example_slave.c

LIN总线应用于汽车控制车门中控锁系统原代码

#include <p18cxxx.h>
#include "LIN_appl.h"			// created from ldf file
#include "LINbasic.h"
#include "BLDC_DATA.h"
#include "application.h"


/************************************************************************************************/
/* 10/05/05	JX	changed l_ifc_rxtx_MyLinlfc(void) to l_ifc_rx_MyLinlfc(void)  */
/*  */
/************************************************************************************************/


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

_u_ifc_status lin_status;			// the typedef of ifcstatus is defined in LINbasic.h

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

void InterruptHandlerHigh(void);

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

#pragma code newIntHigh = 0x08
void newIntHigh(void){
  _asm goto InterruptHandlerHigh _endasm }
#pragma code

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

#pragma interruptlow InterruptHandlerHigh save = PROD//,section(".tmpdata")
void InterruptHandlerHigh(void)
{
	l_ifc_rx_MyLinIfc();		/* call the driver */
	
	Update_Sequence();
	
	if (1 == PIR3bits.IC1IF)
	{
		if (1 == PORTAbits.RA2)
		{
			LED1 = 1;
		}
		else
		{
			LED1 = 0;
		}
		PIR3bits.IC1IF = 0;
	}
	else
	if ( 1 == PIR3bits.IC2QEIF)
	{
		if (1 == PORTAbits.RA3)
		{
			LED2 = 1;
		}
		else
		{
			LED2 = 0;	
		}
		PIR3bits.IC2QEIF = 0;
	}
	else
	if (1 == PIR3bits.IC3DRIF)
	{
		if (1 ==	PORTAbits.RA4)
		{
			LED3	= 1;
		}
		else
		{
			LED3 = 0;
		}
		PIR3bits.IC3DRIF = 0;
	}
//	else
//	if ( 1 == PIR1bits.ADIF)		// read ADCresults and update registes
//	{
//		Update_ADC();
//	}
}

#pragma code

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

void LinCOM(void){
	
static l_u8 help;
lin_status.w = l_ifc_read_status_MyLinIfc();

/* check if transfer is finished and not more than one message has been received since last status check */

if ((lin_status.b.Successful_transfer) && ( 0 == lin_status.b.Overrun)) 
{
   if ( lin_status.b.LastFrame_PID == kbotSP_MControl_pid)
   {
			if ((l_bool_rd_Motor_left ()) && !(l_bool_rd_Motor_right ()))
			{
				Motor_Turn_Fwd();
			}
			else
			if (!(l_bool_rd_Motor_left ()) && (l_bool_rd_Motor_right ()))
			{
				Motor_Turn_Rev();
			}
			else
			{
				Motor_Stop();
			}
   	}
   	else
   	if (lin_status.b.Error_In_Response)
		{
			botSpMStatus._c[7]++;		/* increment error counter */
  	}
  }
}

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

#define WaitMCP Delay100TCYx(255)

#define MCP201CSHIGH      _CS_DATA_HIGH; WaitMCP;
#define MCP201CSLOW       _CS_DATA_LOW; WaitMCP;
#define MCP201ON()        MCP201CSLOW MCP201CSHIGH MCP201CSLOW MCP201CSHIGH


l_bool l_ifc_connect_MyLinIfc(void)
{
	MCP201ON();	
	return 0;
}

l_bool l_ifc_disconnect_MyLinIfc(void)
{
	MCP201CSLOW;
	return 0;
}

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

void main(void)
{
	Init_Application();		
  l_ifc_init_MyLinIfc();			/* initialize the driver */
  l_ifc_connect_MyLinIfc();		/* get the physical connection to LIN */
  l_ifc_goto_sleep_req_MyLinIfc();	/* wait for wakeup sequence */

  INTCON |= 0xC0; 			/* enable the interrupt */
	
  for(;;)
  {
    ClrWdt();      
    LinCOM();				/* check Status of driver */
    Update_Application();
  }
}