candemo.c
Go to the documentation of this file.00001
00002
00003
00004
00005
00006
00007
00008
00009
00010
00011
00012
00013
00014
00015
00016
00017
00018
00019
00020
00021
00022
00023
00024
00025
00026
00027
00028
00029
00030
00031
00032
00033
00034
00035
00051
00052 #include <stdlib.h>
00053 #include <stdio.h>
00054 #include <string.h>
00055 #include <io.h>
00056 #include <fcntl.h>
00057 #include <sys/timer.h>
00058 #include <sys/thread.h>
00059 #include <dev/debug.h>
00060 #include <dev/uartavr.h>
00061 #include <dev/can_dev.h>
00062 #include <dev/board.h>
00063
00064 #if defined(MCU_AT90CAN128) // Internal AVR MCU CAN controller
00065 # include <dev/atcan.h>
00066 # define DEV_CAN devAtCan
00067 #else
00068 # include <dev/sja1000.h>
00069 # define DEV_CAN devSJA1000
00070 #endif
00071
00072
00073
00074
00075
00076
00077 CANFRAME canFrame;
00078 CANINFO *canInfoPtr;
00079
00080
00084 int main(void)
00085 {
00086 #if defined(__AVR__) && defined(__GNUC__)
00087 unsigned long i;
00088 int result;
00089 #endif
00090 u_long baud = 115200;
00091
00092 NutRegisterDevice(&DEV_DEBUG, 0, 0);
00093 freopen(DEV_DEBUG_NAME, "w", stdout);
00094 _ioctl(_fileno(stdout), UART_SETSPEED, &baud);
00095
00096 printf("CAN driver test program\n");
00097
00098 #if defined(__AVR__) && defined(__GNUC__)
00099
00100
00101 result = NutRegisterDevice(&DEV_CAN, 0, 0);
00102 canInfoPtr = (CANINFO *) DEV_CAN.dev_dcb;
00103
00104 #if defined(MCU_AT90CAN128)
00105
00106 AtCanEnableRx(8,
00107 0,
00108 1,
00109 0,
00110 0,
00111 0,
00112 0
00113 );
00114 #endif
00115
00116
00117 CAN_SetSpeed(&DEV_CAN, CAN_SPEED_125K);
00118
00119 printf("Starting CAN RX/TX loop...\n");
00120 for (i = 0;;i++)
00121 {
00122
00123 memset(&canFrame, 0, sizeof(canFrame));
00124 canFrame.id = 0x123;
00125 canFrame.len = 8;
00126 canFrame.ext = 0;
00127 canFrame.byte[0] = 0x11;
00128 canFrame.byte[1] = 0x22;
00129 canFrame.byte[2] = 0x33;
00130 canFrame.byte[3] = 0x44;
00131 canFrame.byte[4] = 0x55;
00132 canFrame.byte[5] = 0x66;
00133 canFrame.byte[6] = 0x77;
00134 canFrame.byte[7] = 0x88;
00135 CAN_TxFrame(&DEV_CAN, &canFrame);
00136
00137
00138 if (CAN_TryRxFrame(&DEV_CAN, &canFrame) == 0)
00139 {
00140 u_char j;
00141
00142 printf("%ld ", canFrame.id);
00143 for (j = 0; j < canFrame.len; j++)
00144 printf("%02X ", canFrame.byte[j]);
00145 printf(" Stats: %lu %lu %lu %lu\n", canInfoPtr->can_interrupts,
00146 canInfoPtr->can_rx_frames,
00147 canInfoPtr->can_tx_frames,
00148 canInfoPtr->can_overruns);
00149 }
00150 NutSleep(10);
00151 }
00152 #else
00153 puts("No CAN device available");
00154 #endif
00155 return 0;
00156 }
00157