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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 553 | andfri | 1 | #include <inttypes.h> |
| 2 | #include <avr/interrupt.h> |
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| 3 | #include <stdio.h> |
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| 4 | #include <string.h> |
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| 5 | #include <config.h> // All configuration parameters |
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| 6 | #include <bios.h> // BIOS interface declarations, including CAN structure and ID defines. |
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| 7 | #include <drivers/uart/serial.h> |
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| 8 | #include <drivers/timer/timer.h> |
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| 9 | |||
| 10 | #define APP_TYPE 0xf001 |
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| 11 | #define APP_VERSION 0x0002 |
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| 12 | |||
| 13 | // A simple message "queue", with space for one message only. |
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| 14 | // These are declared volatile to tell the compiler not to optimize away accesses. |
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| 15 | volatile Can_Message_t rxMsg; // Message storage |
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| 16 | volatile uint8_t rxMsgFull; // Synchronization flag |
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| 17 | |||
| 18 | // CAN message reception callback. |
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| 19 | // This function runs with interrupts disabled, keep it as short as possible. |
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| 20 | void can_receive(Can_Message_t *msg) { |
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| 21 | if (!rxMsgFull) { |
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| 22 | memcpy((void*)&rxMsg, msg, sizeof(rxMsg)); |
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| 23 | rxMsgFull = 1; |
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| 24 | } |
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| 25 | } |
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| 26 | |||
| 27 | // Timer callback function used for some timer tests |
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| 28 | void timer_callback(uint8_t timer) { |
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| 29 | Can_Message_t msg; |
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| 30 | |||
| 31 | msg.ExtendedFlag = 1; |
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| 32 | msg.Id = (CAN_TST << CAN_SHIFT_CLASS) | NODE_ID; |
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| 33 | msg.RemoteFlag = 0; |
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| 34 | msg.DataLength = 1; |
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| 35 | msg.Data.bytes[0] = timer; |
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| 36 | |||
| 37 | BIOS_CanSend(&msg); |
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| 38 | } |
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| 39 | |||
| 40 | int main(void) |
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| 41 | { |
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| 42 | // Enable interrupts as early as possible |
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| 43 | sei(); |
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| 44 | |||
| 45 | Timer_Init(); |
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| 46 | Serial_Init(); |
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| 47 | |||
| 48 | unsigned long time; |
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| 49 | |||
| 50 | Can_Message_t txMsg; |
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| 51 | txMsg.Id = (CAN_NMT_APP_START << CAN_SHIFT_NMT_TYPE) | (NODE_ID << CAN_SHIFT_NMT_SID); |
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| 52 | txMsg.DataLength = 4; |
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| 53 | txMsg.RemoteFlag = 0; |
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| 54 | txMsg.ExtendedFlag = 1; |
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| 55 | txMsg.Data.words[0] = APP_TYPE; |
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| 56 | txMsg.Data.words[1] = APP_VERSION; |
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| 57 | |||
| 58 | // Set up callback for CAN reception, this is optional if only sending is required. |
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| 59 | BIOS_CanCallback = &can_receive; |
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| 60 | // Send CAN_NMT_APP_START |
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| 61 | BIOS_CanSend(&txMsg); |
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| 62 | |||
| 63 | printf("AVR Test Application\n"); |
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| 64 | |||
| 65 | txMsg.Id = (CAN_TST << CAN_SHIFT_CLASS) | NODE_ID; |
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| 66 | txMsg.Data.dwords[0] = 0x01020304; |
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| 67 | txMsg.DataLength = 8; |
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| 68 | |||
| 69 | // Set up three timers (assume at least three has been defined) |
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| 70 | // The timeout is specified in ticks, which is equal to ms if |
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| 71 | // the tick frequency is set to 1000. |
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| 72 | Timer_SetTimeout(0, 2000, TimerTypeFreeRunning, 0); |
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| 73 | Timer_SetTimeout(1, 10768, TimerTypeOneShot, &timer_callback); |
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| 74 | Timer_SetTimeout(2, 3141, TimerTypeFreeRunning, &timer_callback); |
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| 75 | |||
| 76 | while (1) { |
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| 77 | if (Timer_Expired(0)) { |
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| 78 | // Send a CAN message |
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| 79 | time = Timer_GetTicks(); |
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| 80 | txMsg.Data.dwords[1] = time; |
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| 81 | BIOS_CanSend(&txMsg); |
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| 82 | printf("Two seconds passed, time is now %ld.\n", time); |
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| 83 | } |
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| 84 | |||
| 85 | if (rxMsgFull) { |
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| 86 | // Print the received message |
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| 87 | printf("RX: ID=%08lx, DLC=%u, EXT=%u, RTR=%u, data={ ", |
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| 88 | rxMsg.Id, |
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| 89 | (uint16_t)rxMsg.DataLength, |
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| 90 | (uint16_t)rxMsg.ExtendedFlag, |
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| 91 | (uint16_t)rxMsg.RemoteFlag); |
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| 92 | for (uint8_t i=0; i<rxMsg.DataLength; i++) { |
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| 93 | printf("%02x ", rxMsg.Data.bytes[i]); |
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| 94 | } |
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| 95 | printf("}\n"); |
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| 96 | rxMsgFull = 0; // |
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| 97 | } |
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| 98 | } |
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| 99 | |||
| 100 | return 0; |
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| 101 | } |