add send and receive extended frames examples

2026-07-27 19:55:59 +00:00 · 2025-04-21 09:48:53 +08:00
parent ad48756e56
commit 31438c426b
2 changed files with 217 additions and 0 deletions
@@ -0,0 +1,124 @@
+// This is an example of receiving both standard frames and extended frames simultaneously. 
+// I have used two arrays, STANDARD_CAN_IDS and EXTENDED_CAN_IDS, to receive CAN messages with specific IDs. 
+// You need to set filters and masks for these IDs, 
+// and make sure to refer to and coordinate with the example for sending extended frames
+
+
+#include <SPI.h>
+
+#define CAN_2515
+// #define CAN_2518FD
+
+// Set SPI CS Pin according to your hardware
+
+#if defined(SEEED_WIO_TERMINAL) && defined(CAN_2518FD)
+// For Wio Terminal w/ MCP2518FD RPi Hat：
+// Channel 0 SPI_CS Pin: BCM 8
+// Channel 1 SPI_CS Pin: BCM 7
+// Interupt Pin: BCM25
+const int SPI_CS_PIN  = BCM8;
+const int CAN_INT_PIN = BCM25;
+#else
+
+// For Arduino MCP2515 Hat:
+// the cs pin of the version after v1.1 is default to D9
+// v0.9b and v1.0 is default D10
+const int SPI_CS_PIN = 9;
+const int CAN_INT_PIN = 2;
+#endif
+
+
+#ifdef CAN_2518FD
+#include "mcp2518fd_can.h"
+mcp2518fd CAN(SPI_CS_PIN); // Set CS pin
+#endif
+
+#ifdef CAN_2515
+#include "mcp2515_can.h"
+mcp2515_can CAN(SPI_CS_PIN); // Set CS pin
+#endif      
+
+// Define the list of standard CAN IDs to receive
+const unsigned long STANDARD_CAN_IDS[] = {0x123, 0x456};
+const int STANDARD_CAN_ID_COUNT = sizeof(STANDARD_CAN_IDS) / sizeof(STANDARD_CAN_IDS[0]);
+
+// Define the list of extended CAN IDs to receive
+const unsigned long EXTENDED_CAN_IDS[] = {0x1234567, 0x89ABCDE};
+const int EXTENDED_CAN_ID_COUNT = sizeof(EXTENDED_CAN_IDS) / sizeof(EXTENDED_CAN_IDS[0]);
+
+void setup() 
+{
+  SERIAL_PORT_MONITOR.begin(115200);
+  while(!Serial){};
+
+  while (CAN_OK != CAN.begin(CAN_250KBPS))
+  {             // init can bus : baudrate = 250k
+    SERIAL_PORT_MONITOR.println("CAN init fail, retry...");
+    delay(100);
+  }
+  SERIAL_PORT_MONITOR.println("CAN init ok!");
+
+  // Configure the standard frame filters
+  for (int i = 0; i < STANDARD_CAN_ID_COUNT; i++) 
+  {
+    CAN.init_Mask(i, 0, 0x7FF); // Check all 11 bits of the standard frame
+    CAN.init_Filt(i, 0, STANDARD_CAN_IDS[i]);
+  }
+
+  // Configure the extended frame filters
+  for (int i = 0; i < EXTENDED_CAN_ID_COUNT; i++) 
+  {
+    CAN.init_Mask(i + STANDARD_CAN_ID_COUNT, 1, 0x1FFFFFFF); // Check all 29 bits of the extended frame
+    CAN.init_Filt(i + STANDARD_CAN_ID_COUNT, 1, EXTENDED_CAN_IDS[i]);
+  }
+}
+
+void loop()
+{
+  unsigned char len = 0;
+  unsigned char buf[8];
+  if (CAN_MSGAVAIL == CAN.checkReceive())
+  {         // check if data coming
+    CAN.readMsgBuf(&len, buf);    // read data,  len: data length, buf: data buf
+
+    unsigned long canId = CAN.getCanId();
+
+    // Check if it is a standard CAN ID
+    for (int i = 0; i < STANDARD_CAN_ID_COUNT; i++) 
+    {
+        if (canId == STANDARD_CAN_IDS[i]) 
+        {
+            SERIAL_PORT_MONITOR.println("-----------------------------");
+            SERIAL_PORT_MONITOR.print("Get standard data from ID: 0x");
+            SERIAL_PORT_MONITOR.println(canId, HEX);
+
+            for (int j = 0; j < len; j++) 
+            { // print the data
+                SERIAL_PORT_MONITOR.print(buf[j], HEX);
+                SERIAL_PORT_MONITOR.print("\t");
+            }
+            SERIAL_PORT_MONITOR.println();
+            break;
+        }
+    }
+
+    // Check if it is an extended CAN ID
+    for (int i = 0; i < EXTENDED_CAN_ID_COUNT; i++) 
+    {
+        if (canId == EXTENDED_CAN_IDS[i]) 
+        {
+            SERIAL_PORT_MONITOR.println("-----------------------------");
+            SERIAL_PORT_MONITOR.print("Get extended data from ID: 0x");
+            SERIAL_PORT_MONITOR.println(canId, HEX);
+
+            for (int j = 0; j < len; j++) 
+            { // print the data
+                SERIAL_PORT_MONITOR.print(buf[j], HEX);
+                SERIAL_PORT_MONITOR.print("\t");
+            }
+            SERIAL_PORT_MONITOR.println();
+            break;
+        }
+    }
+  }
+}
@@ -0,0 +1,93 @@
+// demo: CAN-BUS Shield, send data
+// This is an example of sending both standard frames and extended frames simultaneously. 
