WebSVN – HomeAutomation – Diff – /EmbeddedSoftware/AVR/CanCanExamle/main.c


/******************************************************************************
 *
 * Controller Area Network (CAN) Demo-Application
 * Atmel AVR with Microchip MCP2515
 *
 * Copyright (C) 2005 Martin THOMAS, Kaiserslautern, Germany
 * <eversmith@heizung-thomas.de>
 * http://www.siwawi.arubi.uni-kl.de/avr_projects
 *
 *****************************************************************************
 *
 * File    : main.c
 * Version : 0.9
 *
 * Summary : Application Entry
 *           Test-Platform: Atmel ATmega + Microchip MCP2515
 *           Here the MCP2515 is clocked by the AVR (see clock_init()).
 *
 * This application uses Peter Fleury's free AVR-U(S)ART library which
 * has been slightly extended. See comments in uart.c.
 *
 *****************************************************************************/
 
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/wdt.h>
#include <avr/eeprom.h>
 
#include "uart.h"
#include "spi.h"
#include "can.h"
#include "delay.h"
#include "termio.h"
#include "terminal.h"
#include "gpio.h"
#include "timebase.h"
#include "debughelper.h"
 
#define VERBOSE (1)
 
#define OSCAL_READEEPROM (1)
 
#if defined(__AVR_ATmega8__) || defined(__AVR_ATmega16__)
#define OSCAL_EEPROMADDR ((void*)0x1ff)
#elif defined(__AVR_ATmega32__)
#define OSCAL_EEPROMADDR ((void*)0x3ff)
#else
#error "eeprom addr. undefined for this target"
#endif
 
#define OSCAL_VALUE (0xA5)
 
#define BAUD 19200
 
#define AUTOSENDPORT PORTD
#define AUTOSENDDDR  DDRD
#define AUTOSENDPIN  PIND
#define AUTOSENDBIT  PD7
 
#if 0
void clock_init_tc2(void)
// to clock the MCP2515
// - CTC Mode of Timer-Counter 2
// - Freq at OC2 (datasheet): f=f_c/(2*N*(1+OCR2))
//   with: f_c=system clock=8MHz, N=prescaler=1, OCR2=0 -> 4MHz @ Pin D7
{
    // set OC2-Pin (PD7 on ATmega16) as output
    DDRD |= _BV(DDD7);
    // CTC limit in OCR2
    OCR2=0;
    // Clear Timer on Compare Match (CTC) mode; toogle OC2(PD7) on compare match;
    //  clock select (timer2 prescaler) to clk/1 (no prescaling CS20=1)
    TCCR2=_BV(WGM21)|_BV(COM20)|_BV(CS20);
}
#endif
 
void clock_init_tc1a(void)
// to clock the MCP2515 on Mega8/Mega32
// - CTC Mode of Timer-Counter 1 use OC1A as clock-pin
// - Freq at OC2 (datasheet): f=f_c/(2*N*(1+OCR2))
//   with: f_c=system clock=8MHz, N=prescaler=1, OCR1A=0 -> 4MHz 
//   @ Pin B1 Mega8
//   @ Pin D5 Mega32
{
    #if defined(__AVR_ATmega8__)
    // set OC2-Pin (PB1 on ATmega8) as output
    DDRB |= _BV(DDB1);
    #elif defined(__AVR_ATmega32__) || defined(__AVR_ATmega16__)
    // set OC2-Pin (PD5 on ATmega32) as output
    DDRD |= _BV(DDD5);
    #else
    #error "OCR1A pin undefined for this target"
    #endif
   
    // CTC limit in OCR1A
    OCR1A=0;
    // Clear Timer on Compare Match (CTC) mode; toogle OC1A(PB1) on compare match; 
    TCCR1A=_BV(COM1A0);
    // clock select (timer2 prescaler) 
    TCCR1B=_BV(CS10)|_BV(WGM12); // to clk/1 (no prescaling CS10=1)
}
 
static void process_CANMessages(void)
{
    CanMessage msg;
    uint8_t data2;
 
