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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 63 | jimmy | 1 | /** |
| 2 | * CAN test program. |
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| 3 | * |
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| 4 | * @target AVR |
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| 5 | * @date 2006-10-29 |
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| 6 | * @author Jimmy Myhrman |
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| 7 | * |
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| 8 | */ |
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| 9 | |||
| 10 | /*----------------------------------------------------------------------------- |
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| 11 | * Includes |
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| 12 | *---------------------------------------------------------------------------*/ |
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| 13 | /* system files */ |
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| 14 | #include <avr/io.h> |
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| 15 | #include <avr/interrupt.h> |
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| 16 | #include <avr/wdt.h> |
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| 17 | #include <stdio.h> |
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| 18 | /* lib files */ |
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| 19 | #include <can.h> |
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| 149 | jimmy | 20 | #include <serial.h> |
| 63 | jimmy | 21 | #include <uart.h> |
| 22 | #include <timebase.h> |
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| 23 | |||
| 24 | |||
| 25 | /*----------------------------------------------------------------------------- |
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| 26 | * Defines |
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| 27 | *---------------------------------------------------------------------------*/ |
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| 28 | #define UART_START_BYTE 253 |
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| 29 | #define UART_END_BYTE 250 |
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| 30 | |||
| 31 | |||
| 32 | /*----------------------------------------------------------------------------- |
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| 33 | * Functions |
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| 34 | *---------------------------------------------------------------------------*/ |
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| 35 | /** |
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| 36 | * Parses an incoming UART byte by maintaining a state machine. The UART |
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| 37 | * bytes will build up a CAN message according to the protocol described here: |
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| 38 | * |
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| 39 | * http://www.arune.se/projekt/doku.php?id=homeautomation:pc-mjukvara |
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| 40 | * |
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| 41 | * @param c |
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| 42 | * The received UART byte. |
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| 43 | */ |
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| 44 | void UartParseByte(uint8_t c) { |
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| 127 | jimmy | 45 | static Can_Message_t cm; |
| 63 | jimmy | 46 | static uint8_t waitingMessage = 0; |
| 47 | static uint32_t startTime = 0; |
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| 48 | static int8_t count = 0; |
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| 49 | |||
| 50 | /* 50ms timeout */ |
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| 127 | jimmy | 51 | if (waitingMessage && Timebase_PassedTimeMillis(startTime) > 50) { |
| 63 | jimmy | 52 | waitingMessage = 0; |
| 69 | jimmy | 53 | } |
| 63 | jimmy | 54 | |
| 55 | if (waitingMessage) { |
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| 56 | /* save start time */ |
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| 127 | jimmy | 57 | startTime = Timebase_CurrentTime(); |
| 63 | jimmy | 58 | /* UART END */ |
| 59 | if (count >= 15) { |
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| 69 | jimmy | 60 | if (c == UART_END_BYTE) { |
| 61 | PORTC ^= (1<<PC0); |
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| 127 | jimmy | 62 | Can_Send(&cm); |
| 69 | jimmy | 63 | } |
| 63 | jimmy | 64 | waitingMessage = 0; |
| 65 | return; |
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| 66 | } |
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| 67 | /* data */ |
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| 68 | else if (count >= 7) { |
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| 69 | cm.Data.bytes[count-7] = c; |
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| 70 | count++; |
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| 71 | return; |
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| 72 | } |
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| 73 | /* data length */ |
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| 74 | else if (count >= 6) { |
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| 75 | cm.DataLength = c; |
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| 76 | count++; |
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| 77 | return; |
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| 78 | } |
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| 79 | /* remote request flag */ |
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| 80 | else if (count >= 5) { |
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| 81 | cm.RemoteFlag = c; |
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| 82 | count++; |
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| 83 | return; |
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| 84 | } |
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| 85 | /* extended */ |
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| 86 | else if (count >= 4) { |
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| 87 | cm.ExtendedFlag = c; |
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| 88 | count++; |
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| 89 | return; |
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| 90 | } |
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| 91 | /* ident */ |
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| 92 | else if (count >= 0) { |
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| 93 | cm.Id += ((uint32_t)c << (count*8)); |
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| 94 | count++; |
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| 95 | return; |
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| 96 | } |
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| 97 | } |
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| 98 | |||
| 99 | if (c == UART_START_BYTE && !waitingMessage) { |
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| 100 | waitingMessage = 1; |
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| 127 | jimmy | 101 | startTime = Timebase_CurrentTime(); |
| 63 | jimmy | 102 | count = 0; |
| 103 | cm.Id = 0; |
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| 104 | return; |
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| 105 | } |
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| 106 | } |
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| 107 | |||
| 108 | |||
| 109 | /*----------------------------------------------------------------------------- |
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| 110 | * Main Program |
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| 111 | *---------------------------------------------------------------------------*/ |
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| 112 | int main(void) { |
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| 127 | jimmy | 113 | Timebase_Init(); |
| 149 | jimmy | 114 | Serial_Init(); |
| 127 | jimmy | 115 | Can_Init(); |
| 63 | jimmy | 116 | |
| 117 | DDRC = 1<<PC1 | 1<<PC0; |
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| 118 | PORTC = (1<<PC1) | (1<<PC0); |
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| 119 | |||
| 120 | sei(); |
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| 121 | |||
| 127 | jimmy | 122 | Can_Message_t rxMsg; |
| 63 | jimmy | 123 | uint16_t rxByte; |
| 124 | uint8_t i = 0; |
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| 125 | |||
| 126 | /* main loop */ |
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| 127 | while (1) { |
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| 142 | jimmy | 128 | /* service the CAN routines */ |
| 129 | Can_Service(); |
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| 130 | |||
| 63 | jimmy | 131 | /* any new CAN messages received? */ |
| 127 | jimmy | 132 | if (Can_Receive(&rxMsg) == CAN_OK) { |
| 63 | jimmy | 133 | PORTC ^= (1<<PC1); |
| 134 | /* send message to CanWatcher */ |
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| 135 | uart_putc(UART_START_BYTE); |
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| 136 | uart_putc((uint8_t)rxMsg.Id); |
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| 137 | uart_putc((uint8_t)(rxMsg.Id>>8)); |
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| 138 | uart_putc((uint8_t)(rxMsg.Id>>16)); |
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| 139 | uart_putc((uint8_t)(rxMsg.Id>>24)); |
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| 140 | uart_putc(rxMsg.ExtendedFlag); |
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| 141 | uart_putc(rxMsg.RemoteFlag); |
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| 142 | uart_putc(rxMsg.DataLength); |
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| 143 | for (i=0; i<8; i++) { |
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| 144 | uart_putc(rxMsg.Data.bytes[i]); |
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| 145 | } |
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| 146 | uart_putc(UART_END_BYTE); |
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| 147 | } |
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| 148 | |||
| 149 | /* any UART bytes received? */ |
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| 150 | rxByte = uart_getc(); |
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| 151 | while (rxByte != UART_NO_DATA) { |
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| 152 | /* parse byte! */ |
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| 153 | UartParseByte((uint8_t)(rxByte & 0x00FF)); |
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| 154 | /* receive next */ |
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| 155 | rxByte = uart_getc(); |
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| 156 | } |
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| 157 | } |
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| 158 | |||
| 159 | return 0; |
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| 160 | } |