Add: example to receive all frames and print all fields id/type/data

2026-09-14 10:33:49 +00:00 · 2020-12-27 14:03:50 +08:00
parent 06cf5a136d
commit cf1fbfaddf
1 changed files with 105 additions and 0 deletions
@@ -0,0 +1,105 @@
+/*
+ * demo: CAN-BUS Shield, receive all frames and print all fields id/type/data
+ * to receive frame fastly, a poll in loop() is required.
+ *
+ * Copyright (C) 2020 Seeed Technology Co.,Ltd.
+ */
+#include <SPI.h>
+
+/*SAMD core*/
+#ifdef ARDUINO_SAMD_VARIANT_COMPLIANCE
+    #define SERIAL SerialUSB
+#else
+    #define SERIAL Serial
+#endif
+
+#define CAN_2515
+// #define CAN_2518FD
+
+// the cs pin of the version after v1.1 is default to D9
+// v0.9b and v1.0 is default D10
+
+// Set SPI CS Pin according to your hardware
+// For Wio Terminal w/ MCP2518FD RPi Hat：
+// Channel 0 SPI_CS Pin: BCM 8
+// Channel 1 SPI_CS Pin: BCM 7
+// Interupt Pin: BCM25
+// *****************************************
+// For Arduino MCP2515 Hat:
+// SPI_CS Pin: D9
+
+#ifdef CAN_2518FD
+#include "mcp2518fd_can.h"
+const int SPI_CS_PIN = 9;
+const int CAN_INT_PIN = 2;
+mcp2518fd CAN(SPI_CS_PIN); // Set CS pin
+#define MAX_DATA_SIZE 64
+#endif
+
+#ifdef CAN_2515
+#include "mcp2515_can.h"
+const int SPI_CS_PIN = 9;
+const int CAN_INT_PIN = 2;
+mcp2515_can CAN(SPI_CS_PIN); // Set CS pin
+#define MAX_DATA_SIZE 8
+#endif
+
+void setup() {
+    SERIAL.begin(115200);
+
+#ifdef CAN_2518FD
+    while (0 != CAN.begin((byte)CAN_500K_1M)) {            // init can bus : baudrate = 500k
+#else
+    while (CAN_OK != CAN.begin(CAN_500KBPS)) {             // init can bus : baudrate = 500k
+#endif
+        SERIAL.println("CAN BUS Shield init fail");
+        SERIAL.println(" Init CAN BUS Shield again");
+        delay(100);
+    }
+    SERIAL.println("CAN BUS Shield init ok!");
+}
+
+uint32_t id;
+uint8_t  type; // bit0: ext, bit1: rtr
+uint8_t  len;
+byte cdata[MAX_DATA_SIZE] = {0};
+
+void loop() {
+    // check if data coming
+    if (CAN_MSGAVAIL != CAN.checkReceive()) {
+        return;
+    }
+
+    char prbuf[0x40];
+    int i, n;
+
+    unsigned long t = millis();
+    // read data, len: data length, buf: data buf
+    CAN.readMsgBuf(&len, cdata);
+
+    id = CAN.getCanId();
+    type = (CAN.isExtendedFrame() << 0) |
+           (CAN.isRemoteRequest() << 1);
+    /*
+     * MCP2515(or this driver) could not handle properly
+     * the data carried by remote frame
+     */
+
+    n = sprintf(prbuf, "%04lu.%03d ", t / 1000, int(t % 1000));
+    /* Displayed type:
+     *
+     * 0x00: standard data frame
+     * 0x02: extended data frame
+     * 0x30: standard remote frame
+     * 0x32: extended remote frame
+     */
+    static const byte type2[] = {0x00, 0x02, 0x30, 0x32};
+    n += sprintf(prbuf + n, "RX: [%08lX](%02X) ", (unsigned long)id, type2[type]);
+    // n += sprintf(prbuf, "RX: [%08lX](%02X) ", id, type);
+
+    for (i = 0; i < len; i++) {
+        n += sprintf(prbuf + n, "%02X ", cdata[i]);
+    }
+    SERIAL.println(prbuf);
+}
+// END FILE