#ifdef VERBOSE
    term_puts_P("AutoProcessing\n");
#endif
    while ( can_readMessage(&msg) == CAN_OK ) {
        data2 = msg.dta[2];
        if ( data2<3 ) {
            gpio_toggle_led( (1<<data2) );
#ifdef VERBOSE
            Debug_ByteToUart_P("data2",data2);
#endif
        }
    }  
}
 
int main(void)
{
    uint8_t res, flag;
    uint8_t shellstate;
    uint16_t timebuf;
 
#if OSCAL_READEEPROM
    res = eeprom_read_byte(OSCAL_EEPROMADDR);
    if (res != 0xff) OSCCAL = res;
    else OSCCAL = OSCAL_VALUE; // take default from define
#else
    OSCCAL = OSCAL_VALUE;
#endif
   
    gpio_init();
    gpio_set_led(LED1);
   
    timebase_init();
   
    uart_init((UART_BAUD_SELECT((BAUD),F_OSC)));
   
    sei();
   
    term_puts_P( "\n\nMCP2515 Interface Demo  (c) Martin Thomas\n" );
    Debug_ByteToUart_P("OSCCAL", OSCCAL);
   
    term_puts_P("\nSetting up MCP clock to FOSC/2\n");
    clock_init_tc1a();  // init MCP2515 clock-source (=AVR FOSC/2)
    // old:  clock_init(); */
   
    term_puts_P("SPI init\n");
    spi_init();     // init SPI-Interface (as "Master")
   
    term_puts_P("CAN init ");
    // res = can_init(CAN_125KBPS);
    res = can_init(CAN_20KBPS);
    if (res == CAN_OK) term_puts_P("- OK\n");
    else term_puts_P("- FAIL\n");
   
   
    term_puts_P("Autosend (\"Autosendbit\"-State) : ");
    AUTOSENDDDR &= ~(1<<AUTOSENDBIT); // as input
    AUTOSENDPORT |= (1<<AUTOSENDBIT); // int pullup on
    if ( AUTOSENDPIN & (1<<AUTOSENDBIT) ) {
        gTimedSend = CANAUTOOFF;
        term_puts_P("off");
    }
    else {
        gTimedSend = CANAUTOON;
        term_puts_P("on");
    }
    term_puts_P("\n");
   
    can_debug1();
   
    shellstate = COMMANDSHELL_MODEINIT;
   
    flag = 0;
    timebuf = timebase_actTime();
   
#if 0
    for (;;) {
        if (timebase_passedTimeMS(timebuf)>=1000) {
            timebuf = timebase_actTime();
            term_puts_P("(.)");
        }
    }
#endif
   
    for (;;) {
        CommandShell(&shellstate);
        if ( shellstate == COMMANDSHELL_MODEEXIT ) {
            term_puts_P("I have no operation system to exit to :-( -> WD-Reset");
            wdt_enable ( WDTO_500MS );
            while(1);
        }
       
        if ( ( can_checkReceive() == CAN_MSGAVAIL ) ) {
            if (!flag) {
#ifdef VERBOSE
                term_puts_P("\nAt least one CAN-Message available!\n");
                shellstate = COMMANDSHELL_REDRAW;
#endif
                flag = 1;
            }
            if ( gCANAutoProcess == CANAUTOON ) {
                process_CANMessages();
#ifdef VERBOSE
                shellstate = COMMANDSHELL_REDRAW;
#endif
            }
        }
        else {
            flag = 0;
        }
       
        if (timebase_passedTimeMS(timebuf)>=1000) {
            timebuf = timebase_actTime();
            if (gTimedSend == CANAUTOON) {
                if ( can_testTransmit(CAN_STDID, 1) != CAN_OK ) {
                    term_puts_P("\nAuto-Transmit (debug) failed\n");
                    can_dumpStatus();
                    shellstate = COMMANDSHELL_REDRAW;
                }
            }
            if ( can_checkError() != CAN_OK ) {
                can_dumpStatus();
            }
        }
       
