Rev 819 | Details | Compare with Previous | Last modification | View Log | SVN | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 801 | linlun | 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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| 819 | migan | 5 | #include <drivers/can/stdcan.h> |
| 801 | linlun | 6 | #include <config.h> // All configuration parameters |
| 7 | #include <bios.h> // BIOS interface declarations, including CAN structure and ID defines. |
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| 8 | #include <drivers/timer/timer.h> |
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| 9 | |||
| 10 | %INCLUDE |
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| 11 | |||
| 12 | int main(void) |
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| 13 | { |
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| 819 | migan | 14 | StdCan_Msg_t rxMsg; // Message storage |
| 801 | linlun | 15 | |
| 16 | // Enable interrupts as early as possible |
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| 17 | sei(); |
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| 18 | |||
| 19 | Timer_Init(); |
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| 20 | |||
| 21 | StdCan_Init(); |
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| 22 | |||
| 23 | Timer_SetTimeout(APP_HEARTBEAT_TIMER, STDCAN_HEARTBEAT_PERIOD, TimerTypeFreeRunning, StdCan_SendHeartbeat); |
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| 24 | |||
| 25 | %INIT |
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| 26 | |||
| 819 | migan | 27 | while (1) |
| 28 | { |
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| 801 | linlun | 29 | %PROCESS |
| 30 | |||
| 819 | migan | 31 | if (StdCan_Get(&rxMsg) == StdCan_Ret_OK) |
| 32 | { |
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| 827 | migan | 33 | if ( StdCan_Ret_class(rxMsg.Header) == CAN_CLASS_MODULE_NMT && |
| 34 | StdCan_Ret_direction(rxMsg.Header) == DIR_TO_OWNER && |
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| 819 | migan | 35 | rxMsg.Header.Command == CAN_CMD_MODULE_NMT_LIST && |
| 36 | rxMsg.Data[0] == NODE_HW_ID_BYTE0 && |
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| 37 | rxMsg.Data[1] == NODE_HW_ID_BYTE1 && |
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| 38 | rxMsg.Data[2] == NODE_HW_ID_BYTE2 && |
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| 39 | rxMsg.Data[3] == NODE_HW_ID_BYTE3) |
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| 40 | { |
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| 41 | %LIST |
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| 801 | linlun | 42 | } |
| 819 | migan | 43 | else |
| 44 | { |
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| 45 | %HANDLEMSG |
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| 801 | linlun | 46 | } |
| 819 | migan | 47 | } |
| 801 | linlun | 48 | } |
| 49 | |||
| 50 | return 0; |
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| 51 | } |