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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 61 | jimmy | 1 | /** |
| 2 | * CAN test program. |
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| 3 | * |
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| 4 | * @target AVR |
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| 5 | * @date 2006-10-29 |
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| 6 | * @author Jimmy Myhrman |
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| 7 | * |
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| 8 | */ |
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| 9 | |||
| 10 | /*----------------------------------------------------------------------------- |
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| 11 | * Includes |
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| 12 | *---------------------------------------------------------------------------*/ |
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| 13 | /* system files */ |
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| 14 | #include <avr/io.h> |
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| 15 | #include <avr/interrupt.h> |
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| 16 | #include <avr/wdt.h> |
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| 17 | #include <stdio.h> |
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| 18 | /* lib files */ |
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| 19 | #include <can.h> |
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| 20 | #include <uart.h> |
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| 21 | #include <timebase.h> |
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| 22 | #include <protocol.h> |
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| 23 | |||
| 24 | |||
| 25 | /*----------------------------------------------------------------------------- |
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| 26 | * Main Program |
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| 27 | *---------------------------------------------------------------------------*/ |
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| 28 | int main(void) { |
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| 127 | jimmy | 29 | Timebase_Init(); |
| 30 | Uart_Init(); |
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| 61 | jimmy | 31 | sei(); |
| 32 | |||
| 33 | printf("\n------------------------------\n"); |
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| 34 | printf(" CAN Monitor\n"); |
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| 35 | printf("------------------------------\n"); |
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| 36 | |||
| 37 | printf("CanInit..."); |
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| 127 | jimmy | 38 | if (Can_Init() != CAN_OK) { |
| 61 | jimmy | 39 | printf("FAILED!\n"); |
| 40 | } |
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| 41 | else { |
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| 42 | printf("OK!\n"); |
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| 43 | } |
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| 44 | |||
| 45 | uint32_t timeStamp = 0; |
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| 46 | |||
| 127 | jimmy | 47 | Can_Message_t txMsg; |
| 48 | Can_Message_t rxMsg; |
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| 61 | jimmy | 49 | |
| 50 | txMsg.DataLength = 8; |
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| 51 | txMsg.Data.bytes[0] = 7; |
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| 127 | jimmy | 52 | txMsg.Id = 0; |
| 61 | jimmy | 53 | txMsg.RemoteFlag = 0; |
| 54 | txMsg.ExtendedFlag = 1; |
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| 55 | |||
| 56 | /* main loop */ |
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| 57 | while (1) { |
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| 58 | /* any new CAN messages received? */ |
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| 127 | jimmy | 59 | if (Can_Receive(&rxMsg) == CAN_OK) { |
| 61 | jimmy | 60 | ProtocolParseCanMessage(&rxMsg); |
| 61 | } |
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| 62 | |||
| 63 | /* send CAN message and check for CAN errors once every second */ |
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| 127 | jimmy | 64 | if (Timebase_PassedTimeMillis(timeStamp) >= 1000) { |
| 65 | /* send txMsg */ |
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| 61 | jimmy | 66 | txMsg.Id++; |
| 127 | jimmy | 67 | Can_Send(&txMsg); |
| 61 | jimmy | 68 | /* check for errors */ |
| 127 | jimmy | 69 | timeStamp = Timebase_CurrentTime(); |
| 70 | if (Can_CheckError() != CAN_OK) { |
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| 61 | jimmy | 71 | printf("CAN ERROR detected!\n"); |
| 72 | } |
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| 73 | } |
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| 74 | } |
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| 75 | |||
| 76 | return 0; |
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| 77 | } |