        // else term_puts_P("Checking\n");
    }
   
    return 0;
}
 

Rev 29	Rev 30
1	/******************************************************************************	1	/******************************************************************************
2	*	2	*
3	* Controller Area Network (CAN) Demo-Application	3	* Controller Area Network (CAN) Demo-Application
4	* Atmel AVR with Microchip MCP2515	4	* Atmel AVR with Microchip MCP2515
5	*	5	*
6	* Copyright (C) 2005 Martin THOMAS, Kaiserslautern, Germany	6	* Copyright (C) 2005 Martin THOMAS, Kaiserslautern, Germany
7	* <eversmith@heizung-thomas.de>	7	* <eversmith@heizung-thomas.de>
8	* http://www.siwawi.arubi.uni-kl.de/avr_projects	8	* http://www.siwawi.arubi.uni-kl.de/avr_projects
9	*	9	*
10	*****************************************************************************	10	*****************************************************************************
11	*	11	*
12	* File : main.c	12	* File : main.c
13	* Version : 0.9	13	* Version : 0.9
14	*	14	*
15	* Summary : Application Entry	15	* Summary : Application Entry
16	* Test-Platform: Atmel ATmega + Microchip MCP2515	16	* Test-Platform: Atmel ATmega + Microchip MCP2515
17	* Here the MCP2515 is clocked by the AVR (see clock_init()).	17	* Here the MCP2515 is clocked by the AVR (see clock_init()).
18	*	18	*
19	* This application uses Peter Fleury's free AVR-U(S)ART library which	19	* This application uses Peter Fleury's free AVR-U(S)ART library which
20	* has been slightly extended. See comments in uart.c.	20	* has been slightly extended. See comments in uart.c.
21	*	21	*
22	*****************************************************************************/	22	*****************************************************************************/
23		23
24	#include <avr/io.h>	24	#include <avr/io.h>
25	#include <avr/interrupt.h>	25	#include <avr/interrupt.h>
26	#include <avr/wdt.h>	26	#include <avr/wdt.h>
27	#include <avr/eeprom.h>	27	#include <avr/eeprom.h>
28		28
29	#include "uart.h"	29	#include "uart.h"
30	#include "spi.h"	30	#include "spi.h"
31	#include "can.h"	31	#include "can.h"
32	#include "delay.h"	32	#include "delay.h"
33	#include "termio.h"	33	#include "termio.h"
34	#include "terminal.h"	34	#include "terminal.h"
35	#include "gpio.h"	35	#include "gpio.h"
36	#include "timebase.h"	36	#include "timebase.h"
37	#include "debughelper.h"	37	#include "debughelper.h"
38		38
39	// #define VERBOSE (1)	39	#define VERBOSE (1)
40		40
41	#define OSCAL_READEEPROM (1)	41	#define OSCAL_READEEPROM (1)
42		42
43	#if defined(__AVR_ATmega8__) \|\| defined(__AVR_ATmega16__)	43	#if defined(__AVR_ATmega8__) \|\| defined(__AVR_ATmega16__)
44	#define OSCAL_EEPROMADDR ((void*)0x1ff)	44	#define OSCAL_EEPROMADDR ((void*)0x1ff)
45	#elif defined(__AVR_ATmega32__)	45	#elif defined(__AVR_ATmega32__)
46	#define OSCAL_EEPROMADDR ((void*)0x3ff)	46	#define OSCAL_EEPROMADDR ((void*)0x3ff)
47	#else	47	#else
48	#error "eeprom addr. undefined for this target"	48	#error "eeprom addr. undefined for this target"
49	#endif	49	#endif
50		50
51	#define OSCAL_VALUE (0xA5)	51	#define OSCAL_VALUE (0xA5)
52		52
53	#define BAUD 19200	53	#define BAUD 19200
