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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 336 | andfri | 1 | #include <inttypes.h> |
| 2 | #include <avr/interrupt.h> |
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| 3 | #include <bios.h> |
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| 4 | |||
| 5 | #define APP_TYPE 0xf001 |
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| 6 | #define APP_VERSION 0x0001 |
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| 7 | |||
| 8 | #define F_SAMP 1000 |
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| 9 | #define PRESCALER 1 |
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| 10 | |||
| 11 | /*void can_receive(Can_Message_t *msg) { |
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| 12 | printf("candata!\n"); |
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| 13 | }*/ |
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| 14 | |||
| 15 | volatile uint8_t overflow_adc; |
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| 16 | volatile uint8_t overflow_uart; |
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| 17 | volatile uint8_t adc; |
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| 18 | |||
| 19 | ISR(TIMER1_COMPA_vect) { |
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| 20 | if (ADCSRA & _BV(ADSC)) // Previous conversion is not yet ready! |
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| 21 | overflow_adc++; |
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| 22 | else if (!(UCSRA & _BV(UDRE))) // Previous data has not been sent! |
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| 23 | overflow_uart++; |
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| 24 | else ADCSRA |= _BV(ADSC); // Start a new conversion |
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| 25 | } |
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| 26 | |||
| 27 | ISR(ADC_vect) { // A conversion is done |
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| 28 | adc = ADCH; // Store result |
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| 29 | UCSRB |= _BV(UDRIE); // Enable UART interrupt to send result |
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| 30 | } |
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| 31 | |||
| 32 | ISR(USART_UDRE_vect) { // UART is ready for a new byte |
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| 33 | UCSRB &= ~_BV(UDRIE); // Disable this interrupt until a new conversion is done |
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| 34 | UDR = adc; // Send previous result |
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| 35 | } |
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| 36 | |||
| 37 | int main(void) |
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| 38 | { |
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| 39 | sei(); |
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| 40 | |||
| 41 | UBRRL = (F_CPU / 16 / F_BAUD) - 1; |
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| 42 | UCSRB = _BV(TXEN)|_BV(UDRIE); |
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| 43 | |||
| 44 | ADMUX = _BV(REFS0)|_BV(ADLAR)|_BV(MUX2); |
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| 45 | ADCSRA = _BV(ADEN)|_BV(ADSC)|_BV(ADIE)|_BV(ADPS2)|_BV(ADPS1); |
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| 46 | |||
| 47 | OCR1A = F_CPU / F_SAMP / PRESCALER - 1; |
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| 48 | TIMSK |= _BV(OCIE1A); |
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| 49 | TCCR1B = _BV(WGM12)|_BV(CS10); |
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| 50 | |||
| 51 | Can_Message_t txMsg; |
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| 52 | txMsg.Id = (CAN_NMT_APP_START << CAN_SHIFT_NMT_TYPE) | (NODE_ID << CAN_SHIFT_NMT_SID); |
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| 53 | txMsg.DataLength = 4; |
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| 54 | txMsg.RemoteFlag = 0; |
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| 55 | txMsg.ExtendedFlag = 1; |
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| 56 | txMsg.Data.words[0] = APP_TYPE; |
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| 57 | txMsg.Data.words[1] = APP_VERSION; |
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| 58 | |||
| 59 | //set up callback for candata |
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| 60 | //bios->can_callback = &can_receive; |
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| 61 | // Send CAN_NMT_APP_START |
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| 62 | bios->can_send(&txMsg); |
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| 63 | |||
| 64 | while (1); |
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| 65 | |||
| 66 | return 0; |
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| 67 | } |