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  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.  * Added LCD output
  5.  *
  6.  * @date    2006-11-21, LCD addition 2006-12-11
  7.  * @author  Jimmy Myhrman, Erik Larsson
  8.  *  
  9.  */
  10.  
  11. /*-----------------------------------------------------------------------------
  12.  * Includes
  13.  *---------------------------------------------------------------------------*/
  14. /* system files */
  15. #include <avr/io.h>
  16. #include <avr/interrupt.h>
  17. #include <avr/wdt.h>
  18. #include <stdio.h>
  19. /* lib files */
  20. #include <can.h>
  21. #include <serial.h>
  22. #include <timebase.h>
  23. #include <lcd.h>
  24.  
  25. /*-----------------------------------------------------------------------------
  26.  * Main Program
  27.  *---------------------------------------------------------------------------*/
  28. int main(void) {
  29.     Timebase_Init();
  30.     Serial_Init();
  31.     sei();
  32.     lcd_init( LCD_DISP_ON );
  33.  
  34.     printf("\n------------------------------------------------------------\n");
  35.     printf(  "   CAN Test: Periodic Transmission\n");
  36.     printf(  "------------------------------------------------------------\n");
  37.  
  38.     lcd_clrscr();
  39.     lcd_puts("CAN LCD test\n");
  40.  
  41.     printf("CanInit...");
  42.     lcd_puts("CanInit... ");
  43.     if (Can_Init() != CAN_OK) {
  44.         printf("FAILED!\n");
  45.         lcd_puts("FAILED!\n");
  46.     }
  47.     else {
  48.         printf("OK!\n");
  49.         lcd_puts("OK!\n");
  50.     }
  51.    
  52.     uint32_t timeStamp = 0;
  53.    
  54.     Can_Message_t txMsg;
  55.     Can_Message_t rxMsg;
  56.     txMsg.Id = 0;
  57.     txMsg.RemoteFlag = 0;
  58.     txMsg.ExtendedFlag = 1; //DataLength and the databytes are just what happens to be in the memory. They are never set.
  59.    
  60.     /* main loop */
  61.     while (1) {
  62.         /* service the CAN routines */
  63.         Can_Service();
  64.        
  65.         /* send CAN message and check for CAN errors once every second */
  66.         if (Timebase_PassedTimeMillis(timeStamp) >= 1000) {
  67.             timeStamp = Timebase_CurrentTime();
  68.             /* send txMsg */
  69.             txMsg.Id++;
  70.             Can_Send(&txMsg);
  71.         }
  72.        
  73.         /* check if any messages have been received */
  74.         while (Can_Receive(&rxMsg) == CAN_OK) {
  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));
  76.             printf("data={ ");
  77.             for (uint8_t i=0; i<rxMsg.DataLength; i++) {
  78.                 printf("%x ", rxMsg.Data.bytes[i]);
  79.             }
  80.             printf("}\n");
  81.         }
  82.     }
  83.    
  84.     return 0;
  85. }
  86.