From efad5bb3640b718cb4680affbf22790b8dcec92a Mon Sep 17 00:00:00 2001 From: turmary Date: Fri, 15 Jan 2021 17:51:08 +0800 Subject: [PATCH] Add: more comments about CANFD examples --- examples/receive_monitor/receive_monitor.ino | 17 +++++- examples/sendFD/sendFD.ino | 53 ++++++++++------- examples/send_random/send_random.ino | 22 +++++-- examples/send_receive/send_receive.ino | 2 +- examples/send_receiveFD/send_receiveFD.ino | 62 ++++++++++++-------- 5 files changed, 104 insertions(+), 52 deletions(-) diff --git a/examples/receive_monitor/receive_monitor.ino b/examples/receive_monitor/receive_monitor.ino index e0f5d68..ce93add 100644 --- a/examples/receive_monitor/receive_monitor.ino +++ b/examples/receive_monitor/receive_monitor.ino @@ -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); diff --git a/examples/sendFD/sendFD.ino b/examples/sendFD/sendFD.ino index 5479993..40335c8 100644 --- a/examples/sendFD/sendFD.ino +++ b/examples/sendFD/sendFD.ino @@ -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 #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; } } diff --git a/examples/send_random/send_random.ino b/examples/send_random/send_random.ino index 45ed51d..7dbd9d1 100644 --- a/examples/send_random/send_random.ino +++ b/examples/send_random/send_random.ino @@ -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); diff --git a/examples/send_receive/send_receive.ino b/examples/send_receive/send_receive.ino index 5e717f6..31fd6cd 100644 --- a/examples/send_receive/send_receive.ino +++ b/examples/send_receive/send_receive.ino @@ -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); } diff --git a/examples/send_receiveFD/send_receiveFD.ino b/examples/send_receiveFD/send_receiveFD.ino index 0330dee..a11d95b 100644 --- a/examples/send_receiveFD/send_receiveFD.ino +++ b/examples/send_receiveFD/send_receiveFD.ino @@ -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 #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---"); }