Details | Last modification | View Log | SVN | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 159 | arune | 1 | /** |
| 2 | * CAN Test. This program sends a CAN message once every second. The ID of the |
||
| 3 | * message is increased each time for testing purposes. |
||
| 4 | * |
||
| 5 | * @date 2006-11-21 |
||
| 6 | * @author Jimmy Myhrman |
||
| 7 | * |
||
| 8 | */ |
||
| 9 | |||
| 10 | /*----------------------------------------------------------------------------- |
||
| 11 | * Includes |
||
| 12 | *---------------------------------------------------------------------------*/ |
||
| 13 | /* system files */ |
||
| 14 | #include <avr/io.h> |
||
| 15 | #include <avr/interrupt.h> |
||
| 16 | #include <avr/wdt.h> |
||
| 17 | #include <stdio.h> |
||
| 18 | /* lib files */ |
||
| 19 | #include <can.h> |
||
| 20 | #include <serial.h> |
||
| 21 | #include <timebase.h> |
||
| 22 | #include <irreceiver.h> |
||
| 23 | |||
| 168 | arune | 24 | #define STATE_IDLE 0 |
| 25 | #define STATE_IR_REPEAT 1 |
||
| 159 | arune | 26 | |
| 27 | /*----------------------------------------------------------------------------- |
||
| 28 | * Main Program |
||
| 29 | *---------------------------------------------------------------------------*/ |
||
| 30 | int main(void) { |
||
| 221 | arune | 31 | Mcu_Init(); |
| 159 | arune | 32 | Timebase_Init(); |
| 33 | Serial_Init(); |
||
| 200 | arune | 34 | |
| 203 | arune | 35 | sei(); |
| 36 | |||
| 159 | arune | 37 | IRDDR &= ~(1<<IRBIT); |
| 38 | |||
| 39 | printf("\n------------------------------------------------------------\n"); |
||
| 40 | printf( " CAN Test: Periodic Transmission\n"); |
||
| 41 | printf( "------------------------------------------------------------\n"); |
||
| 42 | |||
| 43 | printf("CanInit..."); |
||
| 44 | if (Can_Init() != CAN_OK) { |
||
| 45 | printf("FAILED!\n"); |
||
| 46 | } |
||
| 47 | else { |
||
| 48 | printf("OK!\n"); |
||
| 49 | } |
||
| 50 | |||
| 51 | uint32_t timeStamp = 0; |
||
| 168 | arune | 52 | uint32_t irTimeoutTimeStamp = 0; |
| 159 | arune | 53 | |
| 54 | Can_Message_t txMsg; |
||
| 55 | Can_Message_t rxMsg; |
||
| 168 | arune | 56 | txMsg.Id = 1; |
| 159 | arune | 57 | |
| 58 | uint8_t ir_protocol, ir_address, ir_command; |
||
| 168 | arune | 59 | uint8_t state = STATE_IDLE; |
| 159 | arune | 60 | |
| 61 | /* main loop */ |
||
| 62 | while (1) { |
||
| 63 | /* service the CAN routines */ |
||
| 64 | Can_Service(); |
||
| 65 | |||
| 168 | arune | 66 | if (state == STATE_IDLE) { |
| 67 | if (checkIr(&ir_protocol, &ir_address, &ir_command) == IR_OK) { |
||
| 68 | txMsg.Data.bytes[0] = 0x00; |
||
| 69 | txMsg.Data.bytes[1] = ir_protocol; |
||
| 70 | txMsg.Data.bytes[2] = ir_address; |
||
| 71 | txMsg.Data.bytes[3] = ir_command; |
||
| 72 | txMsg.DataLength = 4; |
||
| 73 | Can_Send(&txMsg); |
||
| 74 | irTimeoutTimeStamp = Timebase_CurrentTime(); |
||
| 75 | state = STATE_IR_REPEAT; |
||
| 76 | } |
||
| 77 | } else if (state == STATE_IR_REPEAT) { |
||
| 78 | //kolla efter ny ir, om ingen ny ir och timeout så sätt state till IDLE |
||
| 79 | if (Timebase_PassedTimeMillis(irTimeoutTimeStamp) >= 105) { //getLastProtoTimeout() |
||
| 80 | state = STATE_IDLE; |
||
| 81 | txMsg.Data.bytes[0] = 0x0f; |
||
| 82 | Can_Send(&txMsg); |
||
| 83 | } |
||
| 200 | arune | 84 | if (checkIrIdle() == IR_OK) { //funktion som borde finnas i irreceiver.c |
| 168 | arune | 85 | irTimeoutTimeStamp = Timebase_CurrentTime(); |
| 86 | } |
||
| 159 | arune | 87 | } |
| 88 | |||
| 168 | arune | 89 | |
| 159 | arune | 90 | /* check if any messages have been received */ |
| 91 | while (Can_Receive(&rxMsg) == CAN_OK) { |
||
| 168 | arune | 92 | /*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 | 93 | printf("data={ "); |
| 94 | for (uint8_t i=0; i<rxMsg.DataLength; i++) { |
||
| 95 | printf("%x ", rxMsg.Data.bytes[i]); |
||
| 96 | } |
||
| 168 | arune | 97 | printf("}\n");*/ |
| 159 | arune | 98 | } |
| 99 | } |
||
| 100 | |||
| 101 | return 0; |
||
| 102 | } |