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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 161 | eqlazer | 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 | * Added LCD output |
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| 5 | * |
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| 6 | * @date 2006-11-21, LCD addition 2006-12-11 |
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| 7 | * @author Jimmy Myhrman, Erik Larsson |
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| 8 | * |
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| 9 | */ |
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| 10 | |||
| 11 | /*----------------------------------------------------------------------------- |
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| 12 | * Includes |
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| 13 | *---------------------------------------------------------------------------*/ |
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| 14 | /* system files */ |
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| 15 | #include <avr/io.h> |
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| 16 | #include <avr/interrupt.h> |
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| 17 | #include <avr/wdt.h> |
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| 18 | #include <stdio.h> |
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| 19 | /* lib files */ |
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| 20 | #include <can.h> |
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| 21 | #include <serial.h> |
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| 22 | #include <timebase.h> |
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| 23 | #include <lcd.h> |
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| 24 | |||
| 25 | /*----------------------------------------------------------------------------- |
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| 26 | * Main Program |
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| 27 | *---------------------------------------------------------------------------*/ |
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| 28 | int main(void) { |
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| 29 | Timebase_Init(); |
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| 30 | Serial_Init(); |
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| 31 | sei(); |
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| 32 | lcd_init( LCD_DISP_ON ); |
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| 33 | |||
| 34 | printf("\n------------------------------------------------------------\n"); |
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| 35 | printf( " CAN Test: Periodic Transmission\n"); |
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| 36 | printf( "------------------------------------------------------------\n"); |
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| 37 | |||
| 38 | lcd_clrscr(); |
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| 39 | lcd_puts("CAN LCD test\n"); |
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| 40 | |||
| 41 | printf("CanInit..."); |
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| 42 | lcd_puts("CanInit... "); |
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| 43 | if (Can_Init() != CAN_OK) { |
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| 44 | printf("FAILED!\n"); |
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| 45 | lcd_puts("FAILED!\n"); |
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| 46 | } |
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| 47 | else { |
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| 48 | printf("OK!\n"); |
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| 49 | lcd_puts("OK!\n"); |
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| 50 | } |
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| 51 | |||
| 52 | uint32_t timeStamp = 0; |
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| 53 | |||
| 54 | Can_Message_t txMsg; |
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| 55 | Can_Message_t rxMsg; |
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| 56 | txMsg.Id = 0; |
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| 57 | txMsg.RemoteFlag = 0; |
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| 58 | txMsg.ExtendedFlag = 1; //DataLength and the databytes are just what happens to be in the memory. They are never set. |
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| 59 | |||
| 60 | /* main loop */ |
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| 61 | while (1) { |
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| 62 | /* service the CAN routines */ |
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| 63 | Can_Service(); |
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| 64 | |||
| 65 | /* send CAN message and check for CAN errors once every second */ |
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| 66 | if (Timebase_PassedTimeMillis(timeStamp) >= 1000) { |
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| 67 | timeStamp = Timebase_CurrentTime(); |
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| 68 | /* send txMsg */ |
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| 69 | txMsg.Id++; |
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| 70 | Can_Send(&txMsg); |
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| 71 | } |
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| 72 | |||
| 73 | /* check if any messages have been received */ |
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| 74 | while (Can_Receive(&rxMsg) == CAN_OK) { |
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| 75 | 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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| 76 | printf("data={ "); |
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| 77 | for (uint8_t i=0; i<rxMsg.DataLength; i++) { |
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| 78 | printf("%x ", rxMsg.Data.bytes[i]); |
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| 79 | } |
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| 80 | printf("}\n"); |
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| 81 | } |
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| 82 | } |
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| 83 | |||
| 84 | return 0; |
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| 85 | } |