = FALSE;	//used for CAN transmission timing
+volatile unsigned char rcv_can = FALSE;	//used for CAN transmission timing
+volatile unsigned char can_full = FALSE;	//used for CAN transmission status
+
+int main(void) {
+    WDTCTL = WDTPW | WDTHOLD;	// Stop watchdog timer
+	_DINT();     		    					//disables interrupts
+
+	clock_init();								//Configure HF and LF clocks
+	delay();
+	timerB_init();								//init timer B
+	delay();
+
+	io_init();
+	delay();
+
+	UART_init();
+	delay();
+
+	can0spi_init();
+	delay();
+
+	can1spi_init();
+	delay();
+
+
+
+
+	_EINT(); 	//enable global interrupts
+
+	ucMODE = INIT;
+
+    while(1)
+    {
+    	if(status_flag){
+    		status_flag = FALSE;
+    		P8OUT ^= BIT3;                          // Toggle P1.0
+    		P8OUT ^= BIT6;                          // Toggle P1.0
+    	}
+
+      // __delay_cycles(100000);                  // Delay
+    }
+
+	return 0;
+}
+
+/*
+* Initialise Timer B
+*	- Provides timer tick timebase at 100 Hz
+*/
+void timerB_init( void )
+{
+  TBCTL = CNTL_0 | TBSSEL_1 | ID_3 | TBCLR;		// ACLK/8, clear TBR
+  TBCCR0 = (ACLK_RATE/8/TICK_RATE);				// Set timer to count to this value = TICK_RATE overflow
+  TBCCTL0 = CCIE;								// Enable CCR0 interrrupt
+  TBCTL |= MC_1;								// Set timer to 'up' count mode
+}
+
+/*
+* Timer B CCR0 Interrupt Service Routine
+*	- Interrupts on Timer B CCR0 match at 10Hz
+*	- Sets Time_Flag variable
+*/
+/*
+* GNU interropt symantics
+* interrupt(TIMERB0_VECTOR) timer_b0(void)
+*/
+#pragma vector = TIMERB0_VECTOR
+__interrupt void timer_b0(void)
+{
+	  static unsigned int status_count = TELEM_STATUS_COUNT;
+	  static unsigned int hs_comms_count = HS_COMMS_SPEED;
+	  static unsigned int ls_comms_count = LS_COMMS_SPEED;
+	  static unsigned int st_comms_count = ST_COMMS_SPEED;
+
+	  if (ucMODE != INIT)
+	  {
+	  // Trigger comms events (hs command packet transmission)
+	  	hs_comms_count--;
+	  	if( hs_comms_count == 0 ){
+	   		hs_comms_count = HS_COMMS_SPEED;
+	    	hs_comms_flag = TRUE;
+	  	}
+
+	  	ls_comms_count--;
+	  	if( ls_comms_count == 0 ){
+	    	ls_comms_count = LS_COMMS_SPEED;
+	    	ls_comms_flag = TRUE;
+	  	}
+
+	  	st_comms_count--;
+	  	if( st_comms_count == 0 ){
+	    	st_comms_count = ST_COMMS_SPEED;
+	    	st_comms_flag = TRUE;
+	  	}
+	  }
+
+	  // Primary System Heart beat
+	  status_count--;
+	  if( status_count == 0 )
+	  {
+		  status_count = TELEM_STATUS_COUNT;
+		  status_flag = TRUE;
+	  }
+
+
+}
+