+// I have used two arrays, STANDARD_CAN_IDS and EXTENDED_CAN_IDS, to store the IDs to be sent, and it supports defining custom send IDs
+
+
+#include <SPI.h>
+
+#define CAN_2515
+// #define CAN_2518FD
+
+// Set SPI CS Pin according to your hardware
+
+#if defined(SEEED_WIO_TERMINAL) && defined(CAN_2518FD)
+// For Wio Terminal w/ MCP2518FD RPi Hat：
+// Channel 0 SPI_CS Pin: BCM 8
+// Channel 1 SPI_CS Pin: BCM 7
+// Interupt Pin: BCM25
+const int SPI_CS_PIN  = BCM8;
+const int CAN_INT_PIN = BCM25;
+#else
+
+// For Arduino MCP2515 Hat:
+// the cs pin of the version after v1.1 is default to D9
+// v0.9b and v1.0 is default D10
+const int SPI_CS_PIN = 9;
+const int CAN_INT_PIN = 2;
+#endif
+
+
+#ifdef CAN_2518FD
+#include "mcp2518fd_can.h"
+mcp2518fd CAN(SPI_CS_PIN); // Set CS pin
+#endif
+
+#ifdef CAN_2515
+#include "mcp2515_can.h"
+mcp2515_can CAN(SPI_CS_PIN); // Set CS pin
+#endif    
+
+// Define the list of standard CAN IDs to receive
+const unsigned long STANDARD_CAN_IDS[] = {0x123, 0x456};
+const int STANDARD_CAN_ID_COUNT = sizeof(STANDARD_CAN_IDS) / sizeof(STANDARD_CAN_IDS[0]);
+
+// Define the list of extended CAN IDs to receive
+const unsigned long EXTENDED_CAN_IDS[] = {0x1234567, 0x89ABCDE};
+const int EXTENDED_CAN_ID_COUNT = sizeof(EXTENDED_CAN_IDS) / sizeof(EXTENDED_CAN_IDS[0]);
+
+void setup() 
+{
+  SERIAL_PORT_MONITOR.begin(115200);
+  while(!Serial){};
+
+  while (CAN_OK != CAN.begin(CAN_500KBPS)) 
+  {             // init can bus : baudrate = 500k
+    SERIAL_PORT_MONITOR.println("CAN init fail, retry...");
+    delay(100);
+  }
+  SERIAL_PORT_MONITOR.println("CAN init ok!");
+}
+
+unsigned char stmp[8] = {0, 0, 0, 0, 0, 0, 0, 0};
+void loop() 
+{
+  // send data: id = 0x00, standrad frame, data len = 8, stmp: data buf
+  stmp[7] = stmp[7] + 1;
+  if (stmp[7] == 100) 
+  {
+    stmp[7] = 0;
+    stmp[6] = stmp[6] + 1;
+
+    if (stmp[6] == 100) 
+    {
+      stmp[6] = 0;
+      stmp[5] = stmp[5] + 1;
+    }
+  }
+
+  for (int i = 0; i < STANDARD_CAN_ID_COUNT; i++) 
+  {
+    CAN.sendMsgBuf(STANDARD_CAN_IDS[i], 0, 8, stmp);//using ID List ID 
+    delay(100);    
+  }
+
+  for (int i = 0; i < EXTENDED_CAN_ID_COUNT; i++) 
+  {
+    CAN.sendMsgBuf(EXTENDED_CAN_IDS[i], 1, 8, stmp);//using ID List ID 
+    delay(100);    
+  }
+}
+
+/*********************************************************************************************************
+    END FILE
+*********************************************************************************************************/