Merge pull request #19 from mehtajaghvi/master

Added LED blink example for ArduinoMega and seeed CANBUS SHIELD
2026-07-27 19:55:59 +00:00 · 2015-07-06 11:42:05 +08:00
parent 9efa84b363 aea3e85397
commit 5bfe748f84
4 changed files with 271 additions and 0 deletions
@@ -0,0 +1,78 @@
+// demo: CAN-BUS Shield, receive data with check mode
+// send data coming to fast, such as less than 10ms, you can use this way
+// loovee, 2014-6-13
+
+
+#include <SPI.h>
+#include "mcp_can.h"
+
+
+// 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 LED=8;
+boolean ledON=1;
+MCP_CAN CAN(SPI_CS_PIN);                                    // Set CS pin
+
+void setup()
+{
+    Serial.begin(115200);
+    pinMode(LED,OUTPUT);
+
+START_INIT:
+
+    if(CAN_OK == CAN.begin(CAN_500KBPS))                   // init can bus : baudrate = 500k
+    {
+        Serial.println("CAN BUS Shield init ok!");
+    }
+    else
+    {
+        Serial.println("CAN BUS Shield init fail");
+        Serial.println("Init CAN BUS Shield again");
+        delay(100);
+        goto START_INIT;
+    }
+}
+
+
+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 char canId = CAN.getCanId();
+        
+        Serial.println("-----------------------------");
+        Serial.println("get data from ID: ");
+        Serial.println(canId);
+
+        for(int i = 0; i<len; i++)    // print the data
+        {
+            Serial.print(buf[i]);
+            Serial.print("\t");
+            if(ledON && i==0)
+            {
+             
+              digitalWrite(LED,buf[i]);
+              ledON=0;
+              delay(500);
+              }
+            else if((!(ledON)) && i==4){
+              
+              digitalWrite(LED,buf[i]);
+              ledON=1;
+              }
+              
+              
+        }
+        Serial.println();
+    }
+}
+
+/*********************************************************************************************************
+  END FILE
+*********************************************************************************************************/
@@ -0,0 +1,78 @@
+// demo: CAN-BUS Shield, receive data with check mode
+// send data coming to fast, such as less than 10ms, you can use this way
+// loovee, 2014-6-13
+
+
+#include <SPI.h>
+#include "mcp_can.h"
+
+
+// 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 LED=7; //led which is connected to the receiver arduino
+boolean ledON=1;
+MCP_CAN CAN(SPI_CS_PIN);                                    // Set CS pin
+
+void setup()
+{
+    Serial.begin(115200);
+    pinMode(LED,OUTPUT);
+
+START_INIT:
+
+    if(CAN_OK == CAN.begin(CAN_500KBPS))                   // init can bus : baudrate = 500k
+    {
+        Serial.println("CAN BUS Shield init ok!");
+    }
+    else
+    {
+        Serial.println("CAN BUS Shield init fail");
+        Serial.println("Init CAN BUS Shield again");
+        delay(100);
+        goto START_INIT;
+    }
+}
+
+
+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 char canId = CAN.getCanId();
+        
+        Serial.println("-----------------------------");
+        Serial.println("get data from ID: ");
+        Serial.println(canId);
+
+        for(int i = 0; i<len; i++)    // print the data
+        {
+            Serial.print(buf[i]);
+            Serial.print("\t");
+            if(ledON && i==0)
+            {
+             
+              digitalWrite(LED,buf[i]);
+              ledON=0;
+              delay(500);
+              }
+            else if((!(ledON)) && i==4){
+              
+              digitalWrite(LED,buf[i]);
+              ledON=1;
+              }
+              
+              
+        }
+        Serial.println();
+    }
+}
+
+/*********************************************************************************************************
+  END FILE
+*********************************************************************************************************/
@@ -0,0 +1,42 @@
+// demo: CAN-BUS Shield, send data
+#include <mcp_can.h>
+#include <SPI.h>
+
+// 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 ledHIGH=1;
+const int ledLOW=0;
+
+MCP_CAN CAN(SPI_CS_PIN);                                    // Set CS pin
+
+void setup()
+{
+    Serial.begin(115200);
+
+START_INIT:
+
+    if(CAN_OK == CAN.begin(CAN_500KBPS))                   // init can bus : baudrate = 500k
+    {
+        Serial.println("CAN BUS Shield init ok!");
+    }
+    else
+    {
+        Serial.println("CAN BUS Shield init fail");
+        Serial.println("Init CAN BUS Shield again");
+        delay(100);
+        goto START_INIT;
+    }
+}
+
+unsigned char stmp[8] = {ledHIGH, 1, 2, 3, ledLOW, 5, 6, 7};
+void loop()
+{   Serial.println("In loop");
+    // send data:  id = 0x00, standrad frame, data len = 8, stmp: data buf
+    CAN.sendMsgBuf(0x70,0, 8, stmp);
+    delay(1000);                       // send data per 100ms
+}
+
+/*********************************************************************************************************
+  END FILE
+*********************************************************************************************************/
@@ -0,0 +1,73 @@
+// demo: CAN-BUS Shield, send data
+//Hardware: TWO ArduinoMega with CAN-SHIELDS
+//Run this send_Blink_ROS.ino file on one of the Arduinos
+//Run receive_Blink on the other
+//***ROS commands to be followe***//
+//roscore
+// rosrun roial_python serial_node.py /dev/ttyACM1 _baud:=57600
+// rostopic pub toggle_led std_msgs/Empty -r 100
+//Jaghvi: jaghvim@andrew.cmu.edu
+
+
+#include <mcp_can.h>
+#include <SPI.h>
+
+//ROS
+#include <ros.h>
+#include <std_msgs/Empty.h>
+
+ros::NodeHandle  nh;
+
+const int SPI_CS_PIN = 9;
+const int ledHIGH=1;
+const int ledLOW=0;
+unsigned char stmp[8] = {ledHIGH, 1, 2, 3, ledLOW, 5, 6, 7};
+
+MCP_CAN CAN(SPI_CS_PIN);                                    // Set CS pin
+
+void messageCb( const std_msgs::Empty& toggle_msg){
+  //digitalWrite(13, HIGH-digitalRead(13));   // blink the led
+  // send data:  id = 0x00, standrad frame, data len = 8, stmp: data buf
+  CAN.sendMsgBuf(0x70,0, 8, stmp);
+  delay(1000);                       // send data per 100ms
+}
+
+ros::Subscriber<std_msgs::Empty> sub("toggle_led", &messageCb );
+
+// the cs pin of the version after v1.1 is default to D9
+// v0.9b and v1.0 is default D10
+
+
+
+void setup()
+{
+    Serial.begin(115200);
+    nh.initNode();
+    nh.subscribe(sub);
+
+START_INIT:
+
+    if(CAN_OK == CAN.begin(CAN_500KBPS))                   // init can bus : baudrate = 500k
+    {
+        Serial.println("CAN BUS Shield init ok!");
+    }
+    else
+    {
+        Serial.println("CAN BUS Shield init fail");
+        Serial.println("Init CAN BUS Shield again");
+        delay(100);
+        goto START_INIT;
+    }
+}
+
+
+void loop()
+{   
+    
+    nh.spinOnce();
+    delay(1);
+}
+
+/*********************************************************************************************************
+  END FILE
+*********************************************************************************************************/