This program receives CAN messages and logs them on the serial port via devDebug0. It also continuously broadcasts a CAN frame.
/* * Copyright (c) 2005 proconX Pty Ltd <www.proconx.com> * * $Id: candemo.c,v 1.8 2008/07/31 09:40:56 haraldkipp Exp $ * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * 1. Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. * 3. Neither the name of the copyright holders nor the names of * contributors may be used to endorse or promote products derived * from this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY EGNITE SOFTWARE GMBH AND CONTRIBUTORS * ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL EGNITE * SOFTWARE GMBH OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF * THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF * SUCH DAMAGE. * * For additional information see http://www.ethernut.de/ */ // Nut/OS header #include <stdlib.h> #include <stdio.h> #include <string.h> #include <io.h> #include <fcntl.h> #include <sys/timer.h> #include <sys/thread.h> #include <dev/debug.h> #include <dev/uartavr.h> #include <dev/can_dev.h> #include <dev/board.h> #if defined(MCU_AT90CAN128) // Internal AVR MCU CAN controller # include <dev/atcan.h> # define DEV_CAN devAtCan #else # include <dev/sja1000.h> // External SJA1000 CAN controller # define DEV_CAN devSJA1000 #endif /***************************************************************************** * Main *****************************************************************************/ CANFRAME canFrame; CANINFO *canInfoPtr; int main(void) { unsigned long i; int result; u_long baud = 115200; NutRegisterDevice(&DEV_DEBUG, 0, 0); freopen(DEV_DEBUG_NAME, "w", stdout); _ioctl(_fileno(stdout), UART_SETSPEED, &baud); printf("CAN driver test program\n"); #if defined(__AVR__) && defined(__GNUC__) // Init CAN controller result = NutRegisterDevice(&DEV_CAN, 0, 0); canInfoPtr = (CANINFO *) DEV_CAN.dev_dcb; #if defined(MCU_AT90CAN128) // Re-configure receive message objects AtCanEnableRx(8, // 8 CAN objects as RX buffer, 7 remaining as TX buffer 0, // Acceptance code (0 = accept all IDs) 1, // Flag if acceptance code is extended (0 = standard, 1 = extended) 0, // Acceptance code's remote tag (0 or 1) 0, // Acceptance mask 0, // 0 to receive extended and standard frames, 1 if message ID type must match acceptance code flag 0 // 0 to receive remote and standard frames, 1 if remote tag must match acceptance code's remote tag ); #endif // Set CAN bit rate CAN_SetSpeed(&DEV_CAN, CAN_SPEED_125K); printf("Starting CAN RX/TX loop...\n"); for (i = 0;;i++) { // Prepare a sample frame for sending memset(&canFrame, 0, sizeof(canFrame)); canFrame.id = 0x123; canFrame.len = 8; canFrame.ext = 0; // Set to 1 to send an extended frame canFrame.byte[0] = 0x11; canFrame.byte[1] = 0x22; canFrame.byte[2] = 0x33; canFrame.byte[3] = 0x44; canFrame.byte[4] = 0x55; canFrame.byte[5] = 0x66; canFrame.byte[6] = 0x77; canFrame.byte[7] = 0x88; CAN_TxFrame(&DEV_CAN, &canFrame); // Check if we did receive a frame if (CAN_TryRxFrame(&DEV_CAN, &canFrame) == 0) { u_char j; printf("%ld ", canFrame.id); for (j = 0; j < canFrame.len; j++) printf("%02X ", canFrame.byte[j]); printf(" Stats: %lu %lu %lu %lu\n", canInfoPtr->can_interrupts, canInfoPtr->can_rx_frames, canInfoPtr->can_tx_frames, canInfoPtr->can_overruns); } NutSleep(10); // Don't overflow the bus and give time to other threads } #else /* __AVR__ && __GNUC__ */ puts("No CAN device available"); #endif /* __AVR__ && __GNUC__ */ return 0; }