/*******************************************************************************
* Function Name : CAN_IRQHandler
* Description : This function handles the CAN interrupt request
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void CAN_IRQHandler(void)
{
u32 msgobj = 0;
if(CAN->IDR == 0x8000) /* status interrupt */
{
(void)CAN->SR; /* read the status register to clear*/
}
else if(CAN->IDR >= 1 && CAN->IDR <= 32)
{
/* get the message object number that caused the interrupt to occur */
switch(msgobj = CAN->IDR - 1)
{
case 0 /* CAN_TX_MSGOBJ */:
CAN_ReleaseTxMessage(msgobj);
break;
case 1 /* CAN_RX_MSGOBJ */:
CAN_ReceiveMessage(msgobj, FALSE, &RxCanMsg);
CAN_ReleaseRxMessage(msgobj);
break;
default:
CAN_ReleaseMessage(msgobj);
break;
}
}
}
void CAN_Com_LoopBack(void)
{
/* initialize the CAN at a standard bitrate, interrupts disabled */
CAN_InitStructure.CAN_ConfigParameters=0x0;
CAN_InitStructure.CAN_Bitrate=CAN_BITRATE_1M;
CAN_Init(&CAN_InitStructure);
/* switch into Loopback+Silent mode (self-test) */
CAN_EnterTestMode(CAN_TESTR_LBACK | CAN_TESTR_SILENT);
/* configure the message objects */
CAN_InvalidateAllMsgObj();
CAN_SetTxMsgObj(CAN_TX_MSGOBJ, CAN_STD_ID);
CAN_SetRxMsgObj(CAN_RX_MSGOBJ, CAN_STD_ID, 0, CAN_LAST_STD_ID, TRUE);
/* Send the pre-defined answer */
CAN_SendMessage(CAN_TX_MSGOBJ, &TxCanMsg[1]);
/* wait until end of transmission */
CAN_WaitEndOfTx();
/* wait for reception of a data frame */
while (!CAN_ReceiveMessage(CAN_RX_MSGOBJ, FALSE, &RxCanMsg))
{
/*Add Timer*/
}
/* Test Received Msg */
if((RxCanMsg.IdType == CAN_STD_ID)&&(RxCanMsg.Id == 0x321)&&(RxCanMsg.Dlc == 4)
&&(RxCanMsg.Data[0]==0xAA)&&(RxCanMsg.Data[1]==0x55)&&(RxCanMsg.Data[2]==0xAA)&&(RxCanMsg.Data[3]==0x55)){
/*Received Msg OK*/
LED_ON(LD2);
} else {
/*Received Msg KO*/
LED_ON(LD4);
}
/* release the message objects */
CAN_ReleaseTxMessage(CAN_TX_MSGOBJ);
CAN_ReleaseRxMessage(CAN_RX_MSGOBJ);
/* switch back into Normal mode */
CAN_LeaveTestMode();
}
int main(void)
{
StandartMessage TxMessage;
StandartMessage RxMessage;
TxMessage.OutputBuffer = 0;
TxMessage.Priority = 0;
TxMessage.StdIdentifier = DEVICE_ID;
TxMessage.MessageLength = 4;
TxMessage.RemoteTransmission = 0;
TxMessage.Messages[0] = 0xA0;
TxMessage.Messages[1] = 0x0A;
TxMessage.Messages[2] = 0x50;
TxMessage.Messages[3] = 0x05;
DDRD = 0xff;
PORTD = 0xff;
uint8_t OutTable[8];
SPI_Init();
CAN_Reset();
CAN_Init();
PORTD = ~(CAN_GetBuffer(CANSTAT_ADR));
_delay_ms(1000);
//CAN_SetLoopbackMode();
CAN_SetNormalMode();
_delay_ms(100);
PORTD = ~(CAN_GetBuffer(CANSTAT_ADR));
_delay_ms(1000);
//CAN_TransmitMessage(&TxMessage);
int counter = 0;
while(1)
{
//if(counter > 2)
//{
//CAN_TransmitMessage(&TxMessage);
//counter = 0;
//}
//else
//{
//counter++;
//}
if(CAN_GetBuffer(CANINTF_ADR)&RX0IF)
{
CAN_ReceiveMessage(0,&RxMessage);
blink();
PORTD = ~RxMessage.StdIdentifier;
_delay_ms(2000);
blink();
PORTD = ~RxMessage.MessageLength;
_delay_ms(2000);
if(RxMessage.RemoteTransmission)
PORTD = ~RxMessage.RemoteTransmission;
else
{
for(int i=0; i<RxMessage.MessageLength; i++)
{
blink();
PORTD = ~RxMessage.Messages[i];
_delay_ms(2000);
}
}
}
else
{
blink();
PORTD = ~(0b11000011);
_delay_ms(2000);
}
}
}
