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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 61 | jimmy | 1 | /** |
| 144 | jimmy | 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. |
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| 61 | jimmy | 4 | * |
| 144 | jimmy | 5 | * @date 2006-11-21 |
| 61 | jimmy | 6 | * @author Jimmy Myhrman |
| 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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| 20 | #include <uart.h> |
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| 21 | #include <timebase.h> |
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| 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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| 127 | jimmy | 28 | Timebase_Init(); |
| 29 | Uart_Init(); |
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| 61 | jimmy | 30 | sei(); |
| 31 | |||
| 144 | jimmy | 32 | printf("\n------------------------------------------------------------\n"); |
| 33 | printf( " CAN Test: Periodic Transmission\n"); |
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| 34 | printf( "------------------------------------------------------------\n"); |
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| 61 | jimmy | 35 | |
| 36 | printf("CanInit..."); |
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| 127 | jimmy | 37 | if (Can_Init() != CAN_OK) { |
| 61 | jimmy | 38 | printf("FAILED!\n"); |
| 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 | |||
| 127 | jimmy | 46 | Can_Message_t txMsg; |
| 47 | Can_Message_t rxMsg; |
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| 61 | jimmy | 48 | txMsg.DataLength = 8; |
| 49 | txMsg.Data.bytes[0] = 7; |
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| 127 | jimmy | 50 | txMsg.Id = 0; |
| 61 | jimmy | 51 | txMsg.RemoteFlag = 0; |
| 52 | txMsg.ExtendedFlag = 1; |
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| 53 | |||
| 54 | /* main loop */ |
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| 55 | while (1) { |
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| 142 | jimmy | 56 | /* service the CAN routines */ |
| 57 | Can_Service(); |
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| 61 | jimmy | 58 | |
| 59 | /* send CAN message and check for CAN errors once every second */ |
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| 127 | jimmy | 60 | if (Timebase_PassedTimeMillis(timeStamp) >= 1000) { |
| 142 | jimmy | 61 | timeStamp = Timebase_CurrentTime(); |
| 127 | jimmy | 62 | /* send txMsg */ |
| 61 | jimmy | 63 | txMsg.Id++; |
| 144 | jimmy | 64 | Can_Send(&txMsg); |
| 142 | jimmy | 65 | } |
| 66 | |||
| 67 | /* check if any messages have been received */ |
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| 68 | while (Can_Receive(&rxMsg) == CAN_OK) { |
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| 144 | jimmy | 69 | 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)); |
| 70 | printf("data={ "); |
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| 71 | for (uint8_t i=0; i<rxMsg.DataLength; i++) { |
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| 142 | jimmy | 72 | printf("%x ", rxMsg.Data.bytes[i]); |
| 144 | jimmy | 73 | } |
| 74 | printf("}\n"); |
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| 61 | jimmy | 75 | } |
| 76 | } |
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| 77 | |||
| 78 | return 0; |
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| 79 | } |