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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 63 | jimmy | 1 | /** |
| 2 | * CAN test program. |
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| 3 | * |
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| 4 | * @target AVR |
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| 5 | * @date 2006-10-29 |
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| 6 | * @author Jimmy Myhrman |
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| 7 | * |
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| 8 | */ |
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| 9 | |||
| 10 | /*----------------------------------------------------------------------------- |
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| 11 | * Includes |
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| 12 | *---------------------------------------------------------------------------*/ |
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| 13 | /* system files */ |
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| 14 | #include <avr/io.h> |
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| 15 | #include <avr/interrupt.h> |
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| 16 | #include <avr/wdt.h> |
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| 17 | #include <stdio.h> |
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| 18 | /* lib files */ |
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| 19 | #include <can.h> |
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| 20 | #include <uart.h> |
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| 21 | #include <timebase.h> |
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| 22 | |||
| 23 | |||
| 24 | /*----------------------------------------------------------------------------- |
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| 25 | * Defines |
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| 26 | *---------------------------------------------------------------------------*/ |
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| 27 | #define UART_START_BYTE 253 |
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| 28 | #define UART_END_BYTE 250 |
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| 29 | |||
| 30 | |||
| 31 | /*----------------------------------------------------------------------------- |
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| 32 | * Functions |
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| 33 | *---------------------------------------------------------------------------*/ |
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| 34 | /** |
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| 35 | * Parses an incoming UART byte by maintaining a state machine. The UART |
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| 36 | * bytes will build up a CAN message according to the protocol described here: |
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| 37 | * |
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| 38 | * http://www.arune.se/projekt/doku.php?id=homeautomation:pc-mjukvara |
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| 39 | * |
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| 40 | * @param c |
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| 41 | * The received UART byte. |
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| 42 | */ |
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| 43 | void UartParseByte(uint8_t c) { |
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| 44 | static CanMessage_t cm; |
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| 45 | static uint8_t waitingMessage = 0; |
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| 46 | static uint32_t startTime = 0; |
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| 47 | static int8_t count = 0; |
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| 48 | |||
| 49 | /* 50ms timeout */ |
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| 69 | jimmy | 50 | if (waitingMessage && TimebasePassedTimeMS(startTime) > 50) { |
| 63 | jimmy | 51 | waitingMessage = 0; |
| 69 | jimmy | 52 | } |
| 63 | jimmy | 53 | |
| 54 | if (waitingMessage) { |
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| 55 | /* save start time */ |
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| 56 | startTime = TimebaseCurrentTime(); |
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| 57 | /* UART END */ |
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| 58 | if (count >= 15) { |
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| 69 | jimmy | 59 | if (c == UART_END_BYTE) { |
| 60 | PORTC ^= (1<<PC0); |
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| 63 | jimmy | 61 | CanSend(&cm); |
| 69 | jimmy | 62 | } |
| 63 | jimmy | 63 | waitingMessage = 0; |
| 64 | return; |
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| 65 | } |
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| 66 | /* data */ |
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| 67 | else if (count >= 7) { |
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| 68 | cm.Data.bytes[count-7] = c; |
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| 69 | count++; |
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| 70 | return; |
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| 71 | } |
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| 72 | /* data length */ |
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| 73 | else if (count >= 6) { |
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| 74 | cm.DataLength = c; |
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| 75 | count++; |
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| 76 | return; |
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| 77 | } |
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| 78 | /* remote request flag */ |
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| 79 | else if (count >= 5) { |
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| 80 | cm.RemoteFlag = c; |
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| 81 | count++; |
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| 82 | return; |
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| 83 | } |
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| 84 | /* extended */ |
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| 85 | else if (count >= 4) { |
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| 86 | cm.ExtendedFlag = c; |
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| 87 | count++; |
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| 88 | return; |
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| 89 | } |
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| 90 | /* ident */ |
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| 91 | else if (count >= 0) { |
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| 92 | cm.Id += ((uint32_t)c << (count*8)); |
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| 93 | count++; |
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| 94 | return; |
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| 95 | } |
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| 96 | } |
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| 97 | |||
| 98 | if (c == UART_START_BYTE && !waitingMessage) { |
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| 99 | waitingMessage = 1; |
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| 100 | startTime = TimebaseCurrentTime(); |
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| 101 | count = 0; |
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| 102 | cm.Id = 0; |
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| 103 | return; |
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| 104 | } |
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| 105 | } |
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| 106 | |||
| 107 | |||
| 108 | /*----------------------------------------------------------------------------- |
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| 109 | * Main Program |
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| 110 | *---------------------------------------------------------------------------*/ |
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| 111 | int main(void) { |
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| 112 | TimebaseInit(); |
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| 113 | UartInit(); |
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| 114 | CanInit(CAN_BITRATE_1M); |
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| 115 | |||
| 116 | DDRC = 1<<PC1 | 1<<PC0; |
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| 117 | PORTC = (1<<PC1) | (1<<PC0); |
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| 118 | |||
| 119 | sei(); |
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| 120 | |||
| 121 | CanMessage_t rxMsg; |
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| 122 | uint16_t rxByte; |
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| 123 | uint8_t i = 0; |
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| 124 | |||
| 125 | /* main loop */ |
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| 126 | while (1) { |
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| 127 | /* any new CAN messages received? */ |
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| 128 | if (CanReceive(&rxMsg) == CAN_OK) { |
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| 129 | PORTC ^= (1<<PC1); |
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| 130 | /* send message to CanWatcher */ |
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| 131 | uart_putc(UART_START_BYTE); |
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| 132 | uart_putc((uint8_t)rxMsg.Id); |
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| 133 | uart_putc((uint8_t)(rxMsg.Id>>8)); |
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| 134 | uart_putc((uint8_t)(rxMsg.Id>>16)); |
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| 135 | uart_putc((uint8_t)(rxMsg.Id>>24)); |
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| 136 | uart_putc(rxMsg.ExtendedFlag); |
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| 137 | uart_putc(rxMsg.RemoteFlag); |
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| 138 | uart_putc(rxMsg.DataLength); |
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| 139 | for (i=0; i<8; i++) { |
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| 140 | uart_putc(rxMsg.Data.bytes[i]); |
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| 141 | } |
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| 142 | uart_putc(UART_END_BYTE); |
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| 143 | } |
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| 144 | |||
| 145 | /* any UART bytes received? */ |
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| 146 | rxByte = uart_getc(); |
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| 147 | while (rxByte != UART_NO_DATA) { |
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| 148 | /* parse byte! */ |
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| 149 | UartParseByte((uint8_t)(rxByte & 0x00FF)); |
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| 150 | /* receive next */ |
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| 151 | rxByte = uart_getc(); |
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| 152 | } |
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| 153 | } |
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| 154 | |||
| 155 | return 0; |
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| 156 | } |