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Add: more comments about CANFD examples

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turmary
2021-01-15 19:15:49 +08:00
parent 6dc4e7d197
commit efad5bb364
5 changed files with 104 additions and 52 deletions
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examples/receive_monitor/receive_monitor.ino
+16 -1
View File
@@ -31,7 +31,13 @@ const int CAN_INT_PIN = 2;
#ifdef CAN_2518FD
#include "mcp2518fd_can.h"
mcp2518fd CAN(SPI_CS_PIN); // Set CS pin
#define MAX_DATA_SIZE 64
// TEST TEST MCP2518FD CAN2.0 data transfer
#define MAX_DATA_SIZE 8
// To TEST MCP2518FD CANFD data transfer, uncomment below lines
// #undef MAX_DATA_SIZE
// #define MAX_DATA_SIZE 64
#endif
#ifdef CAN_2515
@@ -44,6 +50,15 @@ void setup() {
SERIAL_PORT_MONITOR.begin(115200);
while (!SERIAL_PORT_MONITOR) {}
#if MAX_DATA_SIZE > 8
/*
* To compatible with MCP2515 API,
* default mode is CAN_CLASSIC_MODE
* Now set to CANFD mode.
*/
CAN.setMode(CAN_NORMAL_MODE);
#endif
while (CAN_OK != CAN.begin(CAN_500KBPS)) { // init can bus : baudrate = 500k
SERIAL_PORT_MONITOR.println(F("CAN init fail, retry..."));
delay(100);
examples/sendFD/sendFD.ino
+32 -21
View File
@@ -1,44 +1,55 @@
// demo: CAN-BUS Shield, send data
// loovee@seeed.cc
// demo: sendFD
// show how to send CANFD frames.
// only used with MCP2518FD shield.
#include <SPI.h>
#include "mcp2518fd_can.h"
#define CAN_2518FD
// the cs pin of the version after v1.1 is default to D9
// v0.9b and v1.0 is default D10
#if defined(SEEED_WIO_TERMINAL)
const int SPI_CS_PIN = BCM8;
#else
const int SPI_CS_PIN = 9;
#ifdef CAN_2518FD
mcp2518fd CAN(SPI_CS_PIN); // Set CS pin
#endif
// CANFD could carry data up to 64 bytes
#define MAX_DATA_SIZE 64
mcp2518fd CAN(SPI_CS_PIN); // Set CS pin
void setup() {
SERIAL_PORT_MONITOR.begin(115200);
while(!Serial){};
CAN.setMode(0); // Set FD Mode
while (!SERIAL_PORT_MONITOR) {}
/*
* To compatible with MCP2515 API,
* default mode is CAN_CLASSIC_MODE
* Now set to CANFD mode.
*/
CAN.setMode(CAN_NORMAL_MODE);
while (0 != CAN.begin((byte)CAN_500K_1M)) { // init can bus : baudrate = 500k
SERIAL_PORT_MONITOR.println("CAN init fail, retry...");
delay(100);
}
SERIAL_PORT_MONITOR.println("CAN init ok!");
byte mode = CAN.getMode();
SERIAL_PORT_MONITOR.print("CAN BUS mode = ");
SERIAL_PORT_MONITOR.print("CAN mode = ");
SERIAL_PORT_MONITOR.println(mode);
}
unsigned char stmp[64] = {0};
unsigned char stmp[MAX_DATA_SIZE] = {0};
void loop() {
// send data: id = 0x00, standrad frame, data len = 8, stmp: data buf
stmp[63] = stmp[63] + 1;
if (stmp[63] == 100) {
stmp[63] = 0;
stmp[62] = stmp[62] + 1;
// send data: id = 0x00, standrad frame, data len = 64, stmp: data buf
stmp[MAX_DATA_SIZE - 1] = stmp[MAX_DATA_SIZE - 1] + 1;
if (stmp[MAX_DATA_SIZE - 1] == 100) {
stmp[MAX_DATA_SIZE - 1] = 0;
if (stmp[62] == 100) {
stmp[62] = 0;
stmp[61] = stmp[61] + 1;
stmp[MAX_DATA_SIZE - 2] = stmp[MAX_DATA_SIZE - 2] + 1;
if (stmp[MAX_DATA_SIZE - 2] == 100) {
stmp[MAX_DATA_SIZE - 2] = 0;
stmp[MAX_DATA_SIZE - 3] = stmp[MAX_DATA_SIZE - 3] + 1;
}
}
examples/send_random/send_random.ino
+18 -4
View File
@@ -1,6 +1,6 @@
/*
* demo: CAN-BUS Shield, send random id/type/data
* This code has a little same with linux can-utils 'cangen -mv'
* This code has a little same with linux can-utils 'cangen -v'
*
* Copyright (C) 2020 Seeed Technology Co.,Ltd.
*/
@@ -31,8 +31,14 @@ const int CAN_INT_PIN = 2;
#ifdef CAN_2518FD
#include "mcp2518fd_can.h"
mcp2518fd CAN(SPI_CS_PIN); // Set CS pin
#define MAX_DATA_SIZE 64
#endif
// TEST TEST MCP2518FD CAN2.0 data transfer
#define MAX_DATA_SIZE 8
// To TEST MCP2518FD CANFD data transfer, uncomment below lines
// #undef MAX_DATA_SIZE
// #define MAX_DATA_SIZE 64
#endif//CAN_2518FD
#ifdef CAN_2515
#include "mcp2515_can.h"
@@ -42,8 +48,16 @@ mcp2515_can CAN(SPI_CS_PIN); // Set CS pin
void setup() {
SERIAL_PORT_MONITOR.begin(115200);
while(!SERIAL_PORT_MONITOR){}
while (!SERIAL_PORT_MONITOR) {}
#if MAX_DATA_SIZE > 8
/*
* To compatible with MCP2515 API,
* default mode is CAN_CLASSIC_MODE
* Now set to CANFD mode.
