void shackbus_init(void)
{
// Initialize MCP2515
can_init(BITRATE_125_KBPS);
#ifdef UART_DEBUG
uart_write("can_init(BITRATE_125_KBPS);");
#endif
// Load filters and masks
can_static_filter(can_filter);
#ifdef UART_DEBUG
uart_write("can_static_filter(can_filter);");
#endif
fifo_init (&can_outfifo, can_outbuf, 10);
framestorage_init();
// Create a test messsage
send_msg_blink_ret.id = ((3L<<26)+(4L<<22)+(6L<<14)+(5L<<6)+11L); //Absender = 2 Empfänger = 1
send_msg_blink_ret.flags.rtr = 0;
send_msg_blink_ret.flags.extended = 1;
send_msg_blink_ret.length = 3;
send_msg_blink_ret.data[0] = 0;
send_msg_blink_ret.data[1] = 0;
send_msg_blink_ret.data[2] = 0;
shackbus_startup_message();
}
/**
* @brief Configura a CAN
*/
void canSetup(void)
{
// Initialize MCP2515
can_init(BITRATE_125_KBPS);
// Load filters and masks
can_static_filter(can_filter);
// Set normal mode
can_set_mode(CAN_MODE);
}
int main(void)
{
// Initialize MCP2515
can_init(BITRATE_125_KBPS);
// Load filters and masks
can_static_filter(can_filter);
// Create a test messsage
can_t msg;
msg.id = 0x123456;
msg.flags.rtr = 0;
msg.flags.extended = 1;
msg.length = 4;
msg.data[0] = 0xde;
msg.data[1] = 0xad;
msg.data[2] = 0xbe;
msg.data[3] = 0xef;
// Send the message
can_send_message(&msg);
while (1)
{
// Check if a new messag was received
if (can_check_message())
{
can_t msg;
// Try to read the message
if (can_get_message(&msg))
{
// If we received a message resend it with a different id
msg.id += 10;
// Send the new message
can_send_message(&msg);
}
}
}
return 0;
}