54		54
55	#define AUTOSENDPORT PORTD	55	#define AUTOSENDPORT PORTD
56	#define AUTOSENDDDR DDRD	56	#define AUTOSENDDDR DDRD
57	#define AUTOSENDPIN PIND	57	#define AUTOSENDPIN PIND
58	#define AUTOSENDBIT PD7	58	#define AUTOSENDBIT PD7
59		59
60	#if 0	60	#if 0
61	void clock_init_tc2(void)	61	void clock_init_tc2(void)
62	// to clock the MCP2515	62	// to clock the MCP2515
63	// - CTC Mode of Timer-Counter 2	63	// - CTC Mode of Timer-Counter 2
64	// - Freq at OC2 (datasheet): f=f_c/(2N(1+OCR2))	64	// - Freq at OC2 (datasheet): f=f_c/(2N(1+OCR2))
65	// with: f_c=system clock=8MHz, N=prescaler=1, OCR2=0 -> 4MHz @ Pin D7	65	// with: f_c=system clock=8MHz, N=prescaler=1, OCR2=0 -> 4MHz @ Pin D7
66	{	66	{
67	// set OC2-Pin (PD7 on ATmega16) as output	67	// set OC2-Pin (PD7 on ATmega16) as output
68	DDRD \|= _BV(DDD7);	68	DDRD \|= _BV(DDD7);
69	// CTC limit in OCR2	69	// CTC limit in OCR2
70	OCR2=0;	70	OCR2=0;
71	// Clear Timer on Compare Match (CTC) mode; toogle OC2(PD7) on compare match;	71	// Clear Timer on Compare Match (CTC) mode; toogle OC2(PD7) on compare match;
72	// clock select (timer2 prescaler) to clk/1 (no prescaling CS20=1)	72	// clock select (timer2 prescaler) to clk/1 (no prescaling CS20=1)
73	TCCR2=_BV(WGM21)\|_BV(COM20)\|_BV(CS20);	73	TCCR2=_BV(WGM21)\|_BV(COM20)\|_BV(CS20);
74	}	74	}
75	#endif	75	#endif
76		76
77	void clock_init_tc1a(void)	77	void clock_init_tc1a(void)
78	// to clock the MCP2515 on Mega8/Mega32	78	// to clock the MCP2515 on Mega8/Mega32
79	// - CTC Mode of Timer-Counter 1 use OC1A as clock-pin	79	// - CTC Mode of Timer-Counter 1 use OC1A as clock-pin
80	// - Freq at OC2 (datasheet): f=f_c/(2N(1+OCR2))	80	// - Freq at OC2 (datasheet): f=f_c/(2N(1+OCR2))
81	// with: f_c=system clock=8MHz, N=prescaler=1, OCR1A=0 -> 4MHz	81	// with: f_c=system clock=8MHz, N=prescaler=1, OCR1A=0 -> 4MHz
82	// @ Pin B1 Mega8	82	// @ Pin B1 Mega8
83	// @ Pin D5 Mega32	83	// @ Pin D5 Mega32
84	{	84	{
85	#if defined(__AVR_ATmega8__)	85	#if defined(__AVR_ATmega8__)
86	// set OC2-Pin (PB1 on ATmega8) as output	86	// set OC2-Pin (PB1 on ATmega8) as output
87	DDRB \|= _BV(DDB1);	87	DDRB \|= _BV(DDB1);
88	#elif defined(__AVR_ATmega32__) \|\| defined(__AVR_ATmega16__)	88	#elif defined(__AVR_ATmega32__) \|\| defined(__AVR_ATmega16__)
89	// set OC2-Pin (PD5 on ATmega32) as output	89	// set OC2-Pin (PD5 on ATmega32) as output
90	DDRD \|= _BV(DDD5);	90	DDRD \|= _BV(DDD5);
91	#else	91	#else
92	#error "OCR1A pin undefined for this target"	92	#error "OCR1A pin undefined for this target"
93	#endif	93	#endif
94		94
95	// CTC limit in OCR1A	95	// CTC limit in OCR1A
96	OCR1A=0;	96	OCR1A=0;
97	// Clear Timer on Compare Match (CTC) mode; toogle OC1A(PB1) on compare match;	97	// Clear Timer on Compare Match (CTC) mode; toogle OC1A(PB1) on compare match;
98	TCCR1A=_BV(COM1A0);	98	TCCR1A=_BV(COM1A0);
99	// clock select (timer2 prescaler)	99	// clock select (timer2 prescaler)
100	TCCR1B=_BV(CS10)\|_BV(WGM12); // to clk/1 (no prescaling CS10=1)	100	TCCR1B=_BV(CS10)\|_BV(WGM12); // to clk/1 (no prescaling CS10=1)
101	}	101	}
102		102
103	static void process_CANMessages(void)	103	static void process_CANMessages(void)
