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https://github.com/Seeed-Studio/Seeed_Arduino_CAN.git
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74 lines
2.1 KiB
Arduino
74 lines
2.1 KiB
Arduino
// demo: CAN-BUS Shield, receive data with check mode
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// send data coming to fast, such as less than 10ms, you can use this way
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// loovee, 2014-6-13
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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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// 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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// 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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#ifdef CAN_2518FD
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#include "mcp2518fd_can.h"
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const int SPI_CS_PIN = 9;
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const int CAN_INT_PIN = 2;
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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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const int SPI_CS_PIN = 9;
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const int CAN_INT_PIN = 2;
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mcp2515_can CAN(SPI_CS_PIN); // Set CS pin
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#endif
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void setup() {
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SERIAL_PORT_MONITOR.begin(115200);
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#ifdef CAN_2518FD
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while (0 != CAN.begin((byte)CAN_500K_1M)) { // init can bus : baudrate = 500k
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#else
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while (CAN_OK != CAN.begin(CAN_500KBPS)) { // init can bus : baudrate = 500k
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#endif
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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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}
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void loop() {
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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()) { // 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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SERIAL_PORT_MONITOR.println("-----------------------------");
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SERIAL_PORT_MONITOR.print("Get data from ID: 0x");
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SERIAL_PORT_MONITOR.println(canId, HEX);
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for (int i = 0; i < len; i++) { // print the data
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SERIAL_PORT_MONITOR.print(buf[i], 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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}
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}
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/*********************************************************************************************************
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END FILE
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*********************************************************************************************************/
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