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  1. #include <inttypes.h>
  2. #include <avr/interrupt.h>
  3. #include <bios.h>
  4.  
  5. #define APP_TYPE    0xf001
  6. #define APP_VERSION 0x0001
  7.  
  8. #define F_SAMP 1000
  9. #define PRESCALER 1
  10.  
  11. /*void can_receive(Can_Message_t *msg) {
  12.     printf("candata!\n");
  13. }*/
  14.  
  15. volatile uint8_t overflow_adc;
  16. volatile uint8_t overflow_uart;
  17. volatile uint8_t adc;
  18.  
  19. ISR(TIMER1_COMPA_vect) {
  20.     if (ADCSRA & _BV(ADSC)) // Previous conversion is not yet ready!
  21.         overflow_adc++;
  22.     else if (!(UCSRA & _BV(UDRE)))  // Previous data has not been sent!
  23.         overflow_uart++;
  24.     else ADCSRA |= _BV(ADSC);   // Start a new conversion
  25. }      
  26.  
  27. ISR(ADC_vect) {             // A conversion is done
  28.     adc = ADCH;             // Store result
  29.     UCSRB |= _BV(UDRIE);    // Enable UART interrupt to send result
  30. }
  31.  
  32. ISR(USART_UDRE_vect) {      // UART is ready for a new byte
  33.     UCSRB &= ~_BV(UDRIE);   // Disable this interrupt until a new conversion is done
  34.     UDR = adc;              // Send previous result
  35. }
  36.  
  37. int main(void)
  38. {
  39.     sei();
  40.    
  41.     UBRRL = (F_CPU / 16 / F_BAUD) - 1;
  42.     UCSRB = _BV(TXEN)|_BV(UDRIE);
  43.    
  44.     ADMUX = _BV(REFS0)|_BV(ADLAR)|_BV(MUX2);
  45.     ADCSRA = _BV(ADEN)|_BV(ADSC)|_BV(ADIE)|_BV(ADPS2)|_BV(ADPS1);
  46.    
  47.     OCR1A = F_CPU / F_SAMP / PRESCALER - 1;
  48.     TIMSK |= _BV(OCIE1A);
  49.     TCCR1B = _BV(WGM12)|_BV(CS10);
  50.  
  51.     Can_Message_t txMsg;
  52.     txMsg.Id = (CAN_NMT_APP_START << CAN_SHIFT_NMT_TYPE) | (NODE_ID << CAN_SHIFT_NMT_SID);
  53.     txMsg.DataLength = 4;
  54.     txMsg.RemoteFlag = 0;
  55.     txMsg.ExtendedFlag = 1;
  56.     txMsg.Data.words[0] = APP_TYPE;
  57.     txMsg.Data.words[1] = APP_VERSION;
  58.    
  59.     //set up callback for candata
  60.     //bios->can_callback = &can_receive;
  61.     // Send CAN_NMT_APP_START
  62.     bios->can_send(&txMsg);
  63.    
  64.     while (1);
  65.    
  66.     return 0;
  67. }
  68.