mirror of
https://github.com/Seeed-Studio/Seeed_Arduino_CAN.git
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62 lines
1.6 KiB
Arduino
62 lines
1.6 KiB
Arduino
// demo: sendFD
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// show how to send CANFD frames.
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// only used with MCP2518FD shield.
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#include <SPI.h>
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#include "mcp2518fd_can.h"
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#if defined(SEEED_WIO_TERMINAL)
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const int SPI_CS_PIN = BCM8;
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#else
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const int SPI_CS_PIN = 9;
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#endif
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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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mcp2518fd CAN(SPI_CS_PIN); // Set CS pin
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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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/*
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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.setMode(CAN_NORMAL_MODE);
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while (0 != CAN.begin((byte)CAN_500K_1M)) { // init can bus : baudrate = 500k
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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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SERIAL_PORT_MONITOR.print("CAN mode = ");
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SERIAL_PORT_MONITOR.println(mode);
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}
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unsigned char stmp[MAX_DATA_SIZE] = {0};
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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.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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// END FILE
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