Rev 589 | Details | Compare with Previous | Last modification | View Log | SVN | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 587 | pengi | 1 | #include <inttypes.h> |
| 2 | #include <avr/interrupt.h> |
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| 3 | #include <stdio.h> |
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| 4 | #include <string.h> |
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| 5 | #include <config.h> // All configuration parameters |
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| 6 | #include <bios.h> // BIOS interface declarations, including CAN structure and ID defines. |
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| 589 | pengi | 7 | #include <drivers/channel/channel.h> |
| 587 | pengi | 8 | |
| 9 | #define APP_TYPE 0xf001 |
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| 10 | #define APP_VERSION 0x0002 |
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| 11 | |||
| 12 | // A simple message "queue", with space for one message only. |
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| 13 | // These are declared volatile to tell the compiler not to optimize away accesses. |
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| 14 | volatile Can_Message_t rxMsg; // Message storage |
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| 15 | volatile uint8_t rxMsgFull; // Synchronization flag |
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| 16 | |||
| 17 | uint16_t dim_val = 0x7070; |
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| 18 | |||
| 19 | // CAN message reception callback. |
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| 20 | // This function runs with interrupts disabled, keep it as short as possible. |
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| 21 | void can_receive(Can_Message_t *msg) { |
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| 22 | if (!rxMsgFull) { |
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| 23 | memcpy((void*)&rxMsg, msg, sizeof(rxMsg)); |
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| 24 | rxMsgFull = 1; |
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| 25 | } |
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| 26 | } |
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| 27 | |||
| 28 | void Channel_Callback_Value( uint8_t id, uint16_t value ) { |
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| 29 | dim_val = value; |
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| 30 | } |
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| 31 | |||
| 32 | int main(void) |
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| 33 | { |
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| 34 | uint16_t val = 0; |
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| 35 | |||
| 36 | Can_Message_t txMsg; |
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| 37 | |||
| 38 | DDRD |= (1<<PORTD4); |
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| 39 | // Enable interrupts as early as possible |
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| 40 | sei(); |
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| 41 | |||
| 42 | txMsg.Id = (CAN_NMT_APP_START << CAN_SHIFT_NMT_TYPE) | (NODE_ID << CAN_SHIFT_NMT_SID); |
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| 43 | txMsg.DataLength = 4; |
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| 44 | txMsg.RemoteFlag = 0; |
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| 45 | txMsg.ExtendedFlag = 1; |
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| 46 | txMsg.Data.words[0] = APP_TYPE; |
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| 47 | txMsg.Data.words[1] = APP_VERSION; |
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| 48 | |||
| 49 | // Set up callback for CAN reception, this is optional if only sending is required. |
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| 50 | BIOS_CanCallback = &can_receive; |
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| 51 | // Send CAN_NMT_APP_START |
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| 52 | BIOS_CanSend(&txMsg); |
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| 53 | |||
| 54 | Channel_Init(); |
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| 55 | |||
| 588 | pengi | 56 | Channel_Bind( 0, 3 ); |
| 57 | Channel_SetValue( 0, 0x3333 ); |
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| 58 | |||
| 59 | for(;;) { |
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| 587 | pengi | 60 | val+=27; |
| 61 | if( val<dim_val ) { |
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| 62 | PORTD |= (1<<PORTD4); |
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| 63 | } else { |
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| 64 | PORTD &= ~(1<<PORTD4); |
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| 65 | } |
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| 66 | if (rxMsgFull) { |
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| 588 | pengi | 67 | Channel_HandleMsg( (Can_Message_t *)&rxMsg ); |
| 587 | pengi | 68 | rxMsgFull = 0; |
| 69 | } |
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| 70 | } |
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| 71 | |||
| 72 | return 0; |
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| 73 | } |