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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.     txMsg.DataLength = 8;
  50.     txMsg.Data.bytes[0] = 7;
  51.     txMsg.Id = 0;
  52.     txMsg.RemoteFlag = 0;
  53.     txMsg.ExtendedFlag = 1;
  54.    
  55.     /* main loop */
  56.     while (1) {
  57.         /* service the CAN routines */
  58.         Can_Service();
  59.        
  60.         /* send CAN message and check for CAN errors once every second */
  61.         if (Timebase_PassedTimeMillis(timeStamp) >= 1000) {
  62.             timeStamp = Timebase_CurrentTime();
  63.             /* send txMsg */
  64.             txMsg.Id++;
  65.             //Can_Send(&txMsg);
  66.             printf(".");
  67.         }
  68.        
  69.         /* check if any messages have been received */
  70.         while (Can_Receive(&rxMsg) == CAN_OK) {
  71.             //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));
  72.             //printf("data={ ");
  73.             /*for (uint8_t i=0; i<rxMsg.DataLength; i++) {
  74.                 printf("%x ", rxMsg.Data.bytes[i]);
  75.             }*/
  76.             //printf("}\n");
  77.             if (Can_Send(&rxMsg) != CAN_OK) {
  78.                 break;
  79.             }
  80.         }
  81.     }
  82.    
  83.     return 0;
  84. }
  85.