WebSVN – HomeAutomation – Diff – /trunk/EmbeddedSoftware/AVR/standalone/CanSimpleEthernet/main.c

 /* system files */
 #include <avr/io.h>
 #include <avr/interrupt.h>
 #include <avr/wdt.h>
 #include <stdio.h>
+#include <string.h>
 /* lib files */
-#include <can.h>
+#include <mcp2515.h>
 //#include <serial.h>
 #include <timebase.h>
+#include <mcu.h>
 #include <ip_arp_udp_tcp.h>
 #include <enc28j60.h>
 #include <timeout.h>
 #include <avr_compat.h>
 #include <net.h>
 // please modify the following two lines. mac and ip have to be unique
 // in your local area network. You can not have the same numbers in
 // two devices:
-static uint8_t mymac[6] = {0x54,0x55,0x58,0x10,0x00,0x24};
+static uint8_t mymac[6] = {0x54,0x55,0x58,0x10,0x00,0x27};
 //static uint8_t myip[4] = {192,168,0,50};
-static uint8_t myip[4] = {193,11,254,22};
+static uint8_t myip[4] = {193,11,254,26};
 static uint16_t rmDumperPrt =1200; // remote port for dumping data
 static uint16_t rmCan2SerPrt =1100; // remote port for Can2Serial-data
 //static uint16_t locDumperPrt =1200; // listen port
 static uint16_t locCan2SerPrt =1100; // listen port for Can2Serial-data
 static uint8_t gotdumpserver = 0;
 static uint8_t gotcan2serserver = 0;
 // how did I get the mac addr? Translate the first 3 numbers into ascii is: TUX
 static uint8_t remotemac[6];
 static uint8_t remoteip[4];
 #define C2S_START_BYTE 253
 #define C2S_END_BYTE 250
 /* set to 0 for not sending timestamps on bus */
-#define SENDTIMESTAMP   1
+#define SENDTIMESTAMP   0
+volatile Can_Message_t rxMsg; // Message storage
+volatile uint8_t rxMsgFull;   // Synchronization flag
 /*----------------------------------------------------------------------------
  * Putchar for udp
  * Implements a small buffer, sends packet over udp if buffer is full or
  * \n-char is sent.
  * Needs a timeout to force send.
  *--------------------------------------------------------------------------*/
-int udp_putchar(char c, FILE* stream) {
+/*int udp_putchar(char c, FILE* stream) {
     if (gotdumpserver != 0) {
         sendbuf[buffpoint] = c;
         buffpoint++;
         if (c == '\n' || buffpoint > SEND_BUFFER_SIZE) {
             send_udp(buf, sendbuf, buffpoint, rmDumperPrt, remotemac, remoteip);
             buffpoint = 0;
         }
+    }
     return 0;
 }
 static FILE mystdout = FDEV_SETUP_STREAM(udp_putchar, NULL, _FDEV_SETUP_WRITE);
+*/
+void Can_Process(Can_Message_t* msg) {
+    if (!(msg->ExtendedFlag)) return; // We don't care about standard CAN frames.
+    if (!rxMsgFull) {
+        memcpy((void*)&rxMsg, msg, sizeof(rxMsg));
+        rxMsgFull = 1;
+    }
+}
+ISR(MCP_INT_VECTOR) {
+    // Get first available message from controller and pass it to
+    // application handler. If both RX buffers contain messages
+    // we will get another interrupt as soon as this one returns.
+    if (Can_Receive(&rxMsg) == CAN_OK) {
+        // Callbacks are run with global interrupts disabled but
+        // with controller flag cleared so another msg can be
+        // received while this one is processed.
+        Can_Process(&rxMsg);
+    }
+}
 /*-----------------------------------------------------------------------------
  * Main Program
  *---------------------------------------------------------------------------*/
 int main(void) {
     uint8_t payloadlen=0;
     buffpoint = 0;
     //can vars
     Can_Message_t txMsg;
-    Can_Message_t rxMsg;
     txMsg.Id = 3;
     txMsg.DataLength = 0;
     txMsg.RemoteFlag = 0;
     txMsg.ExtendedFlag = 1;
+    rxMsgFull = 0;
     uint32_t timeStamp = 0;
+    //uint8_t sw=0;
+    // LED
+    /* enable PB1, LED as output */
+    //DDRB|= (1<<DDB0);
+    /* set output to Vcc, LED off */
+    //PORTB|= (1<<PB0);
     Mcu_Init();
     Timebase_Init();
     //alla printf ska skriva till udp
-    stdout = &mystdout;    //set the output stream
+    //stdout = &mystdout;    //set the output stream
-    sei();
     if (Can_Init() != CAN_OK) {
+    }
-    /* set output to gnd, reset the ethernet chip */
-    PORTC &= ~(1<<PC1);
-    /* set PC1 as output */
-    DDRC |= (1<<DDC1);
-    delay_ms(20);
+    sei();
-    /* set PC1 as input, resetpin pulled high */
-    DDRC &= ~(1<<DDC1);
-    delay_ms(100);
     /*initialize enc28j60*/
     enc28j60Init(mymac);
     delay_ms(20);
     /* Magjack leds configuration, see enc28j60 datasheet, page 11 */
     // LEDB=yellow LEDA=green
     //
     // 0x476 is PHLCON LEDA=links status, LEDB=receive/transmit
     enc28j60PhyWrite(PHLCON,0x476);
     init_ip_arp_udp_tcp(mymac,myip,80);
     /* main loop */
     while (1) {
         /* service the CAN routines */
-        Can_Service();
+        //Can_Service();
 #if SENDTIMESTAMP == 1
         /* send CAN message and check for CAN errors once every second */
         if (Timebase_PassedTimeMillis(timeStamp) >= 1000) {
             timeStamp = Timebase_CurrentTime();
+        }
 #endif
         /* check if any messages have been received */
-        while (Can_Receive(&rxMsg) == CAN_OK) {
+        if (rxMsgFull) { //(Can_Receive(&rxMsg) == CAN_OK) {
             uint8_t i;
             /*if (gotdumpserver != 0) {
                 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));
                 printf("data={ ");
                 for (i=0; i<rxMsg.DataLength; i++) {
                     printf("%x ", rxMsg.Data.bytes[i]);
+                }
                 printf("}\n");
             }*/
             if (gotcan2serserver != 0) {
                 //skicka ocks� som udppaket till rmCan2SerPrt
                 char sendbuf2[17];
                 sendbuf2[0] = C2S_START_BYTE;
                 sendbuf2[5] = rxMsg.ExtendedFlag;
                 sendbuf2[6] = rxMsg.RemoteFlag;
                 sendbuf2[7] = rxMsg.DataLength;
                 for (i=0; i<8; i++) {
                     sendbuf2[8+i] = rxMsg.Data.bytes[i];
                 }
                 sendbuf2[16] = C2S_END_BYTE;
+                MCP_INT_DISABLE();
                 send_udp(buf, sendbuf2, 18, rmCan2SerPrt, prgremotemac, prgremoteip);
+                MCP_INT_ENABLE();
+            }
+            rxMsgFull = 0;
+        }
         //test-debug-kod
         if ((enc28j60Read(EIR) & EIR_TXERIF)) {
             //printf("EIR_TXERIF set!\n");

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(root)/trunk/EmbeddedSoftware/AVR/standalone/CanSimpleEthernet/main.c – Rev 541 → 661