/*******************************************************************************/
/*
Copyright (c) 2008 Freescale Semiconductor
\file       main.c
\brief      DZ60 - CAN sample code
\author     Freescale Semiconductor
\author     B05114
\version    0.1
\date       January/2008
*/
/*******************************************************************************/
 
/* Derivative peripheral declarations */
#include "derivative.h" 

#include <hidef.h>

/* DZ60 initialization functions */
#include "DZ60_init.h"

/* MSCAN definitions */
#include "MSCAN.h"

/* Definitions and function prototypes for CAN messages handling */
#include "CAN_handler.h"

/* TPM1 overflow interrupt service routine */
interrupt void TPM1_ISR(void);

/* Global timebase, reported status selector */
unsigned char   TPMFlag;
unsigned char   timebaseFlag;

/* Scheduler periods */
#define PERIOD_1              1
#define PERIOD_2              3
#define PERIOD_3              5

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

void main( void )
{    
    /* Generate 10ms delay to ensure, that board power supply is in limits */
	MCG_Init();     /* Clock Generator initialization */
    
    GPIO_Init();    /* GPIO configuration */ 
         
    TPM1_Init();    /* Real time counter initialization */
    
    MSCAN_Init();   /* MSCAN module initialization */
                                
    EnableInterrupts;  /* Enable interrupts */
    	             
     
	while(1)
	{    
		if(TPMFlag == 1)
		{
		    TPMFlag = 0;
		                  		    
		    // Update system timebase
		    timebaseFlag++;
			if(timebaseFlag >= (PERIOD_3+1))
			{
				timebaseFlag = 1;
			}
		}
		
		// Select currently processed tasks based on the time schedule
		switch(timebaseFlag)
		{
			case PERIOD_1:
			{											 			
				timebaseFlag++;	    /* Update system timebase */
				
				Send_CAN_Msg();
				    			    			    
				break;
			}
			
			
			case PERIOD_2:
			{					    		   			    
                timebaseFlag++;     /* Update system timebase */  
                                                                  
                break;
			}
			
			
			case PERIOD_3:			
			{									                    																																						
				timebaseFlag++;         /* Update system timebase */
			    
			    Read_CAN_Buffer();
			    
				break;
			}			
		}
	} 
} 

/*****************************************************************************/
/*
* \brief    TPM1 overflow interrupt service routine
* \author   B05114
*/ 
interrupt void TPM1_ISR(void)
{       
static char PB_status = 0;
  	
  	(void)TPM1SC;       /* Read TPM status register */
    TPM1SC_TOF = 0;     /* and clear interrupt flag */		
    
    TPMFlag = 1;
}

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

/*******************************************************************************/
/*                                                                             */
/* All software, source code, included documentation, and any implied know-how */
/* are property of Freescale Semiconductor and therefore considered            */ 
/* CONFIDENTIAL INFORMATION.                                                   */
/*                                                                             */
/* This confidential information is disclosed FOR DEMONSTRATION PURPOSES ONLY. */
/*                                                                             */
/* All Confidential Information remains the property of Freescale Semiconductor*/
/* and will not be copied or reproduced without the express written permission */
/* of the Discloser, except for copies that are absolutely necessary in order  */
/* to fulfill the Purpose.                                                     */
/*                                                                             */
/* Services performed by FREESCALE in this matter are performed AS IS and      */
/* without any warranty. CUSTOMER retains the final decision relative to the   */
/* total design and functionality of the end product.                          */
/*                                                                             */
/* FREESCALE neither guarantees nor will be held liable by CUSTOMER for the    */
/* success of this project.                                                    */
/*                                                                             */
/* FREESCALE disclaims all warranties, express, implied or statutory including,*/
/* but not limited to, implied warranty of merchantability or fitness for a    */
/* particular purpose on any hardware, software ore advise supplied to the     */
/* project by FREESCALE, and or any product resulting from FREESCALE services. */
/*                                                                             */
/* In no event shall FREESCALE be liable for incidental or consequential       */
/* damages arising out of this agreement. CUSTOMER agrees to hold FREESCALE    */
/* harmless against any and all claims demands or actions by anyone on account */
/* of any damage,or injury, whether commercial, contractual, or tortuous,      */
/* rising directly or indirectly as a result of the advise or assistance       */
/* supplied CUSTOMER in connectionwith product, services or goods supplied     */
/* under this Agreement.                                                       */
/*                                                                             */
/*******************************************************************************/