00001 /* 00002 * Copyright (c) 2005 FOCUS Software Engineering Pty Ltd <www.focus-sw.com> 00003 * Copyright (c) 2005 proconX <www.proconx.com> 00004 * 00005 * $Id: candemo.c,v 1.3 2006/08/31 19:14:44 haraldkipp Exp $ 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * 1. Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * 2. Redistributions in binary form must reproduce the above copyright 00014 * notice, this list of conditions and the following disclaimer in the 00015 * documentation and/or other materials provided with the distribution. 00016 * 3. Neither the name of the copyright holders nor the names of 00017 * contributors may be used to endorse or promote products derived 00018 * from this software without specific prior written permission. 00019 * 00020 * THIS SOFTWARE IS PROVIDED BY EGNITE SOFTWARE GMBH AND CONTRIBUTORS 00021 * ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00022 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00023 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL EGNITE 00024 * SOFTWARE GMBH OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00025 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00026 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS 00027 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED 00028 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 00029 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF 00030 * THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF 00031 * SUCH DAMAGE. 00032 * 00033 * For additional information see http://www.ethernut.de/ 00034 */ 00035 00036 00051 // Nut/OS header 00052 #include <stdlib.h> 00053 #include <stdio.h> 00054 #include <string.h> 00055 #include <io.h> 00056 #include <fcntl.h> 00057 #include <sys/heap.h> 00058 #include <sys/thread.h> 00059 #include <sys/timer.h> 00060 #include <sys/socket.h> 00061 #include <dev/debug.h> 00062 #include <dev/nicrtl.h> 00063 #include <dev/uartavr.h> 00064 #include <arpa/inet.h> 00065 #include <pro/dhcp.h> 00066 #include <net/errno.h> 00067 #include <dev/atcan.h> 00068 00069 /***************************************************************************** 00070 * Main 00071 *****************************************************************************/ 00072 00073 CANFRAME canFrame; 00074 CANINFO *canInfoPtr; 00075 00076 00080 int main(void) 00081 { 00082 unsigned long i; 00083 int result; 00084 00085 #if defined(__AVR__) 00086 NutRegisterDevice(&devDebug0, 0, 0); 00087 #endif 00088 freopen("uart0", "w", stdout); 00089 00090 printf("CAN driver test program"); 00091 00092 #if defined(MCU_AT90CAN128) 00093 00094 // Init AT90CAN128 CAN controller 00095 result = NutRegisterDevice(&devAtCan, 0, 0); 00096 canInfoPtr = (CANINFO *) devAtCan.dev_dcb; 00097 00098 // Re-configure receive message objects 00099 AtCanEnableRx(8, // 8 CAN objects as RX buffer, 7 remaining as TX buffer 00100 0, // Acceptance code (0 = accept all IDs) 00101 1, // Flag if acceptance code is extended (0 = standard, 1 = extended) 00102 0, // Acceptance code's remote tag (0 or 1) 00103 0, // Acceptance mask 00104 0, // 0 to receive extended and standard frames, 1 if message ID type must match acceptance code flag 00105 0 // 0 to receive remote and standard frames, 1 if remote tag must match acceptance code's remote tag 00106 ); 00107 00108 // Set CAN bit rate 00109 CAN_SetSpeed(&devAtCan, CAN_SPEED_125K); 00110 00111 00112 printf("Starting CAN RX/TX loop...\n"); 00113 for (i = 0;;i++) 00114 { 00115 // Prepare a sample frame for sending 00116 memset(&canFrame, 0, sizeof(canFrame)); 00117 canFrame.id = 0x123; 00118 canFrame.len = 8; 00119 canFrame.ext = 0; // Set to 1 to send an extended frame 00120 canFrame.byte[0] = 0x11; 00121 canFrame.byte[1] = 0x22; 00122 canFrame.byte[2] = 0x33; 00123 canFrame.byte[3] = 0x44; 00124 canFrame.byte[4] = 0x55; 00125 canFrame.byte[5] = 0x66; 00126 canFrame.byte[6] = 0x77; 00127 canFrame.byte[7] = 0x88; 00128 CAN_TxFrame(&devAtCan, &canFrame); 00129 00130 // Check if we did receive a frame 00131 if (CAN_TryRxFrame(&devAtCan, &canFrame) == 0) 00132 { 00133 int8_t j; 00134 00135 printf("%ld ", canFrame.id); 00136 for (j = 0; j < canFrame.len; j++) 00137 printf("%02X ", canFrame.byte[j]); 00138 printf(" Stats: %lu %lu %lu %lu\n", canInfoPtr->can_interrupts, 00139 canInfoPtr->can_rx_frames, 00140 canInfoPtr->can_tx_frames, 00141 canInfoPtr->can_overruns); 00142 } 00143 } 00144 #else /* MCU_AT90CAN128 */ 00145 #warning "This sample requires an AT90CAN128 MCU" 00146 i = 0; 00147 result = 0; 00148 for (;;); 00149 #endif /* MCU_AT90CAN128 */ 00150 } 00151