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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 188 | noddan | 1 | /** |
| 2 | * CAN Test. This program sends a CAN message once every second. The ID of the |
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| 3 | * message is increased each time for testing purposes. |
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| 4 | * |
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| 5 | * @date 2006-11-21 |
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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\pgmspace.h> //För pgm_Read_byte |
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| 17 | #include <avr/wdt.h> |
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| 18 | #include <stdio.h> |
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| 19 | #include <font.h> |
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| 20 | /* lib files */ |
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| 21 | #include <can.h> |
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| 22 | #include <timebase.h> |
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| 23 | #include <ks0108.h> |
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| 24 | |||
| 25 | |||
| 189 | noddan | 26 | uint8_t encoderPosition; //Bara för interrupttest. +/-1 beroende på riktning.; |
| 188 | noddan | 27 | |
| 28 | SIGNAL (SIG_INTERRUPT1) |
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| 29 | { |
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| 30 | if ((PINB&(0b10000000))==0){ |
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| 31 | encoderPosition = encoderPosition - 1; |
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| 32 | } else { |
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| 33 | encoderPosition = encoderPosition + 1; |
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| 34 | } |
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| 35 | |||
| 36 | |||
| 37 | if (encoderPosition > 250) encoderPosition = 0; |
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| 38 | if (encoderPosition > 99) encoderPosition = 99; |
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| 39 | } |
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| 40 | |||
| 41 | |||
| 42 | |||
| 43 | /*----------------------------------------------------------------------------- |
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| 44 | * Main Program |
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| 45 | *---------------------------------------------------------------------------*/ |
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| 46 | int main(void) { |
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| 189 | noddan | 47 | GICR|=0x80; //Interrupt på |
| 48 | MCUCR=0b00001000; //Rising Edge |
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| 49 | GIFR=0x80; //Något interruptigt :) |
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| 188 | noddan | 50 | |
| 51 | |||
| 52 | Timebase_Init(); |
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| 53 | sei(); |
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| 54 | uint32_t timeStamp = 0; |
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| 55 | |||
| 56 | |||
| 189 | noddan | 57 | //Sätt en massa ut/ingångar.. kanske inte snygg lösning, men det får bli så sålänge. |
| 58 | PORTC=0x00; |
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| 59 | DDRC |= (1<<0)|(1<<1)|(1<<2)|(1<<3)|(1<<4)|(1<<5); |
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| 60 | PORTD=0x00; |
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| 61 | DDRD |= (1<<0)|(1<<1)|(1<<2)|(1<<4)|(1<<5)|(1<<6)|(1<<7); |
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| 62 | PORTB=0x00; |
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| 63 | DDRB |= (1<<0)|(1<<1); |
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| 64 | DDRD &= ~(1<<3); |
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| 65 | DDRB &= ~(1<<7); |
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| 188 | noddan | 66 | |
| 189 | noddan | 67 | |
| 68 | glcdPowerOn(); |
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| 188 | noddan | 69 | |
| 70 | Can_Message_t rxMsg; |
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| 189 | noddan | 71 | char buffert[21]; //Buffert för snprintf |
| 188 | noddan | 72 | |
| 73 | |||
| 74 | glcdSetXY(0,0); |
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| 75 | glcdPutStr("CanInit..."); |
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| 76 | if (Can_Init() != CAN_OK) { |
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| 77 | glcdPutStr("FAILED!"); |
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| 78 | } |
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| 79 | else { |
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| 80 | glcdPutStr("OK!"); |
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| 81 | } |
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| 82 | |||
| 83 | |||
| 84 | //Can-loopen |
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| 85 | while (1) { |
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| 86 | /* service the CAN routines */ |
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| 87 | Can_Service(); |
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| 88 | |||
| 89 | /* check if any messages have been received */ |
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| 90 | while (Can_Receive(&rxMsg) == CAN_OK) { |
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| 91 | glcdSetXY(0,1); |
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| 92 | glcdPutStr("MSG Recieved!"); |
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| 93 | glcdSetXY(0,2); |
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| 94 | 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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| 95 | glcdPutStr(buffert); |
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| 96 | |||
| 97 | glcdSetXY(0,3); |
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| 98 | |||
| 99 | for (uint8_t i=0; i<rxMsg.DataLength; i++) { |
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| 100 | snprintf(buffert,21,"%x ", rxMsg.Data.bytes[i]); |
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| 101 | glcdPutStr(buffert); |
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| 102 | } |
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| 103 | } |
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| 104 | |||
| 105 | /* Här kollar vi klickvriden */ |
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| 189 | noddan | 106 | glcdSetXY(115,0); |
| 188 | noddan | 107 | snprintf(buffert,21,"%u ",encoderPosition); |
| 108 | glcdPutStr(buffert); |
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| 109 | |||
| 110 | |||
| 111 | } |
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| 112 | |||
| 113 | return 0; |
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| 114 | } |