void usart1_puts(const char *c)
{
while( (*c) != '\0') {
usart1_putc(*c);
c++;
}
}
/**
* Writes an array of bytes with
* the length n
* @param n Number of bytes to write
* @param array Array of bytes to be written
* @return Number of bytes written
*/
int usart1_putn(size_t n, const uint8_t *array) {
if (array == NULL) return -1;
int i;
for (i = 0; i < n; ++i){
usart1_putc(array[i]);
}
return i;
}
/**
* Writes a null terminated c-string
* to the USART
*
* @param str String that is written
* @return Number of bytes written
*/
int usart1_puts(const char *str) {
if (str == NULL) return -1;
int i = 0;
while(str[i] != '\0'){
usart1_putc(str[i++]);
}
return i;
}
int main(){
SystemCoreClockUpdate();
usart1_init(9600);
char c;
while(1){
//TODO
c = usart1_getc();
usart1_putc(c);
}
}
/**
* Put a byte on USART. unless
* USART1_NON_UNIX_LIKE_LINE_ENDINGS is
* defined this will put a '\r' before every '\n'
* to mimic unix like line endings
*
* @param c Byte to transmit
* @return positive if success
*/
int usart1_putc(const uint8_t c) {
#ifndef USART1_NON_UNIX_LIKE_LINE_ENDINGS
if(c == '\n'){
usart1_putc('\r');
}
#endif
#ifdef NO_USART1_BUFFERED_OUTPUT
while (USART1_TX_IS_BUSY());
UDR1 = c;
#else
// Wait for free space in buffer
while (rb_push(&usart1_outBuff, c) != 0);
USART1_ENABLE_DATA_REG_EMPTY_INTERRUPT();
#endif
return c;
}
int main(void) {
set_canit_callback(CANIT_RX_COMPLETED, rx_complete);
set_canit_callback(CANIT_TX_COMPLETED, tx_complete);
set_canit_callback(CANIT_DEFAULT, can_default);
usart1_init();
CAN_INIT_ALL(); //Can setup
sei(); //Enable interrupt
usart1_printf("\n\n\nSTARTING\n");
// Set MOB 8 to listen for messeges with id 4 and length 7
can_msg_t rx_msg = {
.mob = 8,
.id = 4,
.dlc = 7,
.mode = MOB_RECIEVE
};
can_setup(&rx_msg);
usart1_printf("Listning for id %d on mob %d with a msg length %d\n",
rx_msg.id,
rx_msg.mob,
rx_msg.dlc
);
while(1){
// Main work loop
_delay_ms(250);
// send a message with id 4 on MOB 10
can_msg_t tx_msg = {
.mob = 10,
.id = 4,
.data = {'H', 'E', 'L', 'L', 'O', '!', '!'},
.dlc = 7,
.mode = MOB_TRANSMIT
};
can_send(&tx_msg);
usart1_printf("CAN Tx\t id %d, mob %d, :: ", tx_msg.id, tx_msg.mob);
// As tx_msg.data is a byte array we cant treat it as a string
usart1_putn(sizeof(tx_msg.data)/sizeof(tx_msg.data[0]), tx_msg.data);
usart1_putc('\n');
}
return 0;
}
// Callback to be run when rx comletes on the CAN
static void rx_complete(uint8_t mob) {
can_msg_t msg = {
.mob = mob // mob is the MOB that fired the interrupt
};
can_receive(&msg); // Fetch the message and fill out the msg struct
// Print out the received data. Please dont print inside can callbacks
// in real code as these are run inside the can ISR
usart1_printf("CAN Rx\t id: %d on mob %d :: ", msg.id, msg.mob);
usart1_putn(msg.dlc, msg.data); usart1_putc('\n');
}
static void tx_complete(uint8_t mob) {
// We clear the mob so it can be used again
MOB_ABORT(); // Freed the MOB
MOB_CLEAR_INT_STATUS(); // and reset MOB status
CAN_DISABLE_MOB_INTERRUPT(mob); // Unset interrupt
}
void usart1_puts(char *str){
while(*str != 0) {
usart1_putc(*(str++));
}
return;
}
void __io_putchar(const char c)
{
usart1_putc(c);
}
