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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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/*-----------------------------------------------------------------------------
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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/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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/* 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 <serial.h>
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#include <serial.h>
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#include <timebase.h>
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#include <timebase.h>
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#include <irreceiver.h>
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#include <irreceiver.h>
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 - 
 
- 
 
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#define STATE_IDLE      0
- 
 
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#define STATE_IR_REPEAT 1
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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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    Timebase_Init();
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    Timebase_Init();
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    Serial_Init();
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    Serial_Init();
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    sei();
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    sei();
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 - 
 
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    DDRD |= (1<<PD5);
 - 
 
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    PORTD &= ~(1<<PD5);
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    IRDDR &= ~(1<<IRBIT);
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    IRDDR &= ~(1<<IRBIT);
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    printf("\n------------------------------------------------------------\n");
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    printf("\n------------------------------------------------------------\n");
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    printf(  "   CAN Test: Periodic Transmission\n");
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    printf(  "   CAN Test: Periodic Transmission\n");
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    printf(  "------------------------------------------------------------\n");
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    printf(  "------------------------------------------------------------\n");
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    printf("CanInit...");
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    printf("CanInit...");
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    if (Can_Init() != CAN_OK) {
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    if (Can_Init() != CAN_OK) {
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        printf("FAILED!\n");
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        printf("FAILED!\n");
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    }
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    }
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    else {
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    else {
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        printf("OK!\n");
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        printf("OK!\n");
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    }
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    }
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    uint32_t timeStamp = 0;
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    uint32_t timeStamp = 0;
- 
 
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    uint32_t irTimeoutTimeStamp = 0;
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    Can_Message_t txMsg;
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    Can_Message_t txMsg;
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    Can_Message_t rxMsg;
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    Can_Message_t rxMsg;
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    txMsg.Id = 2;
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    txMsg.Id = 1;
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    uint8_t ir_protocol, ir_address, ir_command;
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    uint8_t ir_protocol, ir_address, ir_command;
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    uint8_t state = STATE_IDLE;
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    /* main loop */
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    /* main loop */
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    while (1) {
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    while (1) {
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        /* service the CAN routines */
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        /* service the CAN routines */
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        Can_Service();
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        Can_Service();
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        if (IRPIN & (1<<IRBIT)) {
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        if (state == STATE_IDLE) {
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            PORTD |= (1<<PD5);
 - 
 
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        } else {
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            PORTD &= ~(1<<PD5);
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        }
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 - 
 
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        if (checkIr(&ir_protocol, &ir_address, &ir_command) == IR_OK) {
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            if (checkIr(&ir_protocol, &ir_address, &ir_command) == IR_OK) {
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            txMsg.Data.bytes[0] = 0x00;
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                txMsg.Data.bytes[0] = 0x00;
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            txMsg.Data.bytes[1] = ir_protocol;
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                txMsg.Data.bytes[1] = ir_protocol;
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            txMsg.Data.bytes[2] = ir_address;
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                txMsg.Data.bytes[2] = ir_address;
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            txMsg.Data.bytes[3] = ir_command;
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                txMsg.Data.bytes[3] = ir_command;
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            txMsg.DataLength = 4;
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                txMsg.DataLength = 4;
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                Can_Send(&txMsg);
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                irTimeoutTimeStamp = Timebase_CurrentTime();
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                state = STATE_IR_REPEAT;
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            }
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        } else if (state == STATE_IR_REPEAT) {
- 
 
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            //kolla efter ny ir, om ingen ny ir och timeout så sätt state till IDLE
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            if (Timebase_PassedTimeMillis(irTimeoutTimeStamp) >= 105) {     //getLastProtoTimeout()
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                state = STATE_IDLE;
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                txMsg.Data.bytes[0] = 0x0f;
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            Can_Send(&txMsg);
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                Can_Send(&txMsg);
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        }
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            }
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 - 
 
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        /* send CAN message and check for CAN errors once every second */
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            if (!(IRPIN & (1<<IRBIT))) {        //funktion som borde finnas i irreceiver.c
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        if (Timebase_PassedTimeMillis(timeStamp) >= 2000) {
 - 
 
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            timeStamp = Timebase_CurrentTime();
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                irTimeoutTimeStamp = Timebase_CurrentTime();
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            txMsg.DataLength = 0;
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            /* send txMsg */
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            Can_Send(&txMsg);
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        }
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            }
- 
 
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        }
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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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            printf("MSG Received: ID=%lx, DLC=%u, EXT=%u, RTR=%u, ", rxMsg.Id, (uint16_t)(rxMsg.DataLength), (uint16_t)(rxMsg.ExtendedFlag), (uint16_t)(rxMsg.RemoteFlag));
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            /*printf("MSG Received: ID=%lx, DLC=%u, EXT=%u, RTR=%u, ", rxMsg.Id, (uint16_t)(rxMsg.DataLength), (uint16_t)(rxMsg.ExtendedFlag), (uint16_t)(rxMsg.RemoteFlag));
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            printf("data={ ");
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            printf("data={ ");
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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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                printf("%x ", rxMsg.Data.bytes[i]);
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                printf("%x ", rxMsg.Data.bytes[i]);
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            }
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            }
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            printf("}\n");
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            printf("}\n");*/
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        }
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        }
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    }
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    }
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    return 0;
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    return 0;
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}
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}
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