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