1 | #include <avr/io.h>
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2 | #include <stdio.h>
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3 | #include <avr/interrupt.h>
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4 | #include <avr/pgmspace.h>
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5 | #include "avr/wdt.h"
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6 |
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7 | void LedInit () {
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8 | DDRE = 0x10;
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9 | PORTE = 0x00; /*Die Logik der LED ist invertiert 0=AN*/
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10 | }
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11 |
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12 | ISR ( CANIT_vect )
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13 | {
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14 | cli(); /* Interrupts abschalten */
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15 | if (PORTE == 0xFF){PORTE = 0x00;}
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16 | else {PORTE = 0xFF;};
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17 |
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18 |
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19 | /*Reset the Object for further use - wir wissen dass es objekt 1 war*/
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20 | CANCDMOB = 0x88; /* Empfang und DLC 8 Byte */
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21 | CANIDT4 = 0x00; /*RTRTAG, RB0TAG*/
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22 | CANIDT3 = 0x00; /*Initialized for compatibility Reasons, does nothing*/
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23 | CANIDT2 = (uint8_t) (0x124 << 5); // 0001 0010 0(100 X XXXX)
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24 | CANIDT1 = (uint8_t) (0x124 << 3); // (0001 0010 0)100
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25 | for ( uint8_t i_msg = 0; i_msg < 8 ; i_msg++){
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26 | CANMSG = 0x00; /* Messageobjekt löschen */
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27 | /* Der µC inkrementiert INDX automatisch.
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28 | Im übertragenen Sinn enthält
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29 | CANMSG[INDX] die Nachrichten.
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30 | CANPAGE:3 enthält NOT(AINC)*/
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31 | }
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32 | sei(); /* Interrrupts einschalten */
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33 | }
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34 |
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35 | void CanInit ()
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36 | {
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37 | CANGCON = 0x01 ; /* Reset CAN interface */
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38 | CANGIE = 0x00; /* CAN interrupts zunächst aus */
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39 |
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40 | // Disable Message Objects
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41 | for ( uint8_t i_mob = 0; i_mob < 15; i_mob++ ) {
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42 | /* Select the right MOB-Page */
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43 | CANPAGE = i_mob << 4 ;
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44 | /* Reset and Disable MOB */
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45 | CANSTMOB = 0; //Status Register
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46 | CANCDMOB = 0; //Control Register
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47 | CANIDT1 = 0x00; //IDT
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48 | CANIDT2 = 0x00; //IDT
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49 | CANIDT3 = 0x00; //IDT
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50 | CANIDT4 = 0x00; //IDT
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51 | CANIDM4 = 0x00; //Maske
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52 | CANIDM3 = 0x00; //Maske
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53 | CANIDM2 = 0x00; //Maske
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54 | CANIDM1 = 0x00; //Maske
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55 | for ( uint8_t i_msg = 0; i_msg < 8 ; i_msg++){
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56 | CANMSG = 0x00; /* Messageobjekt löschen */
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57 | /* Der µC inkrementiert INDX automatisch.
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58 | Im übertragenen Sinn enthält
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59 | CANMSG[INDX] die Nachrichten.
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60 | CANPAGE:3 enthält NOT(AINC)*/
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61 | }
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62 |
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63 | }
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64 | /* Initialiesieren von MOB-PAGE 1 auf Empfang*/
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65 | CANPAGE |= 1 << 4 ; /* MOB-Page 1 auswählen */
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66 | CANCDMOB = 0x88; /* Empfang und DLC 8 Byte */
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67 | CANIDT4 = 0x00; /*RTRTAG, RB0TAG*/
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68 | CANIDT3 = 0x00; /*Initialized for compatibility Reasons, does nothing*/
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69 | CANIDT2 = (uint8_t) (0x124 << 5); // 0001 0010 0(100 X XXXX)
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70 | CANIDT1 = (uint8_t) (0x124 << 3); // (0001 0010 0)100
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71 | CANIDM4 = 0x00; /*RTRMSK, IDEMSK*/
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72 | CANIDM3 = 0x00; /*Initialized for compatibility Reasons, does nothing*/
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73 | CANIDM2 = (uint8_t) (0x7F0 << 5); // 0111 1111 0(000 X XXXX)
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74 | CANIDM1 = (uint8_t) (0x7F0 << 3); // 0(111 1111 0)000
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75 | /* Resulting Span
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76 | Mask 0x7F0 111 1111 0000
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77 | IDT 0x124 001 0010 0100
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78 | Results in
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79 | First IDT 001 0010 0000 = 0x120
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80 | Last IDT 001 0010 1111 = 0x12F */
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81 |
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82 | /* General Interrupt Mask*/
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83 | CANGIE = 0xA0;
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84 | /* MOB Interrupt Mask*/
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85 | CANIE2 =0x02;
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86 | CANIE1 =0x00;
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87 | /*Set Bit Timing BPR 4, PRS 6, PHS1 3, PHS2 3, SJW 0 */
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88 | CANBT1 = 0x08;
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89 | CANBT2 = 0x0C;
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90 | CANBT3 = 0x37;
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91 |
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92 | // Start CAN interface
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93 |
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94 | CANGCON = _BV(ENASTB) ;
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95 |
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96 | // (Active wait!!) Wait until the CAN interface is ready
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97 |
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98 | while ( !( CANGSTA & ( 1 << ENFG ) ) ) ;
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99 | }
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100 |
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101 | void InitDevices(){
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102 | cli(); /* Interrupts aus */
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103 | MCUSR = 0;
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104 | wdt_disable(); //Watchdog abschalten
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105 | CanInit (); /* CAN initialisieren */
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106 | LedInit();
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107 | sei(); /* Interrupts ein */
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108 | }
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109 |
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110 | int main(void)
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111 | { InitDevices();
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112 | while(1){}
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113 | return 0;
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114 | }
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