can_test_project/src/software_setup.c

#include <includes.h>

#define SCHEDULE_TICK_DIVIDER 1 //number of system jiffies (should be 1 mS) per time slot
#define RX_LIST_SIZE 10

/*
const TASK_PTR schedule[]={
   (TASK_PTR)&task_heartbeat,(TASK_PTR)&can_test_send_2,(TASK_PTR)NULL,
   (TASK_PTR)&task_heartbeat,(TASK_PTR)&can_test_send_2,(TASK_PTR)NULL,
   (TASK_PTR)NULL
   };
*/
/*
const TASK_PTR schedule[]={
   (TASK_PTR)&can_test_send_1,(TASK_PTR)NULL,
   (TASK_PTR)&can_test_send_1,(TASK_PTR)NULL,
   (TASK_PTR)NULL
   };
*/
   
const TASK_PTR schedule[]={
   (TASK_PTR)&task_heartbeat,(TASK_PTR)NULL,
   (TASK_PTR)&task_heartbeat,(TASK_PTR)NULL,
   (TASK_PTR)NULL
   };
   
   
void print_int(int i){
 // printf("i: 0x%08X", i);
 printf(".");
}
   
   
CAN_FRAME_DESC rxtestdesc;
/*   
CAN_FRAME_DESC * rx_list[] = {
  &rxtestdesc,
  (CAN_FRAME_DESC*)0
};//NULL Terminator
*/

CAN_FRAME_DESC * rx_list[RX_LIST_SIZE];

void fill_descriptors(void){
  int i = 0;
  can_set_rx_descriptor_ii(&rxtestdesc,0x137,print_int,print_int);
  rx_list[i++] = &rxtestdesc;
  
  rx_list[i++] = (CAN_FRAME_DESC *) 0;//NULL Terminator
  
  if(i >= RX_LIST_SIZE) {
    //Throw error somehow
  }
  
  
}

void setup_software(void){ 
  /*********************************************
   * Scheduler Initialization.  Do not modify. *
   *********************************************/ 
  schedule_init(schedule,SCHEDULE_TICK_DIVIDER);
 
  /*********************************************
   * Put user initialization code below here.  *
   *********************************************/ 
  set_heartbeat_period_ms(250);
  
  can_test_init_ring();
  fill_descriptors();
  can_rx_init(rx_list);
  
  VICVectAddr1 = (unsigned long)can_isr;
  VICVectCntl1 = 0x20 | VIC_CAN1TX;
  VICIntEnable = 1 << VIC_CAN1TX;
  
  VICVectAddr2 = (unsigned long)can_isr;
  VICVectCntl2 = 0x20 | VIC_CAN1RX;
  VICIntEnable = 1 << VIC_CAN1RX;
}