Rev 61 | Only display areas with differences | Regard whitespace | Details | Blame | Last modification | View Log | SVN | RSS feed
| Rev 61 | Rev 73 | ||
|---|---|---|---|
| 1 | /** |
1 | /** |
| 2 | * CAN test program. |
2 | * CAN test program. |
| 3 | * |
3 | * |
| 4 | * @target AVR |
4 | * @target AVR |
| 5 | * @date 2006-10-29 |
5 | * @date 2006-10-29 |
| 6 | * @author Jimmy Myhrman |
6 | * @author Jimmy Myhrman |
| 7 | * |
7 | * |
| 8 | */ |
8 | */ |
| 9 | 9 | ||
| 10 | /*----------------------------------------------------------------------------- |
10 | /*----------------------------------------------------------------------------- |
| 11 | * Includes |
11 | * Includes |
| 12 | *---------------------------------------------------------------------------*/ |
12 | *---------------------------------------------------------------------------*/ |
| 13 | /* system files */ |
13 | /* system files */ |
| 14 | #include <avr/io.h> |
14 | #include <avr/io.h> |
| 15 | #include <avr/interrupt.h> |
15 | #include <avr/interrupt.h> |
| 16 | #include <avr/wdt.h> |
16 | #include <avr/wdt.h> |
| 17 | #include <stdio.h> |
17 | #include <stdio.h> |
| 18 | /* lib files */ |
18 | /* lib files */ |
| 19 | #include <can.h> |
19 | #include <can.h> |
| 20 | #include <uart.h> |
20 | #include <uart.h> |
| 21 | #include <timebase.h> |
21 | #include <timebase.h> |
| 22 | #include <protocol.h> |
22 | #include <protocol.h> |
| 23 | 23 | ||
| 24 | 24 | ||
| 25 | /*----------------------------------------------------------------------------- |
25 | /*----------------------------------------------------------------------------- |
| 26 | * Main Program |
26 | * Main Program |
| 27 | *---------------------------------------------------------------------------*/ |
27 | *---------------------------------------------------------------------------*/ |
| 28 | int main(void) { |
28 | int main(void) { |
| 29 | TimebaseInit(); |
29 | TimebaseInit(); |
| 30 | UartInit(); |
30 | UartInit(); |
| 31 | sei(); |
31 | sei(); |
| 32 | 32 | ||
| 33 | printf("\n------------------------------\n"); |
33 | printf("\n------------------------------\n"); |
| 34 | printf(" CAN Monitor\n"); |
34 | printf(" CAN Monitor\n"); |
| 35 | printf("------------------------------\n"); |
35 | printf("------------------------------\n"); |
| 36 | 36 | ||
| 37 | printf("CanInit..."); |
37 | printf("CanInit..."); |
| 38 | if (CanInit(CAN_BITRATE_1M) != CAN_OK) { |
38 | if (CanInit(CAN_BITRATE_1M) != CAN_OK) { |
| 39 | printf("FAILED!\n"); |
39 | printf("FAILED!\n"); |
| 40 | } |
40 | } |
| 41 | else { |
41 | else { |
| 42 | printf("OK!\n"); |
42 | printf("OK!\n"); |
| 43 | } |
43 | } |
| 44 | 44 | ||
| 45 | uint32_t timeStamp = 0; |
45 | uint32_t timeStamp = 0; |
| 46 | 46 | ||
| 47 | CanMessage_t txMsg; |
47 | CanMessage_t txMsg; |
| 48 | CanMessage_t rxMsg; |
48 | CanMessage_t rxMsg; |
| 49 | 49 | ||
| 50 | txMsg.DataLength = 8; |
50 | txMsg.DataLength = 8; |
| 51 | txMsg.Data.bytes[0] = 7; |
51 | txMsg.Data.bytes[0] = 7; |
| 52 | txMsg.Id = 733; |
52 | txMsg.Id = 733; |
| 53 | txMsg.RemoteFlag = 0; |
53 | txMsg.RemoteFlag = 0; |
| 54 | txMsg.ExtendedFlag = 1; |
54 | txMsg.ExtendedFlag = 1; |
| 55 | 55 | ||
| 56 | /* main loop */ |
56 | /* main loop */ |
| 57 | while (1) { |
57 | while (1) { |
| 58 | /* any new CAN messages received? */ |
58 | /* any new CAN messages received? */ |
| 59 | if (CanReceive(&rxMsg) == CAN_OK) { |
59 | if (CanReceive(&rxMsg) == CAN_OK) { |
| 60 | ProtocolParseCanMessage(&rxMsg); |
60 | ProtocolParseCanMessage(&rxMsg); |
| 61 | } |
61 | } |
| 62 | 62 | ||
| 63 | /* send CAN message and check for CAN errors once every second */ |
63 | /* send CAN message and check for CAN errors once every second */ |
| 64 | if (TimebasePassedTimeMS(timeStamp) >= 1000) { |
64 | if (TimebasePassedTimeMS(timeStamp) >= 1000) { |
| 65 | /* increase ID and send txMsg */ |
65 | /* increase ID and send txMsg */ |
| 66 | txMsg.Id++; |
66 | txMsg.Id++; |
| 67 | CanSend(&txMsg); |
67 | CanSend(&txMsg); |
| 68 | /* check for errors */ |
68 | /* check for errors */ |
| 69 | timeStamp = TimebaseCurrentTime(); |
69 | timeStamp = TimebaseCurrentTime(); |
| 70 | if (CanCheckError() != CAN_OK) { |
70 | if (CanCheckError() != CAN_OK) { |
| 71 | printf("CAN ERROR detected!\n"); |
71 | printf("CAN ERROR detected!\n"); |
| 72 | } |
72 | } |
| 73 | } |
73 | } |
| 74 | } |
74 | } |
| 75 | 75 | ||
| 76 | return 0; |
76 | return 0; |
| 77 | } |
77 | } |
| 78 | 78 | ||