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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 146 | jimmy | 1 | /** |
| 2 | * CAN Test. This program immediately echoes back all received CAN messages to |
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| 3 | * the bus, but increases ID with 1 before doing so. |
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| 4 | * |
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| 5 | * @date 2006-11-21 |
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| 6 | * @author Jimmy Myhrman |
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| 7 | * |
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| 8 | */ |
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| 9 | |||
| 10 | /*----------------------------------------------------------------------------- |
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| 11 | * Includes |
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| 12 | *---------------------------------------------------------------------------*/ |
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| 13 | /* system files */ |
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| 14 | #include <avr/io.h> |
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| 15 | #include <avr/interrupt.h> |
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| 16 | #include <avr/wdt.h> |
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| 17 | #include <stdio.h> |
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| 18 | /* lib files */ |
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| 19 | #include <can.h> |
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| 149 | jimmy | 20 | #include <serial.h> |
| 146 | jimmy | 21 | #include <timebase.h> |
| 22 | |||
| 23 | |||
| 24 | /*----------------------------------------------------------------------------- |
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| 25 | * Main Program |
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| 26 | *---------------------------------------------------------------------------*/ |
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| 27 | int main(void) { |
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| 28 | Timebase_Init(); |
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| 149 | jimmy | 29 | Serial_Init(); |
| 146 | jimmy | 30 | sei(); |
| 31 | |||
| 32 | printf("\n------------------------------------------------------------\n"); |
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| 33 | printf( " CAN Test: Echo\n"); |
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| 34 | printf( "------------------------------------------------------------\n"); |
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| 35 | |||
| 36 | printf("CanInit..."); |
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| 37 | if (Can_Init() != CAN_OK) { |
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| 38 | printf("FAILED!\n"); |
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| 39 | } |
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| 40 | else { |
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| 41 | printf("OK!\n"); |
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| 42 | } |
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| 43 | |||
| 44 | uint32_t timeStamp = 0; |
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| 45 | |||
| 46 | Can_Message_t txMsg; |
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| 47 | Can_Message_t rxMsg; |
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| 48 | txMsg.DataLength = 8; |
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| 49 | txMsg.Data.bytes[0] = 7; |
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| 50 | txMsg.Id = 0; |
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| 51 | txMsg.RemoteFlag = 0; |
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| 52 | txMsg.ExtendedFlag = 1; |
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| 53 | |||
| 54 | /* main loop */ |
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| 55 | while (1) { |
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| 56 | /* service the CAN routines */ |
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| 57 | Can_Service(); |
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| 58 | |||
| 59 | /* send CAN message and check for CAN errors once every second */ |
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| 60 | if (Timebase_PassedTimeMillis(timeStamp) >= 1000) { |
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| 61 | timeStamp = Timebase_CurrentTime(); |
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| 62 | } |
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| 63 | |||
| 64 | /* check if any messages have been received */ |
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| 65 | while (Can_Receive(&rxMsg) == CAN_OK) { |
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| 148 | jimmy | 66 | /* echo back with increased Id */ |
| 67 | rxMsg.Id++; |
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| 146 | jimmy | 68 | while (Can_Send(&rxMsg) != CAN_OK); |
| 69 | } |
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| 70 | } |
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| 71 | |||
| 72 | return 0; |
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| 73 | } |