mirror of
https://github.com/Seeed-Studio/Seeed_Arduino_CAN.git
synced 2026-07-27 19:55:59 +00:00
124 lines
3.7 KiB
Arduino
124 lines
3.7 KiB
Arduino
// This is an example of receiving both standard frames and extended frames simultaneously.
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// I have used two arrays, STANDARD_CAN_IDS and EXTENDED_CAN_IDS, to receive CAN messages with specific IDs.
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// You need to set filters and masks for these IDs,
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// and make sure to refer to and coordinate with the example for sending extended frames
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#include <SPI.h>
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#define CAN_2515
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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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#include "mcp2518fd_can.h"
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mcp2518fd CAN(SPI_CS_PIN); // Set CS pin
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#endif
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#ifdef CAN_2515
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#include "mcp2515_can.h"
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mcp2515_can CAN(SPI_CS_PIN); // Set CS pin
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#endif
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// Define the list of standard CAN IDs to receive
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const unsigned long STANDARD_CAN_IDS[] = {0x123, 0x456};
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const int STANDARD_CAN_ID_COUNT = sizeof(STANDARD_CAN_IDS) / sizeof(STANDARD_CAN_IDS[0]);
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// Define the list of extended CAN IDs to receive
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const unsigned long EXTENDED_CAN_IDS[] = {0x1234567, 0x89ABCDE};
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const int EXTENDED_CAN_ID_COUNT = sizeof(EXTENDED_CAN_IDS) / sizeof(EXTENDED_CAN_IDS[0]);
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void setup()
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{
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SERIAL_PORT_MONITOR.begin(115200);
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while(!Serial){};
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while (CAN_OK != CAN.begin(CAN_250KBPS))
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{ // init can bus : baudrate = 250k
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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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// Configure the standard frame filters
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for (int i = 0; i < STANDARD_CAN_ID_COUNT; i++)
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{
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CAN.init_Mask(i, 0, 0x7FF); // Check all 11 bits of the standard frame
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CAN.init_Filt(i, 0, STANDARD_CAN_IDS[i]);
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}
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// Configure the extended frame filters
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for (int i = 0; i < EXTENDED_CAN_ID_COUNT; i++)
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{
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CAN.init_Mask(i + STANDARD_CAN_ID_COUNT, 1, 0x1FFFFFFF); // Check all 29 bits of the extended frame
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CAN.init_Filt(i + STANDARD_CAN_ID_COUNT, 1, EXTENDED_CAN_IDS[i]);
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}
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}
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void loop()
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{
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unsigned char len = 0;
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unsigned char buf[8];
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if (CAN_MSGAVAIL == CAN.checkReceive())
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{ // check if data coming
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CAN.readMsgBuf(&len, buf); // read data, len: data length, buf: data buf
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unsigned long canId = CAN.getCanId();
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// Check if it is a standard CAN ID
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for (int i = 0; i < STANDARD_CAN_ID_COUNT; i++)
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{
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if (canId == STANDARD_CAN_IDS[i])
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{
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SERIAL_PORT_MONITOR.println("-----------------------------");
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SERIAL_PORT_MONITOR.print("Get standard data from ID: 0x");
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SERIAL_PORT_MONITOR.println(canId, HEX);
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for (int j = 0; j < len; j++)
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{ // print the data
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SERIAL_PORT_MONITOR.print(buf[j], HEX);
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SERIAL_PORT_MONITOR.print("\t");
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}
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SERIAL_PORT_MONITOR.println();
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break;
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}
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}
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// Check if it is an extended CAN ID
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for (int i = 0; i < EXTENDED_CAN_ID_COUNT; i++)
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{
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if (canId == EXTENDED_CAN_IDS[i])
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{
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SERIAL_PORT_MONITOR.println("-----------------------------");
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SERIAL_PORT_MONITOR.print("Get extended data from ID: 0x");
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SERIAL_PORT_MONITOR.println(canId, HEX);
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for (int j = 0; j < len; j++)
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{ // print the data
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SERIAL_PORT_MONITOR.print(buf[j], HEX);
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SERIAL_PORT_MONITOR.print("\t");
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}
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SERIAL_PORT_MONITOR.println();
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break;
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}
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}
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}
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} |