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61 jimmy 1 
/**
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 * CAN Test. This program sends a CAN message once every second. The ID of the
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 * message is increased each time for testing purposes.
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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 <serial.h>
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#include <timebase.h>
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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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    Mcu_Init();
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    Timebase_Init();
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    Serial_Init();
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    sei();
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    printf("\n------------------------------------------------------------\n");
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    printf(  "   CAN Test: Periodic Transmission\n");
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    printf(  "------------------------------------------------------------\n");
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    printf("CanInit...");
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    if (Can_Init() != CAN_OK) {
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        printf("FAILED!\n");
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    }
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    else {
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        printf("OK!\n");
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    }
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    uint32_t timeStamp = 0;
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    Can_Message_t txMsg;
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    Can_Message_t rxMsg;
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    //The databytes are just what happens to be in the memory. They are never set.
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    txMsg.RemoteFlag = 0;
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    txMsg.ExtendedFlag = 1;
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#define NODENUMBER 1
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#if NODENUMBER == 1
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    txMsg.Id = 16;
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    txMsg.DataLength = 2;
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#elif NODENUMBER == 2
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    txMsg.Id = 32;
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    txMsg.DataLength = 5;
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#else
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# error NODENUMBER not set!
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#endif
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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 and check for CAN errors once every second */
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        if (Timebase_PassedTimeMillis(timeStamp) >= 1000) {
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            timeStamp = Timebase_CurrentTime();
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            /* send txMsg */
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            txMsg.Id++;
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            Can_Send(&txMsg);
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        }
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        /* check if any messages have been received */
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        while (Can_Receive(&rxMsg) == CAN_OK) {
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            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));
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            printf("data={ ");
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            for (uint8_t i=0; i<rxMsg.DataLength; i++) {
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                printf("%x ", rxMsg.Data.bytes[i]);
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            }
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            printf("}\n");
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        }
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    }
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    return 0;
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}