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61 jimmy 1 
/**
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 * CAN Test.
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 * Tests if sending CAN messages is ok.
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 *
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 * @date    2006-11-21
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 * @author  Jimmy Myhrman
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 *  
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 */
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/*-----------------------------------------------------------------------------
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 * Includes
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 *---------------------------------------------------------------------------*/
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/* system files */
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include <avr/wdt.h>
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#include <stdio.h>
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/* lib files */
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#include <can.h>
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#include <timebase.h>
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#define INTERVAL 1000
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#define SENDER_ID 0xff
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/*-----------------------------------------------------------------------------
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 * Main Program
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 *---------------------------------------------------------------------------*/
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int main(void) {
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    Timebase_Init();
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    sei();
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    Can_Init();
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    uint32_t timeStamp = 0;
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    Can_Message_t txMsg;
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    txMsg.Id = SENDER_ID;
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    txMsg.RemoteFlag = 0;
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    txMsg.ExtendedFlag = 1;
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    txMsg.DataLength = 1;
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    txMsg.Data.bytes[0] = 0xff;
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    /* main loop */
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    while (1) {
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        /* service the CAN routines */
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        Can_Service();
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        /* send CAN message */
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        if (Timebase_PassedTimeMillis(timeStamp) >= INTERVAL) {
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            timeStamp = Timebase_CurrentTime();
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            /* send txMsg */
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            Can_Send(&txMsg);
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        }
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    }
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    return 0;
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}