/**
* CAN Test. This program sends a CAN message once every second. The ID of the
* message is increased each time for testing purposes.
*
* @date 2006-11-21
* @author Jimmy Myhrman
*
*/
/*-----------------------------------------------------------------------------
* Includes
*---------------------------------------------------------------------------*/
/* system files */
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/wdt.h>
#include <stdio.h>
/* lib files */
#include <can.h>
#include <serial.h>
#include <timebase.h>
#include <ip_arp_udp_tcp.h>
#include <enc28j60.h>
#include <timeout.h>
#include <avr_compat.h>
#include <net.h>
// please modify the following two lines. mac and ip have to be unique
// in your local area network. You can not have the same numbers in
// two devices:
static uint8_t mymac[6] = {0x54,0x55,0x58,0x10,0x00,0x24};
static uint8_t myip[4] = {193,11,254,22};
static uint16_t remoteport =1200; // listen port for udp
static uint8_t gotserver = 0;
// how did I get the mac addr? Translate the first 3 numbers into ascii is: TUX
static uint8_t remotemac[6];
static uint8_t remoteip[4];
#define BUFFER_SIZE 250
static uint8_t buf[BUFFER_SIZE+1];
#define SEND_BUFFER_SIZE 20
static char sendbuf[SEND_BUFFER_SIZE+1];
static uint8_t buffpoint;
/*----------------------------------------------------------------------------
* Putchar for udp
* Implements a small buffer, sends packet over udp if buffer is full or
* \n-char is sent.
* Needs a timeout to force send.
*--------------------------------------------------------------------------*/
int udp_putchar(char c, FILE* stream) {
if (gotserver != 0) {
sendbuf[buffpoint] = c;
buffpoint++;
if (c == '\n' || buffpoint > SEND_BUFFER_SIZE) {
send_udp(buf, sendbuf, buffpoint, remoteport, remotemac, remoteip);
buffpoint = 0;
}
}
return 0;
}
static FILE mystdout = FDEV_SETUP_STREAM(udp_putchar, NULL, _FDEV_SETUP_WRITE);
/*-----------------------------------------------------------------------------
* Main Program
*---------------------------------------------------------------------------*/
int main(void) {
//ethernet vars
uint16_t plen = 0;
uint8_t ledi=0;
uint8_t payloadlen=0;
buffpoint = 0;
//can vars
Can_Message_t txMsg;
Can_Message_t rxMsg;
txMsg.Id = 3;
txMsg.DataLength = 0;
txMsg.RemoteFlag = 0;
txMsg.ExtendedFlag = 1; //DataLength and the databytes are just what happens to be in the memory. They are never set.
uint32_t timeStamp = 0;
Mcu_Init();
Timebase_Init();
Serial_Init();
//alla printf ska skriva till udp
stdout = &mystdout; //set the output stream
sei();
// printf("CanInit...");
if (Can_Init() != CAN_OK) {
// printf("FAILED!\n");
}
else {
// printf("OK!\n");
}
/* enable PB0, reset as output */
DDRB|= (1<<DDB0);
/* set output to gnd, reset the ethernet chip */
PORTB &= ~(1<<PB0);
delay_ms(20);
/* set output to Vcc, reset inactive */
PORTB|= (1<<PB0);
delay_ms(100);
// LED
/* enable PB1, LED as output */
DDRD|= (1<<DDD6);
/* set output to Vcc, LED off */
PORTD|= (1<<PD6);
//printf("Init enc\n");
/*initialize enc28j60*/
enc28j60Init(mymac);
delay_ms(20);
/* Magjack leds configuration, see enc28j60 datasheet, page 11 */
// LEDB=yellow LEDA=green
//
// 0x476 is PHLCON LEDA=links status, LEDB=receive/transmit
enc28j60PhyWrite(PHLCON,0x476);
delay_ms(20);
/* set output to GND, red LED on */
PORTD &= ~(1<<PD6);
ledi=1;
//init the ethernet/ip layer:
init_ip_arp_udp_tcp(mymac,myip,80);
/* main loop */
while (1) {
/* service the CAN routines */
Can_Service();
/* send CAN message and check for CAN errors once every second */
if (Timebase_PassedTimeMillis(timeStamp) >= 2000) {
timeStamp = Timebase_CurrentTime();
/* send txMsg */
//txMsg.Id++;
//txMsg.Id = 3;
//Can_Send(&txMsg);
}
/* check if any messages have been received */
while (Can_Receive(&rxMsg) == CAN_OK) {
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)); for (uint8_t i=0; i<rxMsg.DataLength; i++) {
printf("%x ", rxMsg.
Data.
bytes[i
]); }
}
//test-debug-kod
if ((enc28j60Read(EIR) & EIR_TXERIF)) {
//printf("EIR_TXERIF set!\n");
if ((enc28j60Read(ECON1) & ECON1_TXRTS)) {
//printf("ECON1_TXRTS set!\n");
}
}
if ((enc28j60Read(EIR) & EIR_TXIF)) {
//printf("EIR_TXIF set! ");
}
if ((enc28j60Read(ESTAT) & ESTAT_TXABRT)) {
//printf("ESTAT_TXABRT set!\n");
//printf("MACLCON1: %i\n", enc28j60Read(MACLCON1));
enc28j60WriteOp(ENC28J60_BIT_FIELD_CLR, ESTAT, ESTAT_TXABRT);
}
// get the next new packet:
plen = enc28j60PacketReceive(BUFFER_SIZE, buf);
/*plen will ne unequal to zero if there is a valid
* packet (without crc error) */
if(plen!=0){
// arp is broadcast if unknown but a host may also
// verify the mac address by sending it to
// a unicast address.
if(eth_type_is_arp_and_my_ip(buf,plen)){
make_arp_answer_from_request(buf);
} else {
// check if ip packets (icmp or udp) are for us:
if(eth_type_is_ip_and_my_ip(buf,plen)!=0){
if(buf[IP_PROTO_P]==IP_PROTO_ICMP_V && buf[ICMP_TYPE_P]==ICMP_TYPE_ECHOREQUEST_V){
// a ping packet, let's send pong
make_echo_reply_from_request(buf,plen);
//txMsg.Id = 6;
//Can_Send(&txMsg);
}
if (buf[IP_PROTO_P]==IP_PROTO_UDP_V){
payloadlen=buf[UDP_LEN_L_P]-UDP_HEADER_LEN;
if (buf[UDP_DATA_P]=='t' && payloadlen==5){
uint8_t i=0;
if (gotserver == 0) {
while(i<6){
remotemac[i]=buf[ETH_SRC_MAC +i];
i++;
}
i=0;
while(i<4){
remoteip[i]=buf[IP_SRC_P +i];
i++;
}
i=0;
gotserver = 1;
make_udp_reply_from_request(buf,"Got server",10,remoteport);
} else {
make_udp_reply_from_request(buf,"Already got server",18,remoteport);
}
}
}
}
}
}
}
return 0;
}