WebSVN – HomeAutomation – Diff – /trunk/EmbeddedSoftware/AVR/CanTestPeriodic/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) {
    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;
    txMsg.Id = 0;
    txMsg.RemoteFlag = 0;
    txMsg.ExtendedFlag = 1; //DataLength and the databytes are just what happens to be in the memory. They are never set.
   
    /* 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 149	Rev 151
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	Timebase_Init();	28	Timebase_Init();
29	Serial_Init();	29	Serial_Init();
30	sei();	30	sei();
31		31
32	printf("\n------------------------------------------------------------\n");	32	printf("\n------------------------------------------------------------\n");
33	printf( " CAN Test: Periodic Transmission\n");	33	printf( " CAN Test: Periodic Transmission\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.Id = 0;	48	txMsg.Id = 0;
49	txMsg.RemoteFlag = 0;	49	txMsg.RemoteFlag = 0;
50	txMsg.ExtendedFlag = 1;	50	txMsg.ExtendedFlag = 1; //DataLength and the databytes are just what happens to be in the memory. They are never set.
51		51
52	/* main loop */	52	/* main loop */
53	while (1) {	53	while (1) {
54	/* service the CAN routines */	54	/* service the CAN routines */
55	Can_Service();	55	Can_Service();
56		56
57	/* send CAN message and check for CAN errors once every second */	57	/* send CAN message and check for CAN errors once every second */
58	if (Timebase_PassedTimeMillis(timeStamp) >= 1000) {	58	if (Timebase_PassedTimeMillis(timeStamp) >= 1000) {
59	timeStamp = Timebase_CurrentTime();	59	timeStamp = Timebase_CurrentTime();
60	/* send txMsg */	60	/* send txMsg */
61	txMsg.Id++;	61	txMsg.Id++;
62	Can_Send(&txMsg);	62	Can_Send(&txMsg);
63	}	63	}
64		64
65	/* check if any messages have been received */	65	/* check if any messages have been received */
66	while (Can_Receive(&rxMsg) == CAN_OK) {	66	while (Can_Receive(&rxMsg) == CAN_OK) {
67	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));	67	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));
68	printf("data={ ");	68	printf("data={ ");
69	for (uint8_t i=0; i<rxMsg.DataLength; i++) {	69	for (uint8_t i=0; i<rxMsg.DataLength; i++) {
70	printf("%x ", rxMsg.Data.bytes[i]);	70	printf("%x ", rxMsg.Data.bytes[i]);
71	}	71	}
72	printf("}\n");	72	printf("}\n");
73	}	73	}
74	}	74	}
75		75
76	return 0;	76	return 0;
77	}	77	}
78		78

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(root)/trunk/EmbeddedSoftware/AVR/CanTestPeriodic/main.c @ 190 – Rev 149 → 151