mirror of
https://github.com/Seeed-Studio/Seeed_Arduino_CAN.git
synced 2026-07-28 04:06:45 +00:00
88 lines
2.7 KiB
Arduino
88 lines
2.7 KiB
Arduino
/*
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* This is an example of sending and receiving (FD) on its own,
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* connect two channels to each other using jumpers.
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*/
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#include <SPI.h>
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#include "mcp2518fd_can.h"
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// Set SPI CS Pin according to your hardware
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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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// *****************************************
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// For Arduino MCP2515 Hat:
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// SPI_CS Pin: D9
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const int SPI_CS_PIN_SEND = 9;
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const int SPI_CS_PIN_RECEIVE = 2;
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mcp2518fd CAN_SEND(SPI_CS_PIN_SEND);
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mcp2518fd CAN_RECEIVE(SPI_CS_PIN_RECEIVE);
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// CANFD could carry data up to 64 bytes
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#define MAX_DATA_SIZE 64
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void setup() {
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SERIAL_PORT_MONITOR.begin(115200);
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while (!SERIAL_PORT_MONITOR) {} // wait for Serial
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/*
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* To compatible with MCP2515 API,
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* default mode is CAN_CLASSIC_MODE
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* Now set to CANFD mode.
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*/
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CAN_SEND.setMode(CAN_NORMAL_MODE);
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CAN_RECEIVE.setMode(CAN_NORMAL_MODE);
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if (CAN_SEND.begin((byte)CAN_500K_1M) != 0 || CAN_RECEIVE.begin((byte)CAN_500K_1M) != 0) {
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SERIAL_PORT_MONITOR.println("CAN-BUS initiliased error!");
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while (1);
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}
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byte send_mode = CAN_SEND.getMode();
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byte receive_mode = CAN_RECEIVE.getMode();
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SERIAL_PORT_MONITOR.print("CAN BUS Send Mode = "); SERIAL_PORT_MONITOR.println(send_mode);
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SERIAL_PORT_MONITOR.print("CAN BUS Receive Mode = "); SERIAL_PORT_MONITOR.println(receive_mode);
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SERIAL_PORT_MONITOR.println("CAN BUS Shield init ok!");
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}
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unsigned char stmp[MAX_DATA_SIZE] = {0};
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unsigned char len = 0;
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unsigned char buf[MAX_DATA_SIZE];
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void loop() {
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// send data: id = 0x00, standrad frame, data len = 64, stmp: data buf
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stmp[MAX_DATA_SIZE - 1] = stmp[MAX_DATA_SIZE - 1] + 1;
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if (stmp[MAX_DATA_SIZE - 1] == 100) {
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stmp[MAX_DATA_SIZE - 1] = 0;
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stmp[MAX_DATA_SIZE - 2] = stmp[MAX_DATA_SIZE - 2] + 1;
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if (stmp[MAX_DATA_SIZE - 2] == 100) {
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stmp[MAX_DATA_SIZE - 2] = 0;
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stmp[MAX_DATA_SIZE - 3] = stmp[MAX_DATA_SIZE - 3] + 1;
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}
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}
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CAN_SEND.sendMsgBuf(0x00, 0, CANFD::len2dlc(MAX_DATA_SIZE), stmp);
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delay(100); // send data per 100ms
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SERIAL_PORT_MONITOR.println("CAN BUS sendMsgBuf ok!");
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// ---------------------
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if (CAN_MSGAVAIL == CAN_RECEIVE.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_RECEIVE.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]);
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SERIAL_PORT_MONITOR.print(' ');
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}
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SERIAL_PORT_MONITOR.println();
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}
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SERIAL_PORT_MONITOR.println("---LOOP END---");
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}
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// END FILE
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