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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 19 | jimmy | 1 | /** |
| 2 | * @file test.c |
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| 3 | * Very basic test program for the MCP2515 driver. This currently tests only |
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| 4 | * the SPI communication with the chip. |
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| 5 | * |
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| 6 | * @author Jimmy Myhrman (jimmy@myhrman.org) |
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| 7 | * @date 2005-11-03 |
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| 8 | */ |
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| 9 | |||
| 10 | |||
| 11 | /*------------------------------------------------------------------------------ |
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| 12 | * Includes |
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| 13 | *----------------------------------------------------------------------------*/ |
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| 14 | #include <avr/interrupt.h> |
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| 15 | #include "mcp2510.h" |
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| 16 | #include "uart.h" |
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| 17 | |||
| 18 | |||
| 19 | /*------------------------------------------------------------------------------ |
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| 20 | * Defines |
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| 21 | *----------------------------------------------------------------------------*/ |
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| 22 | |||
| 23 | |||
| 24 | /*------------------------------------------------------------------------------ |
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| 25 | * Globals |
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| 26 | *----------------------------------------------------------------------------*/ |
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| 27 | |||
| 28 | |||
| 29 | /*------------------------------------------------------------------------------ |
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| 30 | * Prototypes |
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| 31 | *----------------------------------------------------------------------------*/ |
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| 32 | |||
| 33 | |||
| 34 | /*------------------------------------------------------------------------------ |
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| 35 | * Main Program |
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| 36 | *----------------------------------------------------------------------------*/ |
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| 37 | int main(void) { |
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| 38 | uartInit(12); /* baudrate 38400 */ |
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| 39 | sei(); |
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| 40 | MCP_init(); |
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| 41 | |||
| 42 | uartPutString("MCP2515 CAN Test\n"); |
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| 43 | |||
| 44 | /* request configuration mode */ |
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| 45 | MCP_WRITE_B(CANCTRL, CANCTRL_REQOP, REQOP_CONFIG); |
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| 46 | |||
| 47 | /* configure SJW and Tq duration */ |
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| 48 | MCP_WRITE_B(CNF1, CNF1_SJW, 4-1); /* SJW = X-1 [Tq] */ |
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| 49 | MCP_WRITE_B(CNF1, CNF1_BRP, 0); /* Tq = 2*(X+1)/FOSC [s] */ |
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| 50 | |||
| 51 | /* configure phase seg1 and propseg */ |
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| 52 | MCP_WRITE_B(CNF2, CNF2_BTLMODE, 1); |
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| 53 | MCP_WRITE_B(CNF2, CNF2_SAM, 1); |
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| 54 | MCP_WRITE_B(CNF2, CNF2_PHSEG1, 4-1); /* PHSEG1 = X-1 [Tq] */ |
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| 55 | MCP_WRITE_B(CNF2, CNF2_PRSEG, 4-1); /* PRSEG = X-1 [Tq] */ |
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| 56 | |||
| 57 | /* configure phase seg2 and wakeup filter */ |
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| 58 | MCP_WRITE_B(CNF3, CNF3_WAKFIL, 1); |
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| 59 | MCP_WRITE_B(CNF3, CNF3_PHSEG2, 4-1); /* PHSEG2 = X-1 [Tq] */ |
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| 60 | |||
| 61 | /* configure interrupts */ |
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| 62 | MCP_WRITE_R(CANINTE, 0); |
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| 63 | |||
| 64 | // Mark all filter bits as don't care: |
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| 65 | mcp_write_can_id(RXMnSIDH(0), 1, 0); |
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| 66 | mcp_write_can_id(RXMnSIDH(1), 1, 0); |
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| 67 | // Anyway, set all filters to 0: |
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| 68 | mcp_write_can_id(RXF0SIDH, 0, 0); |
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| 69 | mcp_write_can_id(RXF1SIDH, 0, 0); |
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| 70 | mcp_write_can_id(RXF2SIDH, 0, 0); |
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| 71 | mcp_write_can_id(RXF3SIDH, 0, 0); |
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| 72 | mcp_write_can_id(RXF4SIDH, 0, 0); |
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| 73 | mcp_write_can_id(RXF5SIDH, 0, 0); |
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| 74 | |||
| 75 | /* request loopback mode */ |
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| 76 | MCP_WRITE_B(CANCTRL, CANCTRL_REQOP, REQOP_LOOPBACK); |
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| 77 | |||
| 78 | uint8_t tmp = MCP_read(CANCTRL); |
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| 79 | uartPutString("CANCTRL = "); |
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| 80 | uartPutUInt8(tmp, 2); |
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| 81 | uartPutString("\n"); |
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| 82 | tmp = MCP_read(CANSTAT); |
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| 83 | uartPutString("CANSTAT = "); |
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| 84 | uartPutUInt8(tmp, 2); |
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| 85 | uartPutString("\n"); |
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| 86 | tmp = MCP_read(CNF1); |
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| 87 | uartPutString("CNF1 = "); |
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| 88 | uartPutUInt8(tmp, 2); |
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| 89 | uartPutString("\n"); |
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| 90 | tmp = MCP_read(CNF2); |
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| 91 | uartPutString("CNF2 = "); |
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| 92 | uartPutUInt8(tmp, 2); |
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| 93 | uartPutString("\n"); |
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| 94 | tmp = MCP_read(CNF3); |
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| 95 | uartPutString("CNF3 = "); |
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| 96 | uartPutUInt8(tmp, 2); |
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| 97 | uartPutString("\n"); |
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| 98 | tmp = MCP_read(CANINTE); |
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| 99 | uartPutString("CANINTE = "); |
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| 100 | uartPutUInt8(tmp, 2); |
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| 101 | uartPutString("\n"); |
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| 102 | |||
| 103 | /* main loop */ |
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| 104 | while(1) { |
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| 105 | /* do nothing */ |
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| 106 | |||
| 107 | } |
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| 108 | } |