mirror of
https://github.com/Seeed-Studio/Seeed_Arduino_CAN.git
synced 2026-07-28 04:06:45 +00:00
90 lines
2.7 KiB
Arduino
90 lines
2.7 KiB
Arduino
// demo: CAN-BUS Shield, receive data with interrupt mode
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// when in interrupt mode, the data coming can't be too fast, must >20ms, or else you can use check mode
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// loovee, 2014-6-13
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#include <SPI.h>
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#include "mcp2518fd_can.h"
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#define CAN_2518FD
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// Set SPI CS Pin according to your hardware
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#if defined(SEEED_WIO_TERMINAL) && defined(CAN_2518FD)
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// For Wio Terminal w/ MCP2518FD RPi Hat：
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// Channel 0 SPI_CS Pin: BCM 8
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// Channel 1 SPI_CS Pin: BCM 7
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// Interupt Pin: BCM25
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const int SPI_CS_PIN = BCM8;
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const int CAN_INT_PIN = BCM25;
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#else
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// For Arduino MCP2515 Hat:
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// the cs pin of the version after v1.1 is default to D9
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// v0.9b and v1.0 is default D10
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const int SPI_CS_PIN = 9;
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const int CAN_INT_PIN = 2;
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#endif
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#ifdef CAN_2518FD
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mcp2518fd CAN(SPI_CS_PIN); // Set CS pin
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#endif
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unsigned char flagRecv = 0;
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unsigned char len = 0;
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unsigned char buf[64];
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void setup() {
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SERIAL_PORT_MONITOR.begin(115200);
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while (!SERIAL_PORT_MONITOR) {
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; // wait for serial port to connect. Needed for native USB port only
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}
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attachInterrupt(digitalPinToInterrupt(CAN_INT_PIN), MCP2515_ISR, FALLING); // start interrupt
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CAN.setMode(CAN_NORMAL_MODE);
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// init can bus : arbitration bitrate = 500k, data bitrate = 1M
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while (0 != CAN.begin(CAN_500K_1M)) {
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SERIAL_PORT_MONITOR.println("CAN init fail, retry...");
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delay(100);
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}
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SERIAL_PORT_MONITOR.println("CAN init ok!");
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byte mode = CAN.getMode();
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#ifdef ARDUINO_XIAO_RA4M1
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char buffer[50];
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sprintf(buffer, "CAN BUS mode = %d\n\r", mode);
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SERIAL_PORT_MONITOR.print(buffer);
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#else
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SERIAL_PORT_MONITOR.printf("CAN BUS mode = %d\n\r", mode);
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#endif
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}
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void MCP2515_ISR() {
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flagRecv = 1;
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}
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void loop() {
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if (flagRecv) {
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// check if get data
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flagRecv = 0; // clear flag
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SERIAL_PORT_MONITOR.println("into loop");
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// iterate over all pending messages
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// If either the bus is saturated or the MCU is busy,
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// both RX buffers may be in use and reading a single
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// message does not clear the IRQ conditon.
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while (CAN_MSGAVAIL == CAN.checkReceive()) {
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// read data, len: data length, buf: data buf
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SERIAL_PORT_MONITOR.println("checkReceive");
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CAN.readMsgBuf(&len, buf);
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// print the data
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for (int i = 0; i < len; i++) {
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SERIAL_PORT_MONITOR.print(buf[i]); SERIAL_PORT_MONITOR.print("\t");
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}
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SERIAL_PORT_MONITOR.println();
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}
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}
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}
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/*********************************************************************************************************
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END FILE
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*********************************************************************************************************/
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