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Dmitry
2016-01-06 19:49:11 +03:00
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README.md
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@@ -27,22 +27,24 @@ This function is used to initialize the baudrate of the CAN Bus system.
The available baudrates are listed as follws:
#define CAN_5KBPS 1
#define CAN_10KBPS 2
#define CAN_20KBPS 3
#define CAN_31K25BPS 4
#define CAN_33KBPS 5
#define CAN_40KBPS 6
#define CAN_50KBPS 7
#define CAN_80KBPS 8
#define CAN_83K3BPS 9
#define CAN_95KBPS 10
#define CAN_100KBPS 11
#define CAN_125KBPS 12
#define CAN_200KBPS 13
#define CAN_250KBPS 14
#define CAN_500KBPS 15
#define CAN_1000KBPS 16
enum CAN_SPEED {
CAN_5KBPS,
CAN_10KBPS,
CAN_20KBPS,
CAN_31K25BPS,
CAN_33KBPS,
CAN_40KBPS,
CAN_50KBPS,
CAN_80KBPS,
CAN_83K3BPS,
CAN_95KBPS,
CAN_100KBPS,
CAN_125KBPS,
CAN_200KBPS,
CAN_250KBPS,
CAN_500KBPS,
CAN_1000KBPS
};
<br>
@@ -75,62 +77,52 @@ The function will return 1 if a frame arrives, and 0 if nothing arrives.
<br>
## 4. Get CAN ID
## 4. Send Data
When some data arrive, you can use the following function to get the CAN ID of the "send" node.
MCP_CAN::ERROR sendMessage(const MCP_CAN::TXBn txbn, const struct can_frame *frame);
MCP_CAN::ERROR sendMessage(const struct can_frame *frame);
INT32U MCP_CAN::getCanId(void);
<br>
## 5. Send Data
CAN.sendMsgBuf(INT8U id, INT8U ext, INT8U len, data_buf);
This is a function to send data onto the bus. In which:
**id** represents where the data come from.
**ext** represents the status of the frame. '0' means standard frame. '1' means extended frame.
**len** represents the length of this frame.
**data_buf** is the content of this message.
This is a function to send data onto the bus.
For example, In the 'send' example, we have:
<pre>
unsigned char stmp[8] = {0, 1, 2, 3, 4, 5, 6, 7};
<pre>
struct can_frame frame;
frame.can_id = 0x000;
frame.can_dlc = 4;
frame.data[0] = 0xFF;
frame.data[1] = 0xFF;
frame.data[2] = 0xFF;
frame.data[3] = 0xFF;
CAN.sendMsgBuf(0x00, 0, 8, stmp); //send out the message 'stmp' to the bus and tell other devices this is a standard frame from 0x00.
CAN.sendMessage(&frame); //send out the message to the bus and tell other devices this is a standard frame from 0x00.
</pre>
<pre>
struct can_frame frame;
frame.can_id = 0x12345678 | CAN_EFF_MASK;
frame.can_dlc = 2;
frame.data[0] = 0xFF;
frame.data[1] = 0xFF;
CAN.sendMessage(MCP_CAN::TXB1, &frame); // send out the message to the bus using second TX buffer and tell other devices this is a extended frame from 0x12345678.
</pre>
<br>
## 6. Receive Data
## 5. Receive Data
The following function is used to receive data on the 'receive' node:
CAN.readMsgBuf(unsigned char len, unsigned char buf);
MCP_CAN::ERROR readMessage(const MCP_CAN::RXBn rxbn, struct can_frame *frame);
MCP_CAN::ERROR readMessage(struct can_frame *frame);
In conditions that masks and filters have been set. This function can only get frames that meet the requirements of masks and filters.
**len** represents the data length.
**buf** is where you store the data.
<br>
## 7. Check additional flags
When frame is received you may check whether it was remote request and whether it was an extended (29bit) frame.
CAN.isRemoteRequest();
CAN.isExtendedFrame();
**return value** is '0' for a negative response and '1' for a positive
## 6. Examples
Example implementation of CanHacker (lawicel) protocol based device: [https://github.com/autowp/can-usb](https://github.com/autowp/can-usb)
<br>
For more information, please refer to [wiki page](http://www.seeedstudio.com/wiki/CAN-BUS_Shield).
@@ -138,8 +130,9 @@ For more information, please refer to [wiki page](http://www.seeedstudio.com/wik
----
This software is written by loovee ([luweicong@seeed.cc](luweicong@seeed.cc "luweicong@seeed.cc")) for seeed studio<br>
and is licensed under [The MIT License](http://opensource.org/licenses/mit-license.php). Check License.txt for more information.<br>
This software is written by loovee ([luweicong@seeed.cc](luweicong@seeed.cc "luweicong@seeed.cc")) for seeed studio,<br>
Updated by Dmitry ([https://github.com/autowp](https://github.com/autowp "https://github.com/autowp"))<br>
and is licensed under [The MIT License](http://opensource.org/licenses/mit-license.php). Check [LICENSE.md](LICENSE.md) for more information.<br>
Contributing to this software is warmly welcomed. You can do this basically by<br>
[forking](https://help.github.com/articles/fork-a-repo), committing modifications and then [pulling requests](https://help.github.com/articles/using-pull-requests) (follow the links above<br>
@@ -150,22 +143,3 @@ Seeed Studio is an open hardware facilitation company based in Shenzhen, China.
Benefiting from local manufacture power and convenient global logistic system, <br>
we integrate resources to serve new era of innovation. Seeed also works with <br>
global distributors and partners to push open hardware movement.<br>
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