104	{	104	{
105	CanMessage msg;	105	CanMessage msg;
106	uint8_t data2;	106	uint8_t data2;
107		107
108	#ifdef VERBOSE	108	#ifdef VERBOSE
109	term_puts_P("AutoProcessing\n");	109	term_puts_P("AutoProcessing\n");
110	#endif	110	#endif
111	while ( can_readMessage(&msg) == CAN_OK ) {	111	while ( can_readMessage(&msg) == CAN_OK ) {
112	data2 = msg.dta[2];	112	data2 = msg.dta[2];
113	if ( data2<3 ) {	113	if ( data2<3 ) {
114	gpio_toggle_led( (1<<data2) );	114	gpio_toggle_led( (1<<data2) );
115	#ifdef VERBOSE	115	#ifdef VERBOSE
116	Debug_ByteToUart_P("data2",data2);	116	Debug_ByteToUart_P("data2",data2);
117	#endif	117	#endif
118	}	118	}
119	}	119	}
120	}	120	}
121		121
122	int main(void)	122	int main(void)
123	{	123	{
124	uint8_t res, flag;	124	uint8_t res, flag;
125	uint8_t shellstate;	125	uint8_t shellstate;
126	uint16_t timebuf;	126	uint16_t timebuf;
127		127
128	#if OSCAL_READEEPROM	128	#if OSCAL_READEEPROM
129	res = eeprom_read_byte(OSCAL_EEPROMADDR);	129	res = eeprom_read_byte(OSCAL_EEPROMADDR);
130	if (res != 0xff) OSCCAL = res;	130	if (res != 0xff) OSCCAL = res;
131	else OSCCAL = OSCAL_VALUE; // take default from define	131	else OSCCAL = OSCAL_VALUE; // take default from define
132	#else	132	#else
133	OSCCAL = OSCAL_VALUE;	133	OSCCAL = OSCAL_VALUE;
134	#endif	134	#endif
135		135
136	gpio_init();	136	gpio_init();
137	gpio_set_led(LED1);	137	gpio_set_led(LED1);
138		138
139	timebase_init();	139	timebase_init();
140		140
141	uart_init((UART_BAUD_SELECT((BAUD),F_OSC)));	141	uart_init((UART_BAUD_SELECT((BAUD),F_OSC)));
142		142
143	sei();	143	sei();
144		144
145	term_puts_P( "\n\nMCP2515 Interface Demo (c) Martin Thomas\n" );	145	term_puts_P( "\n\nMCP2515 Interface Demo (c) Martin Thomas\n" );
146	Debug_ByteToUart_P("OSCCAL", OSCCAL);	146	Debug_ByteToUart_P("OSCCAL", OSCCAL);
147		147
148	term_puts_P("\nSetting up MCP clock to FOSC/2\n");	148	term_puts_P("\nSetting up MCP clock to FOSC/2\n");
149	clock_init_tc1a(); // init MCP2515 clock-source (=AVR FOSC/2)	149	clock_init_tc1a(); // init MCP2515 clock-source (=AVR FOSC/2)
150	// old: clock_init(); */	150	// old: clock_init(); */
151		151
152	term_puts_P("SPI init\n");	152	term_puts_P("SPI init\n");
153	spi_init(); // init SPI-Interface (as "Master")	153	spi_init(); // init SPI-Interface (as "Master")
154		154
155	term_puts_P("CAN init ");	155	term_puts_P("CAN init ");
156	// res = can_init(CAN_125KBPS);	156	// res = can_init(CAN_125KBPS);
157	res = can_init(CAN_20KBPS);	157	res = can_init(CAN_20KBPS);
158	if (res == CAN_OK) term_puts_P("- OK\n");	158	if (res == CAN_OK) term_puts_P("- OK\n");
159	else term_puts_P("- FAIL\n");	159	else term_puts_P("- FAIL\n");
160		160
161		161
162	term_puts_P("Autosend (\"Autosendbit\"-State) : ");	162	term_puts_P("Autosend (\"Autosendbit\"-State) : ");
163	AUTOSENDDDR &= ~(1<<AUTOSENDBIT); // as input	163	AUTOSENDDDR &= ~(1<<AUTOSENDBIT); // as input
164	AUTOSENDPORT \|= (1<<AUTOSENDBIT); // int pullup on	164	AUTOSENDPORT \|= (1<<AUTOSENDBIT); // int pullup on
165	if ( AUTOSENDPIN & (1<<AUTOSENDBIT) ) {	165	if ( AUTOSENDPIN & (1<<AUTOSENDBIT) ) {
