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61 jimmy 1 
/**
427 eqlazer 2 
 * CAN Test. This program is for testing purpose.
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 * Replaces CanTestPeriodic and CanTestEcho.
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 *
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 * CanTest sends messages periodicly, dumps incomming messages on uart
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 * and echoes on packages with ID== ECHO_RECEIVE_ID;
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 *
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 *
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 * @date    2006-11-21
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 * @author  Jimmy Myhrman, Erik Larsson (2007-05-07)
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 *  
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 */
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/*-----------------------------------------------------------------------------
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 * Includes
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 *---------------------------------------------------------------------------*/
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/* system files */
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include <avr/wdt.h>
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#include <stdio.h>
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#include <string.h>
61 jimmy 23 
/* lib files */
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#include <config.h>
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#include <mcp2515.h>
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#include <serial.h>
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#include <timebase.h>
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#include <mcu.h>
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/* LED 1 blinks
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#define LED1_PORT   PORTC
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#define LED1_DDR    DDRC
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#define LED2_PORT   PORTC
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#define LED2_DDR    PORTC
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*/
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volatile Can_Message_t rxMsg; // Message storage
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volatile uint8_t rxMsgFull;   // Synchronization flag
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void Can_Process(Can_Message_t* msg) {
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    if (!(msg->ExtendedFlag)) return; // We don't care about standard CAN frames.
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    if (!rxMsgFull) {
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        memcpy((void*)&rxMsg, msg, sizeof(rxMsg));
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        rxMsgFull = 1;
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    }
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}
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61 jimmy 49 
/*-----------------------------------------------------------------------------
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 * Main Program
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 *---------------------------------------------------------------------------*/
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int main(void) {
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    Mcu_Init();
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    Timebase_Init();
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    sei();
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#if defined(UART_OUTPUT)
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    Serial_Init();
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//  printf("\n------------------------------------------------------------\n");
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//  printf(  "   CAN Test:\n");
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//  printf(  "   Periodic Transmission on CAN\n");
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//  printf(  "   CAN Dump\n");
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//  printf(  "   CAN Echo\n");
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//  printf(  "------------------------------------------------------------\n");
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    printf("CanInit...");
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    if (Can_Init() != CAN_OK) {
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        printf("FAILED!\n");
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//      printf("Check wires between AVR and MCP2515 and the MCP speed (xtal).");
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    }
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    else {
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        printf("OK!\n");
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        printf("MCP2515 working fine\n");
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    }
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#elif defined(LED_OUTPUT)
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    Can_Init();
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#else
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    Can_Init();
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#endif
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    uint32_t timeStamp = 0;
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127 jimmy 83 
    Can_Message_t txMsg;
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    txMsg.RemoteFlag = 0;
427 eqlazer 85 
    txMsg.ExtendedFlag = 1;
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    txMsg.Id = SENDING_ID;
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    txMsg.DataLength = 2;
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    txMsg.Data.bytes[0] = 0x12;
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    txMsg.Data.bytes[1] = 0x34;
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61 jimmy 91 
    /* main loop */
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    while (1) {
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        /* send CAN message and check for CAN errors once every second */
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        if (Timebase_PassedTimeMillis(timeStamp) >= 1000) {
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            timeStamp = Timebase_CurrentTime();
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            /* send txMsg */
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            txMsg.Id = SENDING_ID;
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            Can_Send(&txMsg);
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#if defined(UART_OUTPUT)
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            printf("\nSending: %#lx", txMsg.Id);
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#endif
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        }
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        /* check if any messages have been received */
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        if (rxMsgFull) {
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#if defined(UART_OUTPUT)
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            /* Dump message data on uart */
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            printf("\nPKT %#lx %u %u", rxMsg.Id, (uint16_t)(rxMsg.ExtendedFlag), (uint16_t)(rxMsg.RemoteFlag));
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            for (uint8_t i=0; i<rxMsg.DataLength; i++) {
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                printf(" %#x", rxMsg.Data.bytes[i]);
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            }
451 eqlazer 112 
#endif
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            /* Echo function */
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            if(rxMsg.Id == ECHO_RECEIVE_ID){
451 eqlazer 115 
#if defined(UART_OUTPUT)
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                printf("\n\"ping\" received: %#lx", rxMsg.Id);
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                txMsg.Id = ECHO_SENDING_ID;
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                /* Send reply */
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                Can_Send(&txMsg);
673 eqlazer 120 
                printf("\nreply sent, ID: %#lx", txMsg.Id);
451 eqlazer 121 
#else
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                txMsg.Id = ECHO_SENDING_ID;
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                /* Send reply */
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                Can_Send(&txMsg);
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#endif
427 eqlazer 126 
            }
667 arune 127 
            rxMsgFull = 0;
61 jimmy 128 
        }
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    }
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    return 0;
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}