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/**
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/**
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 * CAN Test. This program sends a CAN message once every second. The ID of the
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 * CAN Test. This program sends a CAN message once every second. The ID of the
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 * message is increased each time for testing purposes.
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 * message is increased each time for testing purposes.
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 *
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 *
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 * @date    2006-11-21
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 * @date    2006-11-21
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 * @author  Jimmy Myhrman
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 * @author  Jimmy Myhrman
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 *  
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 *  
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 */
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 */
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 9 
 
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/*-----------------------------------------------------------------------------
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/*-----------------------------------------------------------------------------
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 * Includes
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 * Includes
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 *---------------------------------------------------------------------------*/
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 *---------------------------------------------------------------------------*/
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/* system files */
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/* system files */
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#include <avr/io.h>
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include <avr/interrupt.h>
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#include <avr\pgmspace.h> //För pgm_Read_byte
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#include <avr\pgmspace.h> //För pgm_Read_byte
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#include <avr/wdt.h>
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#include <avr/wdt.h>
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#include <stdio.h>
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#include <stdio.h>
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#include <font.h>
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#include <font.h>
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/* lib files */
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/* lib files */
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#include <can.h>
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#include <can.h>
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#include <timebase.h>
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#include <timebase.h>
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#include <ks0108.h>
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#include <ks0108.h>
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//En variabel för att hålla tillståndet
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 - 
 
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//Interrupttest
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 - 
 
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 - 
 
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uint8_t encoderPosition; //Bara för interrupttest;
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uint8_t encoderPosition; //Bara för interrupttest. +/-1 beroende på riktning.;
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SIGNAL (SIG_INTERRUPT1)
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SIGNAL (SIG_INTERRUPT1)
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{
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{
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    if ((PINB&(0b10000000))==0){
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    if ((PINB&(0b10000000))==0){
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        encoderPosition = encoderPosition - 1;
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        encoderPosition = encoderPosition - 1;
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    } else {
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    } else {
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        encoderPosition = encoderPosition + 1;
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        encoderPosition = encoderPosition + 1;
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    }
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    }
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    if (encoderPosition > 250) encoderPosition = 0;
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    if (encoderPosition > 250) encoderPosition = 0;
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    if (encoderPosition > 99) encoderPosition = 99;
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    if (encoderPosition > 99) encoderPosition = 99;
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}
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}
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// /Interrupttest
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/*-----------------------------------------------------------------------------
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/*-----------------------------------------------------------------------------
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 * Main Program
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 * Main Program
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 *---------------------------------------------------------------------------*/
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 *---------------------------------------------------------------------------*/
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int main(void) {
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int main(void) {
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//INterrupttest
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GICR|=0x80;
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    GICR|=0x80;     //Interrupt på
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MCUCR=0b00001000;
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    MCUCR=0b00001000;   //Rising Edge
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GIFR=0x80;
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    GIFR=0x80;      //Något interruptigt :)
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 - 
 
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// /Interrupttest
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    Timebase_Init();
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    Timebase_Init();
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    sei();
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    sei();
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 - 
 
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    uint32_t timeStamp = 0;
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    uint32_t timeStamp = 0;
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 - 
 
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    //Här leker vi med displayen woohoo
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//Sätt rubbet till utgångar.. kanske inte snygg lösning, men det får bli så sålänge.
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    //Sätt en massa ut/ingångar.. kanske inte snygg lösning, men det får bli så sålänge.
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PORTC=0x00;
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    PORTC=0x00;
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 - 
 
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DDRC |= (1<<0)|(1<<1)|(1<<2)|(1<<3)|(1<<4)|(1<<5);
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    DDRC |= (1<<0)|(1<<1)|(1<<2)|(1<<3)|(1<<4)|(1<<5);
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 - 
 