166	gTimedSend = CANAUTOOFF;	166	gTimedSend = CANAUTOOFF;
167	term_puts_P("off");	167	term_puts_P("off");
168	}	168	}
169	else {	169	else {
170	gTimedSend = CANAUTOON;	170	gTimedSend = CANAUTOON;
171	term_puts_P("on");	171	term_puts_P("on");
172	}	172	}
173	term_puts_P("\n");	173	term_puts_P("\n");
174		174
175	can_debug1();	175	can_debug1();
176		176
177	shellstate = COMMANDSHELL_MODEINIT;	177	shellstate = COMMANDSHELL_MODEINIT;
178		178
179	flag = 0;	179	flag = 0;
180	timebuf = timebase_actTime();	180	timebuf = timebase_actTime();
181		181
182	#if 0	182	#if 0
183	for (;;) {	183	for (;;) {
184	if (timebase_passedTimeMS(timebuf)>=1000) {	184	if (timebase_passedTimeMS(timebuf)>=1000) {
185	timebuf = timebase_actTime();	185	timebuf = timebase_actTime();
186	term_puts_P("(.)");	186	term_puts_P("(.)");
187	}	187	}
188	}	188	}
189	#endif	189	#endif
190		190
191	for (;;) {	191	for (;;) {
192	CommandShell(&shellstate);	192	CommandShell(&shellstate);
193	if ( shellstate == COMMANDSHELL_MODEEXIT ) {	193	if ( shellstate == COMMANDSHELL_MODEEXIT ) {
194	term_puts_P("I have no operation system to exit to :-( -> WD-Reset");	194	term_puts_P("I have no operation system to exit to :-( -> WD-Reset");
195	wdt_enable ( WDTO_500MS );	195	wdt_enable ( WDTO_500MS );
196	while(1);	196	while(1);
197	}	197	}
198		198
199	if ( ( can_checkReceive() == CAN_MSGAVAIL ) ) {	199	if ( ( can_checkReceive() == CAN_MSGAVAIL ) ) {
200	if (!flag) {	200	if (!flag) {
201	#ifdef VERBOSE	201	#ifdef VERBOSE
202	term_puts_P("\nAt least one CAN-Message available!\n");	202	term_puts_P("\nAt least one CAN-Message available!\n");
203	shellstate = COMMANDSHELL_REDRAW;	203	shellstate = COMMANDSHELL_REDRAW;
204	#endif	204	#endif
205	flag = 1;	205	flag = 1;
206	}	206	}
207	if ( gCANAutoProcess == CANAUTOON ) {	207	if ( gCANAutoProcess == CANAUTOON ) {
208	process_CANMessages();	208	process_CANMessages();
209	#ifdef VERBOSE	209	#ifdef VERBOSE
210	shellstate = COMMANDSHELL_REDRAW;	210	shellstate = COMMANDSHELL_REDRAW;
211	#endif	211	#endif
212	}	212	}
213	}	213	}
214	else {	214	else {
215	flag = 0;	215	flag = 0;
216	}	216	}
217		217
218	if (timebase_passedTimeMS(timebuf)>=1000) {	218	if (timebase_passedTimeMS(timebuf)>=1000) {
219	timebuf = timebase_actTime();	219	timebuf = timebase_actTime();
220	if (gTimedSend == CANAUTOON) {	220	if (gTimedSend == CANAUTOON) {
221	if ( can_testTransmit(CAN_STDID, 1) != CAN_OK ) {	221	if ( can_testTransmit(CAN_STDID, 1) != CAN_OK ) {
222	term_puts_P("\nAuto-Transmit (debug) failed\n");	222	term_puts_P("\nAuto-Transmit (debug) failed\n");
223	can_dumpStatus();	223	can_dumpStatus();
224	shellstate = COMMANDSHELL_REDRAW;	224	shellstate = COMMANDSHELL_REDRAW;
225	}	225	}
226	}	226	}
227	if ( can_checkError() != CAN_OK ) {	227	if ( can_checkError() != CAN_OK ) {
228	can_dumpStatus();	228	can_dumpStatus();
229	}	229	}
230	}	230	}
231		231
232	// else term_puts_P("Checking\n");	232	// else term_puts_P("Checking\n");
233	}	233	}
234		234
235	return 0;	235	return 0;
236	}	236	}
237		237

Subversion Repositories HomeAutomation

(root)/EmbeddedSoftware/AVR/CanCanExamle/main.c @ 40 – Rev 29 → 30