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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 801 | linlun | 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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| 819 | migan | 5 | #include <drivers/can/stdcan.h> |
| 801 | linlun | 6 | #include <config.h> // All configuration parameters |
| 7 | #include <bios.h> // BIOS interface declarations, including CAN structure and ID defines. |
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| 8 | #include <drivers/timer/timer.h> |
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| 9 | |||
| 905 | arune | 10 | #include <drivers/can/canprintf.h> |
| 11 | |||
| 801 | linlun | 12 | %INCLUDE |
| 13 | |||
| 14 | int main(void) |
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| 15 | { |
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| 819 | migan | 16 | StdCan_Msg_t rxMsg; // Message storage |
| 801 | linlun | 17 | |
| 18 | // Enable interrupts as early as possible |
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| 19 | sei(); |
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| 20 | |||
| 21 | Timer_Init(); |
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| 22 | |||
| 23 | StdCan_Init(); |
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| 905 | arune | 24 | |
| 25 | #if CAN_PRINTF==1 |
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| 26 | #warning can_printf in use |
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| 27 | CanPrintf_Init(); |
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| 28 | #endif |
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| 801 | linlun | 29 | |
| 30 | Timer_SetTimeout(APP_HEARTBEAT_TIMER, STDCAN_HEARTBEAT_PERIOD, TimerTypeFreeRunning, StdCan_SendHeartbeat); |
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| 905 | arune | 31 | |
| 801 | linlun | 32 | %INIT |
| 33 | |||
| 819 | migan | 34 | while (1) |
| 35 | { |
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| 801 | linlun | 36 | %PROCESS |
| 37 | |||
| 819 | migan | 38 | if (StdCan_Get(&rxMsg) == StdCan_Ret_OK) |
| 39 | { |
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| 948 | runge | 40 | if ( StdCan_Ret_class(rxMsg.Header) == CAN_MODULE_CLASS_NMT && |
| 41 | StdCan_Ret_direction(rxMsg.Header) == DIRECTIONFLAG_TO_OWNER && |
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| 42 | rxMsg.Header.Command == CAN_MODULE_CMD_GLOBAL_LIST && |
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| 819 | migan | 43 | rxMsg.Data[0] == NODE_HW_ID_BYTE0 && |
| 44 | rxMsg.Data[1] == NODE_HW_ID_BYTE1 && |
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| 45 | rxMsg.Data[2] == NODE_HW_ID_BYTE2 && |
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| 46 | rxMsg.Data[3] == NODE_HW_ID_BYTE3) |
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| 47 | { |
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| 48 | %LIST |
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| 801 | linlun | 49 | } |
| 819 | migan | 50 | else |
| 51 | { |
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| 52 | %HANDLEMSG |
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| 801 | linlun | 53 | } |
| 819 | migan | 54 | } |
| 801 | linlun | 55 | } |
| 56 | |||
| 57 | return 0; |
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| 58 | } |