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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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| 163 | eqlazer | 23 | #include <lcd_HD44780.h> |
| 161 | eqlazer | 24 | |
| 164 | eqlazer | 25 | #define BUFFER_SIZE 20 |
| 26 | |||
| 161 | eqlazer | 27 | /*----------------------------------------------------------------------------- |
| 28 | * Main Program |
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| 29 | *---------------------------------------------------------------------------*/ |
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| 30 | int main(void) { |
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| 164 | eqlazer | 31 | |
| 32 | char buffer[ BUFFER_SIZE ]; |
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| 33 | int num=1234; |
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| 34 | |||
| 161 | eqlazer | 35 | Timebase_Init(); |
| 36 | Serial_Init(); |
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| 37 | sei(); |
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| 38 | lcd_init( LCD_DISP_ON ); |
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| 39 | |||
| 40 | printf("\n------------------------------------------------------------\n"); |
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| 41 | printf( " CAN Test: Periodic Transmission\n"); |
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| 42 | printf( "------------------------------------------------------------\n"); |
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| 43 | |||
| 44 | lcd_clrscr(); |
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| 45 | lcd_puts("CAN LCD test\n"); |
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| 46 | |||
| 47 | printf("CanInit..."); |
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| 48 | lcd_puts("CanInit... "); |
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| 49 | if (Can_Init() != CAN_OK) { |
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| 50 | printf("FAILED!\n"); |
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| 51 | lcd_puts("FAILED!\n"); |
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| 52 | } |
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| 53 | else { |
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| 54 | printf("OK!\n"); |
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| 55 | lcd_puts("OK!\n"); |
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| 56 | } |
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| 57 | |||
| 164 | eqlazer | 58 | // snprintf(buffer, BUFFER_SIZE, "yo %d 98765432109\n", num); |
| 59 | // lcd_puts(buffer); |
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| 60 | // lcd_puts("test\n"); |
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| 61 | // lcd_puts(buffer); |
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| 62 | |||
| 161 | eqlazer | 63 | uint32_t timeStamp = 0; |
| 64 | |||
| 65 | Can_Message_t txMsg; |
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| 66 | Can_Message_t rxMsg; |
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| 67 | txMsg.Id = 0; |
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| 68 | txMsg.RemoteFlag = 0; |
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| 69 | txMsg.ExtendedFlag = 1; //DataLength and the databytes are just what happens to be in the memory. They are never set. |
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| 70 | |||
| 71 | /* main loop */ |
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| 72 | while (1) { |
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| 73 | /* service the CAN routines */ |
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| 74 | Can_Service(); |
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| 75 | |||
| 76 | /* send CAN message and check for CAN errors once every second */ |
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| 77 | if (Timebase_PassedTimeMillis(timeStamp) >= 1000) { |
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| 78 | timeStamp = Timebase_CurrentTime(); |
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| 79 | /* send txMsg */ |
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| 80 | txMsg.Id++; |
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| 81 | Can_Send(&txMsg); |
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| 82 | } |
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| 83 | |||
| 84 | /* check if any messages have been received */ |
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| 85 | while (Can_Receive(&rxMsg) == CAN_OK) { |
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| 86 | 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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| 87 | printf("data={ "); |
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| 164 | eqlazer | 88 | |
| 161 | eqlazer | 89 | for (uint8_t i=0; i<rxMsg.DataLength; i++) { |
| 90 | printf("%x ", rxMsg.Data.bytes[i]); |
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| 91 | } |
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| 92 | printf("}\n"); |
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| 164 | eqlazer | 93 | |
| 94 | if( rxMsg.Id == 0x3 ){ |
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| 95 | // lcd_gotoxy(0,1); |
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| 96 | lcd_clrscr(); |
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| 97 | // lcd_putc(0xdf); |
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| 98 | lcd_puts("Temperature data:\n"); |
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| 99 | |||
| 100 | for( uint8_t i=0; i<(rxMsg.DataLength/2); i++ ){ |
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| 101 | snprintf( buffer, BUFFER_SIZE, "Sensor %i: %d,%d%cC", i, rxMsg.Data.bytes[i*2], rxMsg.Data.bytes[i*2+1], 0xdf ); |
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| 102 | lcd_gotoxy(0,1+i); |
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| 103 | lcd_puts( buffer ); |
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| 104 | } |
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| 105 | } |
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| 161 | eqlazer | 106 | } |
| 107 | } |
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| 108 | |||
| 109 | return 0; |
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| 110 | } |