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PORTD=0x00;
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    PORTD=0x00;
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DDRD |= (1<<0)|(1<<1)|(1<<2)|(1<<4)|(1<<5)|(1<<6)|(1<<7);
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    DDRD |= (1<<0)|(1<<1)|(1<<2)|(1<<4)|(1<<5)|(1<<6)|(1<<7);
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PORTB=0x00;
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    PORTB=0x00;
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DDRB |= (1<<0)|(1<<1);
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    DDRB |= (1<<0)|(1<<1);
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 - 
 
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DDRD &= ~(1<<3);
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    DDRD &= ~(1<<3);
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DDRB &= ~(1<<7);
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    DDRB &= ~(1<<7);
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    //Initiera tjohej
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//Ny och snyggare kod :)
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//Slå på
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glcdPowerOn();
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    glcdPowerOn();
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 - 
 
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//Test med lite CAN
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101 
    Can_Message_t rxMsg;
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    Can_Message_t rxMsg;
102 
    char buffert[21];
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    char buffert[21];   //Buffert för snprintf
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 73 
 
105 
    glcdSetXY(0,0);
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    glcdSetXY(0,0);
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    glcdPutStr("CanInit...");
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    glcdPutStr("CanInit...");
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    if (Can_Init() != CAN_OK) {
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    if (Can_Init() != CAN_OK) {
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        glcdPutStr("FAILED!");
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        glcdPutStr("FAILED!");
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    }
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    }
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    else {
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    else {
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        glcdPutStr("OK!");
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        glcdPutStr("OK!");
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    }
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    }
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 83 
 
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    //Can-loopen
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    //Can-loopen
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    while (1) {
 85 
    while (1) {
117 
        /* service the CAN routines */
 86 
        /* service the CAN routines */
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        Can_Service();
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        Can_Service();
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 88 
       
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        /* check if any messages have been received */
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        /* check if any messages have been received */
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        while (Can_Receive(&rxMsg) == CAN_OK) {
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        while (Can_Receive(&rxMsg) == CAN_OK) {
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            glcdSetXY(0,1);
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            glcdSetXY(0,1);
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            glcdPutStr("MSG Recieved!");
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            glcdPutStr("MSG Recieved!");
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            glcdSetXY(0,2);
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            glcdSetXY(0,2);
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            snprintf(buffert,21,"ID=%lx L=%u E=%u RT=%u", rxMsg.Id, (uint16_t)(rxMsg.DataLength), (uint16_t)(rxMsg.ExtendedFlag), (uint16_t)(rxMsg.RemoteFlag));
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            snprintf(buffert,21,"ID=%lx L=%u E=%u RT=%u", rxMsg.Id, (uint16_t)(rxMsg.DataLength), (uint16_t)(rxMsg.ExtendedFlag), (uint16_t)(rxMsg.RemoteFlag));
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            glcdPutStr(buffert);
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            glcdPutStr(buffert);
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            glcdSetXY(0,3);
 97 
            glcdSetXY(0,3);
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 98 
 
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            for (uint8_t i=0; i<rxMsg.DataLength; i++) {
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            for (uint8_t i=0; i<rxMsg.DataLength; i++) {
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                    snprintf(buffert,21,"%x ", rxMsg.Data.bytes[i]);
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                    snprintf(buffert,21,"%x ", rxMsg.Data.bytes[i]);
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                glcdPutStr(buffert);
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                glcdPutStr(buffert);
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                }
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                }
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        }
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        }
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        /* Här kollar vi klickvriden */    
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        /* Här kollar vi klickvriden */    
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        glcdSetXY(116,0);
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        glcdSetXY(115,0);
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        snprintf(buffert,21,"%u ",encoderPosition);
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        snprintf(buffert,21,"%u ",encoderPosition);
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        glcdPutStr(buffert);
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        glcdPutStr(buffert);
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 - 
 
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    }
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 - 
 
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 - 
 
145 
    while (1) {
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 110 
 
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    }
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    }
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    return 0;
 113 
    return 0;
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}
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}
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