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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 | |
| 167 | eqlazer | 25 | #include <eqlazer_funcdefs.h> |
| 26 | |||
| 164 | eqlazer | 27 | #define BUFFER_SIZE 20 |
| 28 | |||
| 161 | eqlazer | 29 | /*----------------------------------------------------------------------------- |
| 30 | * Main Program |
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| 31 | *---------------------------------------------------------------------------*/ |
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| 32 | int main(void) { |
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| 164 | eqlazer | 33 | |
| 34 | char buffer[ BUFFER_SIZE ]; |
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| 167 | eqlazer | 35 | uint8_t subzero; |
| 164 | eqlazer | 36 | |
| 161 | eqlazer | 37 | Timebase_Init(); |
| 38 | Serial_Init(); |
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| 39 | sei(); |
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| 40 | lcd_init( LCD_DISP_ON ); |
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| 41 | |||
| 42 | printf("\n------------------------------------------------------------\n"); |
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| 167 | eqlazer | 43 | printf( " CAN Test: LCD\n"); |
| 161 | eqlazer | 44 | printf( "------------------------------------------------------------\n"); |
| 45 | |||
| 46 | lcd_clrscr(); |
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| 47 | lcd_puts("CAN LCD test\n"); |
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| 48 | |||
| 49 | printf("CanInit..."); |
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| 50 | lcd_puts("CanInit... "); |
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| 51 | if (Can_Init() != CAN_OK) { |
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| 52 | printf("FAILED!\n"); |
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| 53 | lcd_puts("FAILED!\n"); |
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| 54 | } |
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| 55 | else { |
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| 56 | printf("OK!\n"); |
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| 57 | lcd_puts("OK!\n"); |
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| 58 | } |
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| 59 | |||
| 60 | uint32_t timeStamp = 0; |
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| 61 | |||
| 62 | Can_Message_t txMsg; |
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| 63 | Can_Message_t rxMsg; |
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| 64 | txMsg.Id = 0; |
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| 65 | txMsg.RemoteFlag = 0; |
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| 66 | txMsg.ExtendedFlag = 1; //DataLength and the databytes are just what happens to be in the memory. They are never set. |
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| 167 | eqlazer | 67 | |
| 68 | lcd_clrscr(); |
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| 69 | |||
| 161 | eqlazer | 70 | /* main loop */ |
| 71 | while (1) { |
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| 72 | /* service the CAN routines */ |
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| 73 | Can_Service(); |
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| 74 | |||
| 75 | /* send CAN message and check for CAN errors once every second */ |
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| 167 | eqlazer | 76 | // if (Timebase_PassedTimeMillis(timeStamp) >= 1000) { |
| 77 | // timeStamp = Timebase_CurrentTime(); |
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| 161 | eqlazer | 78 | /* send txMsg */ |
| 167 | eqlazer | 79 | // txMsg.Id++; |
| 80 | // Can_Send(&txMsg); |
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| 81 | // } |
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| 82 | |||
| 161 | eqlazer | 83 | /* check if any messages have been received */ |
| 84 | while (Can_Receive(&rxMsg) == CAN_OK) { |
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| 85 | 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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| 86 | printf("data={ "); |
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| 164 | eqlazer | 87 | |
| 161 | eqlazer | 88 | for (uint8_t i=0; i<rxMsg.DataLength; i++) { |
| 89 | printf("%x ", rxMsg.Data.bytes[i]); |
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| 90 | } |
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| 91 | printf("}\n"); |
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| 164 | eqlazer | 92 | |
| 93 | |||
| 167 | eqlazer | 94 | if( (rxMsg.Id & 0x1E000000)>>25 == FUNCT_SENSORS){ // if sensor data received |
| 95 | |||
| 96 | /* which temperature sensor? */ |
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| 97 | if( (rxMsg.Id & 0x01FF8000)>>15 == FUNCC_SENSORS_TEMPERATURE_INSIDE ){ |
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| 98 | /* Below 0 degrees celsius? */ |
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| 99 | if(rxMsg.Data.bytes[0]&0x80){ |
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| 100 | rxMsg.Data.bytes[0]= -rxMsg.Data.bytes[0]; |
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| 101 | subzero = 1; |
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| 102 | }else{ |
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| 103 | subzero = 0; |
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| 104 | } |
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| 105 | snprintf( buffer, BUFFER_SIZE, (subzero)?"-%d,%d%cC":"%d,%d%cC", rxMsg.Data.bytes[0], rxMsg.Data.bytes[1], 0xdf ); |
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| 106 | lcd_gotoxy( LCD_LINE0_0 ); |
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| 107 | lcd_puts( LCD_SENSOR_TEMPERATURE_INSIDE ); |
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| 108 | lcd_gotoxy( LCD_LINE1_0 ); |
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| 109 | lcd_puts( buffer ); |
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| 110 | }else if( (rxMsg.Id & 0x01FF8000)>>15 == FUNCC_SENSORS_TEMPERATURE_OUTSIDE ){ |
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| 111 | if(rxMsg.Data.bytes[0]&0x80){ |
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| 112 | rxMsg.Data.bytes[0]= -rxMsg.Data.bytes[0]; |
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| 113 | subzero = 1; |
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| 114 | }else{ |
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| 115 | subzero = 0; |
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| 116 | } |
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| 117 | snprintf( buffer, BUFFER_SIZE, (subzero)?"-%d,%d%cC":"%d,%d%cC", rxMsg.Data.bytes[0], rxMsg.Data.bytes[1], 0xdf ); |
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| 118 | lcd_gotoxy( LCD_LINE2_0 ); |
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| 119 | lcd_puts( LCD_SENSOR_TEMPERATURE_OUTSIDE ); |
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| 120 | lcd_gotoxy( LCD_LINE3_0 ); |
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| 121 | lcd_puts( buffer ); |
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| 122 | }else if( (rxMsg.Id & 0x01FF8000)>>15 == FUNCC_SENSORS_TEMPERATURE_FREEZER ){ |
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| 123 | if(rxMsg.Data.bytes[0]&0x80){ |
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| 124 | rxMsg.Data.bytes[0]= -rxMsg.Data.bytes[0]; |
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| 125 | subzero = 1; |
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| 126 | }else{ |
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| 127 | subzero = 0; |
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| 128 | } |
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| 129 | snprintf( buffer, BUFFER_SIZE, (subzero)?"-%d,%d%cC":"%d,%d%cC", rxMsg.Data.bytes[0], rxMsg.Data.bytes[1], 0xdf ); |
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| 130 | lcd_gotoxy( LCD_LINE2_2 ); |
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| 131 | lcd_puts( LCD_SENSOR_TEMPERATURE_FREEZER ); |
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| 132 | lcd_gotoxy( LCD_LINE3_2 ); |
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| 133 | lcd_puts( buffer ); |
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| 134 | }else{ |
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| 135 | lcd_clrscr(); |
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| 136 | lcd_puts("Sensors: No config."); |
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| 137 | } |
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| 138 | /* |
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| 164 | eqlazer | 139 | for( uint8_t i=0; i<(rxMsg.DataLength/2); i++ ){ |
| 140 | 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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| 141 | lcd_gotoxy(0,1+i); |
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| 142 | lcd_puts( buffer ); |
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| 167 | eqlazer | 143 | }*/ |
| 164 | eqlazer | 144 | } |
| 161 | eqlazer | 145 | } |
| 146 | } |
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| 147 | |||
| 148 | return 0; |
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| 149 | } |