Subversion Repositories HomeAutomation

Rev

Rev 427 | Rev 667 | Go to most recent revision | Show entire file | Regard whitespace | Details | Blame | Last modification | View Log | SVN | RSS feed

Rev 427 Rev 451
Line 24... Line 24...
24 
#include <stdio.h>
 24 
#include <stdio.h>
25 
/* lib files */
 25 
/* lib files */
26 
#include <can.h>
 26 
#include <can.h>
27 
#include <serial.h>
 27 
#include <serial.h>
28 
#include <timebase.h>
 28 
#include <timebase.h>
- 
 
 29 
 
- 
 
 30 
//#define UART_OUTPUT /* If you got the node connected to a computer enable this */
- 
 
 31 
//#define LED_OUTPUT /* If you havent got any connection to a computer but still got some IOs free */
29 
 
 32 
 
30 
#define SENDING_ID  0x1600000UL // FIXME vilka idn kan vara lämpliga?
 33 
#define SENDING_ID  0x1600000UL // FIXME vilka idn kan vara lämpliga?
31 
#define ECHO_RECEIVE_ID     0x1700000UL
 34 
#define ECHO_RECEIVE_ID     0x1700000UL
32 
#define ECHO_SENDING_ID     0x17000FFUL
 35 
#define ECHO_SENDING_ID     0x17000FFUL
- 
 
 36 
 
- 
 
 37 
/* LED 1 blinks
- 
 
 38 
#define LED1_PORT   PORTC
- 
 
 39 
#define LED1_DDR    DDRC
- 
 
 40 
#define LED2_PORT   PORTC
- 
 
 41 
#define LED2_DDR    PORTC
33 
 
 42 
 
34 
 
 43 
 
35 
 
 44 
 
36 
/*-----------------------------------------------------------------------------
 45 
/*-----------------------------------------------------------------------------
37 
 * Main Program
 46 
 * Main Program
38 
 *---------------------------------------------------------------------------*/
 47 
 *---------------------------------------------------------------------------*/
39 
int main(void) {
 48 
int main(void) {
40 
    Mcu_Init();
 49 
    Mcu_Init();
41 
    Timebase_Init();
 50 
    Timebase_Init();
- 
 
 51 
    sei();
- 
 
 52 
#if defined(UART_OUTPUT)
42 
    Serial_Init();
 53 
    Serial_Init();
43 
 
 - 
 
44 
    sei();
 - 
 
45 
 
 54 
 
46 
    printf("\n------------------------------------------------------------\n");
 55 
    printf("\n------------------------------------------------------------\n");
47 
    printf(  "   CAN Test:\n");
 56 
    printf(  "   CAN Test:\n");
48 
    printf(  "   Periodic Transmission on CAN\n");
 57 
    printf(  "   Periodic Transmission on CAN\n");
49 
    printf(  "   CAN Dump\n");
 58 
    printf(  "   CAN Dump\n");
Line 56... Line 65...
56 
        printf("Check wires between AVR and MCP2515 and the MCP speed (xtal).");
 65 
        printf("Check wires between AVR and MCP2515 and the MCP speed (xtal).");
57 
    }
 66 
    }
58 
    else {
 67 
    else {
59 
        printf("OK!\n");
 68 
        printf("OK!\n");
60 
        printf("MCP2515 working fine\n");
 69 
        printf("MCP2515 working fine\n");
61 
    }
 70 
    }
- 
 
 71 
#elif defined(LED_OUTPUT)
- 
 
 72 
    Can_Init();
- 
 
 73 
#else
- 
 
 74 
    Can_Init();
- 
 
 75 
#endif
62 
   
 76 
   
63 
    uint32_t timeStamp = 0;
 77 
    uint32_t timeStamp = 0;
64 
   
 78 
   
65 
    Can_Message_t txMsg;
 79 
    Can_Message_t txMsg;
66 
    Can_Message_t rxMsg;
 80 
    Can_Message_t rxMsg;
67 
    txMsg.RemoteFlag = 0;
 81 
    txMsg.RemoteFlag = 0;
Line 73... Line 87...
73 
 
 87 
 
74 
    /* main loop */
 88 
    /* main loop */
75 
    while (1) {
 89 
    while (1) {
76 
        /* service the CAN routines */
 90 
        /* service the CAN routines */
77 
        Can_Service();
 91 
        Can_Service();
78 
       
 92 
       
79 
        /* send CAN message and check for CAN errors once every second */
 93 
        /* send CAN message and check for CAN errors once every second */
80 
        if (Timebase_PassedTimeMillis(timeStamp) >= 1000) {
 94 
        if (Timebase_PassedTimeMillis(timeStamp) >= 1000) {
81 
            timeStamp = Timebase_CurrentTime();
 95 
            timeStamp = Timebase_CurrentTime();
82 
            /* send txMsg */
 96 
            /* send txMsg */
83 
            txMsg.Id = SENDING_ID;
 97 
            txMsg.Id = SENDING_ID;
84 
            Can_Send(&txMsg);
 98 
            Can_Send(&txMsg);
85 
        }
 99 
        }
86 
       
 100 
       
87 
        /* check if any messages have been received */
 101 
        /* check if any messages have been received */
88 
        while (Can_Receive(&rxMsg) == CAN_OK) {
 102 
        while (Can_Receive(&rxMsg) == CAN_OK) {
- 
 
 103 
#if defined(UART_OUTPUT)
89 
            /* Dump message data on uart */
 104 
            /* Dump message data on uart */
90 
            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));
 105 
            printf("\nPKT %#lx %u %u", rxMsg.Id, (uint16_t)(rxMsg.ExtendedFlag), (uint16_t)(rxMsg.RemoteFlag));
91 
            printf("data={ ");
 - 
 
92 
            for (uint8_t i=0; i<rxMsg.DataLength; i++) {
 106 
            for (uint8_t i=0; i<rxMsg.DataLength; i++) {
93 
                printf("%x ", rxMsg.Data.bytes[i]);
 107 
                printf(" %#x", rxMsg.Data.bytes[i]);
94 
            }
 108 
            }
95 
            printf("}\n");
 109 
#endif
96 
 
 - 
 
97 
            /* Echo function */
 110 
            /* Echo function */
98 
            if(rxMsg.Id == ECHO_RECEIVE_ID){
 111 
            if(rxMsg.Id == ECHO_RECEIVE_ID){
- 
 
 112 
#if defined(UART_OUTPUT)
99 
                printf("\"ping\" received\n");
 113 
                printf("\n\"ping\" received");
- 
 
 114 
                txMsg.Id = ECHO_SENDING_ID;
- 
 
 115 
                /* Send reply */
- 
 
 116 
                Can_Send(&txMsg);
- 
 
 117 
                printf("\nreply sent");
- 
 
 118 
#else
100 
                txMsg.Id = ECHO_SENDING_ID;
 119 
                txMsg.Id = ECHO_SENDING_ID;
101 
                /* Send reply */
 120 
                /* Send reply */
102 
                Can_Send(&txMsg);
 121 
                Can_Send(&txMsg);
103 
                printf("reply sent\n");
 122 
#endif
104 
            }
 123 
            }
105 
        }
 124 
        }
106 
    }
 125 
    }
107 
   
 126 
   
108 
    return 0;
 127 
    return 0;