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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 159 | arune | 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/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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| 20 | #include <serial.h> |
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| 21 | #include <timebase.h> |
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| 22 | #include <irreceiver.h> |
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| 23 | |||
| 168 | arune | 24 | #define STATE_IDLE 0 |
| 25 | #define STATE_IR_REPEAT 1 |
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| 159 | arune | 26 | |
| 27 | /*----------------------------------------------------------------------------- |
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| 28 | * Main Program |
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| 29 | *---------------------------------------------------------------------------*/ |
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| 30 | int main(void) { |
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| 31 | Timebase_Init(); |
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| 32 | Serial_Init(); |
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| 33 | sei(); |
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| 34 | |||
| 35 | IRDDR &= ~(1<<IRBIT); |
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| 36 | |||
| 37 | printf("\n------------------------------------------------------------\n"); |
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| 38 | printf( " CAN Test: Periodic Transmission\n"); |
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| 39 | printf( "------------------------------------------------------------\n"); |
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| 40 | |||
| 41 | printf("CanInit..."); |
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| 42 | if (Can_Init() != CAN_OK) { |
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| 43 | printf("FAILED!\n"); |
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| 44 | } |
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| 45 | else { |
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| 46 | printf("OK!\n"); |
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| 47 | } |
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| 48 | |||
| 49 | uint32_t timeStamp = 0; |
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| 168 | arune | 50 | uint32_t irTimeoutTimeStamp = 0; |
| 159 | arune | 51 | |
| 52 | Can_Message_t txMsg; |
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| 53 | Can_Message_t rxMsg; |
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| 168 | arune | 54 | txMsg.Id = 1; |
| 159 | arune | 55 | |
| 56 | uint8_t ir_protocol, ir_address, ir_command; |
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| 168 | arune | 57 | uint8_t state = STATE_IDLE; |
| 159 | arune | 58 | |
| 59 | /* main loop */ |
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| 60 | while (1) { |
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| 61 | /* service the CAN routines */ |
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| 62 | Can_Service(); |
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| 63 | |||
| 168 | arune | 64 | if (state == STATE_IDLE) { |
| 65 | if (checkIr(&ir_protocol, &ir_address, &ir_command) == IR_OK) { |
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| 66 | txMsg.Data.bytes[0] = 0x00; |
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| 67 | txMsg.Data.bytes[1] = ir_protocol; |
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| 68 | txMsg.Data.bytes[2] = ir_address; |
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| 69 | txMsg.Data.bytes[3] = ir_command; |
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| 70 | txMsg.DataLength = 4; |
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| 71 | Can_Send(&txMsg); |
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| 72 | irTimeoutTimeStamp = Timebase_CurrentTime(); |
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| 73 | state = STATE_IR_REPEAT; |
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| 74 | } |
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| 75 | } else if (state == STATE_IR_REPEAT) { |
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| 76 | //kolla efter ny ir, om ingen ny ir och timeout så sätt state till IDLE |
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| 77 | if (Timebase_PassedTimeMillis(irTimeoutTimeStamp) >= 105) { //getLastProtoTimeout() |
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| 78 | state = STATE_IDLE; |
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| 79 | txMsg.Data.bytes[0] = 0x0f; |
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| 80 | Can_Send(&txMsg); |
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| 81 | } |
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| 82 | if (!(IRPIN & (1<<IRBIT))) { //funktion som borde finnas i irreceiver.c |
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| 83 | irTimeoutTimeStamp = Timebase_CurrentTime(); |
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| 84 | } |
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| 159 | arune | 85 | } |
| 86 | |||
| 168 | arune | 87 | |
| 159 | arune | 88 | /* check if any messages have been received */ |
| 89 | while (Can_Receive(&rxMsg) == CAN_OK) { |
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| 168 | arune | 90 | /*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)); |
| 159 | arune | 91 | printf("data={ "); |
| 92 | for (uint8_t i=0; i<rxMsg.DataLength; i++) { |
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| 93 | printf("%x ", rxMsg.Data.bytes[i]); |
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| 94 | } |
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| 168 | arune | 95 | printf("}\n");*/ |
| 159 | arune | 96 | } |
| 97 | } |
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| 98 | |||
| 99 | return 0; |
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| 100 | } |