*/
CAN.setMode(CAN_NORMAL_MODE);
#endif
while (CAN_OK != CAN.begin(CAN_500KBPS)) { // init can bus : baudrate = 500k
SERIAL_PORT_MONITOR.println("CAN init fail, retry...");
delay(100);
examples/send_receive/send_receive.ino
+1 -1
View File
@@ -28,7 +28,7 @@ void setup() {
while(!Serial); // wait for Serial
if (CAN_SEND.begin((byte)CAN_500K_1M) != 0 || CAN_RECEIVE.begin((byte)CAN_500K_1M) != 0) {
Serial.println("CAN-BUS initiliased error!");
SERIAL_PORT_MONITOR.println("CAN-BUS initiliased error!");
while(1);
}
examples/send_receiveFD/send_receiveFD.ino
+37 -25
View File
@@ -1,6 +1,7 @@
/*
This is an example of sending and receiving (FD) on its own, connect two channels to each other using jumpers.
*/
* This is an example of sending and receiving (FD) on its own,
* connect two channels to each other using jumpers.
*/
#include <SPI.h>
#include "mcp2518fd_can.h"
@@ -20,15 +21,24 @@ const int SPI_CS_PIN_RECEIVE = 2;
mcp2518fd CAN_SEND(SPI_CS_PIN_SEND);
mcp2518fd CAN_RECEIVE(SPI_CS_PIN_RECEIVE);
// CANFD could carry data up to 64 bytes
#define MAX_DATA_SIZE 64
void setup() {
SERIAL_PORT_MONITOR.begin(115200);
while(!Serial); // wait for Serial
CAN_SEND.setMode(0);
CAN_RECEIVE.setMode(0);
while (!SERIAL_PORT_MONITOR) {} // wait for Serial
/*
* To compatible with MCP2515 API,
* default mode is CAN_CLASSIC_MODE
* Now set to CANFD mode.
*/
CAN_SEND.setMode(CAN_NORMAL_MODE);
CAN_RECEIVE.setMode(CAN_NORMAL_MODE);
if (CAN_SEND.begin((byte)CAN_500K_1M) != 0 || CAN_RECEIVE.begin((byte)CAN_500K_1M) != 0) {
Serial.println("CAN-BUS initiliased error!");
while(1);
SERIAL_PORT_MONITOR.println("CAN-BUS initiliased error!");
while (1);
}
byte send_mode = CAN_SEND.getMode();
byte receive_mode = CAN_RECEIVE.getMode();
@@ -37,19 +47,21 @@ void setup() {
SERIAL_PORT_MONITOR.println("CAN BUS Shield init ok!");
}
unsigned char stmp[64] = {0};
unsigned char stmp[MAX_DATA_SIZE] = {0};
unsigned char len = 0;
unsigned char buf[64];
unsigned char buf[MAX_DATA_SIZE];
void loop() {
stmp[63] = stmp[63] + 1;
if (stmp[63] == 100) {
stmp[63] = 0;
stmp[62] = stmp[62] + 1;
// send data: id = 0x00, standrad frame, data len = 64, stmp: data buf
stmp[MAX_DATA_SIZE - 1] = stmp[MAX_DATA_SIZE - 1] + 1;
if (stmp[MAX_DATA_SIZE - 1] == 100) {
stmp[MAX_DATA_SIZE - 1] = 0;
if (stmp[62] == 100) {
stmp[62] = 0;
stmp[61] = stmp[61] + 1;
stmp[MAX_DATA_SIZE - 2] = stmp[MAX_DATA_SIZE - 2] + 1;
if (stmp[MAX_DATA_SIZE - 2] == 100) {
stmp[MAX_DATA_SIZE - 2] = 0;
stmp[MAX_DATA_SIZE - 3] = stmp[MAX_DATA_SIZE - 3] + 1;
}
}
@@ -58,16 +70,16 @@ void loop() {
SERIAL_PORT_MONITOR.println("CAN BUS sendMsgBuf ok!");
// ---------------------
if (CAN_MSGAVAIL == CAN_RECEIVE.checkReceive()) {
// read data, len: data length, buf: data buf
SERIAL_PORT_MONITOR.println("checkReceive");
CAN_RECEIVE.readMsgBuf(&len, buf);
// print the data
for (int i = 0; i < len; i++) {
SERIAL_PORT_MONITOR.print(buf[i]); SERIAL_PORT_MONITOR.print("");
}
SERIAL_PORT_MONITOR.println();
// read data, len: data length, buf: data buf
SERIAL_PORT_MONITOR.println("checkReceive");
CAN_RECEIVE.readMsgBuf(&len, buf);
// print the data
for (int i = 0; i < len; i++) {
SERIAL_PORT_MONITOR.print(buf[i]);
SERIAL_PORT_MONITOR.print(' ');
}
SERIAL_PORT_MONITOR.println();
}
SERIAL_PORT_MONITOR.println("---LOOP END---");
}