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Rev 658 Rev 667
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 * Replaces CanTestPeriodic and CanTestEcho.
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 * Replaces CanTestPeriodic and CanTestEcho.
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 *
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 *
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 * CanTest sends messages periodicly, dumps incomming messages on uart
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 * CanTest sends messages periodicly, dumps incomming messages on uart
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 * and echoes on packages with ID== ECHO_RECEIVE_ID;
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 * and echoes on packages with ID== ECHO_RECEIVE_ID;
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 *
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 *
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 * This version uses drivers that polls the mcp2515. That means that if this program works fine,
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 * but bios+app doesnt. Something is wrong with the interruppt.
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 * Probably the wire between AVR and MCP, so check it twice.
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11 
 *
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 *
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 * @date    2006-11-21
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 * @date    2006-11-21
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 * @author  Jimmy Myhrman, Erik Larsson (2007-05-07)
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 * @author  Jimmy Myhrman, Erik Larsson (2007-05-07)
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 *  
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 *  
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 */
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 */
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/* system files */
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/* system files */
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#include <avr/io.h>
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include <avr/interrupt.h>
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#include <avr/wdt.h>
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#include <avr/wdt.h>
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#include <stdio.h>
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#include <stdio.h>
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#include <string.h>
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/* lib files */
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/* lib files */
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#include <can.h>
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#include <config.h>
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#include <mcp2515.h>
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#include <serial.h>
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#include <serial.h>
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#include <timebase.h>
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#include <timebase.h>
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#define UART_OUTPUT /* If you got the node connected to a computer enable this */
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//#define LED_OUTPUT /* If you havent got any connection to a computer but still got some IOs free */
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#define SENDING_ID  0x1600000UL // FIXME vilka idn kan vara lämpliga?
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#define ECHO_RECEIVE_ID     0x1700000UL
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#define ECHO_SENDING_ID     0x17000FFUL
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#include <mcu.h>
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/* LED 1 blinks
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/* LED 1 blinks
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#define LED1_PORT   PORTC
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#define LED1_PORT   PORTC
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#define LED1_DDR    DDRC
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#define LED1_DDR    DDRC
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#define LED2_PORT   PORTC
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#define LED2_PORT   PORTC
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#define LED2_DDR    PORTC
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#define LED2_DDR    PORTC
- 
 
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*/
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volatile Can_Message_t rxMsg; // Message storage
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volatile uint8_t rxMsgFull;   // Synchronization flag
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void Can_Process(Can_Message_t* msg) {
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    if (!(msg->ExtendedFlag)) return; // We don't care about standard CAN frames.
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 42 
 
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    if (!rxMsgFull) {
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        memcpy((void*)&rxMsg, msg, sizeof(rxMsg));
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        rxMsgFull = 1;
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    }
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}
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 48 
 
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ISR(MCP_INT_VECTOR) {
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    // Get first available message from controller and pass it to
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    // application handler. If both RX buffers contain messages
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    // we will get another interrupt as soon as this one returns.
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 53 
    if (Can_Receive(&rxMsg) == CAN_OK) {
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        // Callbacks are run with global interrupts disabled but
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        // with controller flag cleared so another msg can be
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        // received while this one is processed.
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        Can_Process(&rxMsg);
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    }
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}
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 60 
 
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/*-----------------------------------------------------------------------------
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/*-----------------------------------------------------------------------------
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 * Main Program
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 * Main Program
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 *---------------------------------------------------------------------------*/
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 *---------------------------------------------------------------------------*/
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int main(void) {
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int main(void) {
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    Timebase_Init();
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    Timebase_Init();
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    sei();
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    sei();
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#if defined(UART_OUTPUT)
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#if defined(UART_OUTPUT)
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    Serial_Init();
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    Serial_Init();
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55 
    printf("\n------------------------------------------------------------\n");
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//  printf("\n------------------------------------------------------------\n");
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    printf(  "   CAN Test:\n");
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//  printf(  "   CAN Test:\n");
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    printf(  "   Periodic Transmission on CAN\n");
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//  printf(  "   Periodic Transmission on CAN\n");
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    printf(  "   CAN Dump\n");
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//  printf(  "   CAN Dump\n");
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    printf(  "   CAN Echo\n");
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//  printf(  "   CAN Echo\n");
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    printf(  "------------------------------------------------------------\n");
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//  printf(  "------------------------------------------------------------\n");
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    printf("CanInit...");
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    printf("CanInit...");
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    if (Can_Init() != CAN_OK) {
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    if (Can_Init() != CAN_OK) {
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        printf("FAILED!\n");
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        printf("FAILED!\n");
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        printf("Check wires between AVR and MCP2515 and the MCP speed (xtal).");
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//      printf("Check wires between AVR and MCP2515 and the MCP speed (xtal).");
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    }
 82 
    }
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    else {
 83 
    else {
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        printf("OK!\n");
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        printf("OK!\n");
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        printf("MCP2515 working fine\n");
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        printf("MCP2515 working fine\n");
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    }
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    }
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#elif defined(LED_OUTPUT)
 87 
#elif defined(LED_OUTPUT)
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    Can_Init();
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    Can_Init();
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#else
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#else
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    Can_Init();
 90 
    Can_Init();
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#endif
 91 
#endif
76 
   
