WebSVN – HomeAutomation – Diff – /trunk/EmbeddedSoftware/AVR/CanTestCan/main.c


/**
 * 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>
 
 
/*-----------------------------------------------------------------------------
 * Main Program
 *---------------------------------------------------------------------------*/
int main(void) {
    Mcu_Init();
    Timebase_Init();
    Serial_Init();
   
    sei();
   
    printf("\n------------------------------------------------------------\n");
    printf(  "   CAN Test: Periodic Transmission\n");
    printf(  "------------------------------------------------------------\n");
   
    printf("CanInit...");
    if (Can_Init() != CAN_OK) {
        printf("FAILED!\n");
    }
    else {
        printf("OK!\n");
    }
   
    uint32_t timeStamp = 0;
   
    Can_Message_t txMsg;
    Can_Message_t rxMsg;
    //The databytes are just what happens to be in the memory. They are never set.
    txMsg.RemoteFlag = 0;
    txMsg.ExtendedFlag = 1;
#define NODENUMBER 1
#if NODENUMBER == 1
    txMsg.Id = 16;
    txMsg.DataLength = 2;
#elif NODENUMBER == 2
    txMsg.Id = 32;
    txMsg.DataLength = 5;
#else
# error NODENUMBER not set!
#endif
   
    /* 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) >= 1000) {
            timeStamp = Timebase_CurrentTime();
            /* send txMsg */
            txMsg.Id++;
            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));
            printf("data={ ");
            for (uint8_t i=0; i<rxMsg.DataLength; i++) {
                printf("%x ", rxMsg.Data.bytes[i]);
            }
            printf("}\n");
        }
    }
   
    return 0;
}
 

Rev 208	Rev 384
1	/**	1	/**
2	* CAN Test. This program sends a CAN message once every second. The ID of the	2	* CAN Test. This program sends a CAN message once every second. The ID of the
3	* message is increased each time for testing purposes.	3	* message is increased each time for testing purposes.
4	*	4	*
5	* @date 2006-11-21	5	* @date 2006-11-21
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 <serial.h>	20	#include <serial.h>
21	#include <timebase.h>	21	#include <timebase.h>
22		22
23		23
24	/*-----------------------------------------------------------------------------	24	/*-----------------------------------------------------------------------------
25	* Main Program	25	* Main Program
26	---------------------------------------------------------------------------/	26	---------------------------------------------------------------------------/
27	int main(void) {	27	int main(void) {
28	Mcu_Init();	28	Mcu_Init();
29	Timebase_Init();	29	Timebase_Init();
30	Serial_Init();	30	Serial_Init();
31		31
32	sei();	32	sei();
33		33
34	printf("\n------------------------------------------------------------\n");	34	printf("\n------------------------------------------------------------\n");
35	printf( " CAN Test: Periodic Transmission\n");	35	printf( " CAN Test: Periodic Transmission\n");
36	printf( "------------------------------------------------------------\n");	36	printf( "------------------------------------------------------------\n");
37		37
38	printf("CanInit...");	38	printf("CanInit...");
39	if (Can_Init() != CAN_OK) {	39	if (Can_Init() != CAN_OK) {
40	printf("FAILED!\n");	40	printf("FAILED!\n");
41	}	41	}
42	else {	42	else {
43	printf("OK!\n");	43	printf("OK!\n");
44	}	44	}
45		45
46	uint32_t timeStamp = 0;	46	uint32_t timeStamp = 0;
47		47
48	Can_Message_t txMsg;	48	Can_Message_t txMsg;
49	Can_Message_t rxMsg;	49	Can_Message_t rxMsg;
50	//The databytes are just what happens to be in the memory. They are never set.	50	//The databytes are just what happens to be in the memory. They are never set.
51	txMsg.RemoteFlag = 0;	51	txMsg.RemoteFlag = 0;
52	txMsg.ExtendedFlag = 1;	52	txMsg.ExtendedFlag = 1;
53	#define NODENUMBER 1	53	#define NODENUMBER 1
54	#if NODENUMBER == 1	54	#if NODENUMBER == 1
55	txMsg.Id = 16;	55	txMsg.Id = 16;
56	txMsg.DataLength = 2;	56	txMsg.DataLength = 2;
57	#elif NODENUMBER == 2	57	#elif NODENUMBER == 2
58	txMsg.Id = 32;	58	txMsg.Id = 32;
59	txMsg.DataLength = 5;	59	txMsg.DataLength = 5;
60	#else	60	#else
61	# error NODENUMBER not set!	61	# error NODENUMBER not set!
62	#endif	62	#endif
63		63
64	/* main loop */	64	/* main loop */
65	while (1) {	65	while (1) {
66	/* service the CAN routines */	66	/* service the CAN routines */
67	Can_Service();	67	Can_Service();
68		68
69	/* send CAN message and check for CAN errors once every second */	69	/* send CAN message and check for CAN errors once every second */
70	if (Timebase_PassedTimeMillis(timeStamp) >= 1000) {	70	if (Timebase_PassedTimeMillis(timeStamp) >= 1000) {
71	timeStamp = Timebase_CurrentTime();	71	timeStamp = Timebase_CurrentTime();
72	/* send txMsg */	72	/* send txMsg */
73	txMsg.Id++;	73	txMsg.Id++;
74	Can_Send(&txMsg);	74	Can_Send(&txMsg);
75	}	75	}
76		76
77	/* check if any messages have been received */	77	/* check if any messages have been received */
78	while (Can_Receive(&rxMsg) == CAN_OK) {	78	while (Can_Receive(&rxMsg) == CAN_OK) {
79	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));	79	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));
80	printf("data={ ");	80	printf("data={ ");
81	for (uint8_t i=0; i<rxMsg.DataLength; i++) {	81	for (uint8_t i=0; i<rxMsg.DataLength; i++) {
82	printf("%x ", rxMsg.Data.bytes[i]);	82	printf("%x ", rxMsg.Data.bytes[i]);
83	}	83	}
84	printf("}\n");	84	printf("}\n");
85	}	85	}
86	}	86	}
87		87
88	return 0;	88	return 0;
89	}	89	}
90		90

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(root)/trunk/EmbeddedSoftware/AVR/CanTestCan/main.c @ 384 – Rev 208 → 384