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


/**
 * CAN Test. This program immediately echoes back all received CAN messages to
 * the bus, but increases ID with 1 before doing so.
 *
 * @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) {
    Timebase_Init();
    Serial_Init();
    sei();
   
    printf("\n------------------------------------------------------------\n");
    printf(  "   CAN Test: Echo\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;
    txMsg.DataLength = 8;
    txMsg.Data.bytes[0] = 7;
    txMsg.Id = 0;
    txMsg.RemoteFlag = 0;
    txMsg.ExtendedFlag = 1;
   
    /* 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();
        }
       
        /* check if any messages have been received */
        while (Can_Receive(&rxMsg) == CAN_OK) {
            /* echo back with increased Id */
            rxMsg.Id++;
            while (Can_Send(&rxMsg) != CAN_OK);
        }
    }
   
    return 0;
}
 

Rev 148	Rev 149
1	/**	1	/**
2	* CAN Test. This program immediately echoes back all received CAN messages to	2	* CAN Test. This program immediately echoes back all received CAN messages to
3	* the bus, but increases ID with 1 before doing so.	3	* the bus, but increases ID with 1 before doing so.
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 <~~uart~~.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	Timebase_Init();	28	Timebase_Init();
29	~~Uart_Init~~();	29	Serial_Init();
30	sei();	30	sei();
31		31
32	printf("\n------------------------------------------------------------\n");	32	printf("\n------------------------------------------------------------\n");
33	printf( " CAN Test: Echo\n");	33	printf( " CAN Test: Echo\n");
34	printf( "------------------------------------------------------------\n");	34	printf( "------------------------------------------------------------\n");
35		35
36	printf("CanInit...");	36	printf("CanInit...");
37	if (Can_Init() != CAN_OK) {	37	if (Can_Init() != CAN_OK) {
38	printf("FAILED!\n");	38	printf("FAILED!\n");
39	}	39	}
40	else {	40	else {
41	printf("OK!\n");	41	printf("OK!\n");
42	}	42	}
43		43
44	uint32_t timeStamp = 0;	44	uint32_t timeStamp = 0;
45		45
46	Can_Message_t txMsg;	46	Can_Message_t txMsg;
47	Can_Message_t rxMsg;	47	Can_Message_t rxMsg;
48	txMsg.DataLength = 8;	48	txMsg.DataLength = 8;
49	txMsg.Data.bytes[0] = 7;	49	txMsg.Data.bytes[0] = 7;
50	txMsg.Id = 0;	50	txMsg.Id = 0;
51	txMsg.RemoteFlag = 0;	51	txMsg.RemoteFlag = 0;
52	txMsg.ExtendedFlag = 1;	52	txMsg.ExtendedFlag = 1;
53		53
54	/* main loop */	54	/* main loop */
55	while (1) {	55	while (1) {
56	/* service the CAN routines */	56	/* service the CAN routines */
57	Can_Service();	57	Can_Service();
58		58
59	/* send CAN message and check for CAN errors once every second */	59	/* send CAN message and check for CAN errors once every second */
60	if (Timebase_PassedTimeMillis(timeStamp) >= 1000) {	60	if (Timebase_PassedTimeMillis(timeStamp) >= 1000) {
61	timeStamp = Timebase_CurrentTime();	61	timeStamp = Timebase_CurrentTime();
62	}	62	}
63		63
64	/* check if any messages have been received */	64	/* check if any messages have been received */
65	while (Can_Receive(&rxMsg) == CAN_OK) {	65	while (Can_Receive(&rxMsg) == CAN_OK) {
66	/* echo back with increased Id */	66	/* echo back with increased Id */
67	rxMsg.Id++;	67	rxMsg.Id++;
68	while (Can_Send(&rxMsg) != CAN_OK);	68	while (Can_Send(&rxMsg) != CAN_OK);
69	}	69	}
70	}	70	}
71		71
72	return 0;	72	return 0;
73	}	73	}
74		74

Subversion Repositories HomeAutomation

(root)/trunk/EmbeddedSoftware/AVR/CanTestEcho/main.c @ 261 – Rev 148 → 149