 92 
   
77 
    uint32_t timeStamp = 0;
 93 
    uint32_t timeStamp = 0;
78 
   
 94 
   
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    Can_Message_t txMsg;
 95 
    Can_Message_t txMsg;
80 
    Can_Message_t rxMsg;
 96 
    Can_Message_t rxMsg;
81 
    txMsg.RemoteFlag = 0;
 97 
    txMsg.RemoteFlag = 0;
82 
    txMsg.ExtendedFlag = 1;
 98 
    txMsg.ExtendedFlag = 1;
83 
    txMsg.Id = SENDING_ID;
 99 
    txMsg.Id = SENDING_ID;
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    txMsg.Data.bytes[0] = 0x12;
 101 
    txMsg.Data.bytes[0] = 0x12;
86 
    txMsg.Data.bytes[1] = 0x34;
 102 
    txMsg.Data.bytes[1] = 0x34;
87 
 
 103 
 
88 
    /* main loop */
 104 
    /* main loop */
89 
    while (1) {
 105 
    while (1) {
90 
        /* service the CAN routines */
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91 
        Can_Service();
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92 
       
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        /* send CAN message and check for CAN errors once every second */
 106 
        /* send CAN message and check for CAN errors once every second */
94 
        if (Timebase_PassedTimeMillis(timeStamp) >= 1000) {
 107 
        if (Timebase_PassedTimeMillis(timeStamp) >= 1000) {
95 
            timeStamp = Timebase_CurrentTime();
 108 
            timeStamp = Timebase_CurrentTime();
96 
            /* send txMsg */
 109 
            /* send txMsg */
97 
            txMsg.Id = SENDING_ID;
 110 
            txMsg.Id = SENDING_ID;
98 
            Can_Send(&txMsg);
 111 
            Can_Send(&txMsg);
99 
        }
 112 
        }
100 
       
 113 
       
101 
        /* check if any messages have been received */
 114 
        /* check if any messages have been received */
102 
        while (Can_Receive(&rxMsg) == CAN_OK) {
 115 
        if (rxMsgFull) {
103 
#if defined(UART_OUTPUT)
 116 
#if defined(UART_OUTPUT)
104 
            /* Dump message data on uart */
 117 
            /* Dump message data on uart */
105 
            printf("\nPKT %#lx %u %u", rxMsg.Id, (uint16_t)(rxMsg.ExtendedFlag), (uint16_t)(rxMsg.RemoteFlag));
 118 
            printf("\nPKT %#lx %u %u", rxMsg.Id, (uint16_t)(rxMsg.ExtendedFlag), (uint16_t)(rxMsg.RemoteFlag));
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            for (uint8_t i=0; i<rxMsg.DataLength; i++) {
 119 
            for (uint8_t i=0; i<rxMsg.DataLength; i++) {
107 
                printf(" %#x", rxMsg.Data.bytes[i]);
 120 
                printf(" %#x", rxMsg.Data.bytes[i]);
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                txMsg.Id = ECHO_SENDING_ID;
 132 
                txMsg.Id = ECHO_SENDING_ID;
120 
                /* Send reply */
 133 
                /* Send reply */
121 
                Can_Send(&txMsg);
 134 
                Can_Send(&txMsg);
122 
#endif
 135 
#endif
123 
            }
 136 
            }
- 
 
 137 
            rxMsgFull = 0;
124 
        }
 138 
        }
125 
    }
 139 
    }
126 
   
 140 
   
127 
    return 0;
 141 
    return 0;
128 
}
 142 
}