mirror of
https://github.com/Seeed-Studio/Seeed_Arduino_CAN.git
synced 2026-07-27 19:55:59 +00:00
63 lines
1.6 KiB
Arduino
63 lines
1.6 KiB
Arduino
// demo: CAN-BUS Shield, receive data with check mode
|
|
// send data coming to fast, such as less than 10ms, you can use this way
|
|
// loovee, 2014-6-13
|
|
|
|
|
|
#include <SPI.h>
|
|
#include "mcp_can.h"
|
|
|
|
/*SAMD core*/
|
|
#ifdef ARDUINO_SAMD_VARIANT_COMPLIANCE
|
|
#define SERIAL SerialUSB
|
|
#else
|
|
#define SERIAL Serial
|
|
#endif
|
|
|
|
// the cs pin of the version after v1.1 is default to D9
|
|
// v0.9b and v1.0 is default D10
|
|
const int SPI_CS_PIN = 9;
|
|
|
|
MCP_CAN CAN(SPI_CS_PIN); // Set CS pin
|
|
|
|
void setup()
|
|
{
|
|
SERIAL.begin(115200);
|
|
|
|
while (CAN_OK != CAN.begin(CAN_500KBPS)) // init can bus : baudrate = 500k
|
|
{
|
|
SERIAL.println("CAN BUS Shield init fail");
|
|
SERIAL.println(" Init CAN BUS Shield again");
|
|
delay(100);
|
|
}
|
|
SERIAL.println("CAN BUS Shield init ok!");
|
|
}
|
|
|
|
|
|
void loop()
|
|
{
|
|
unsigned char len = 0;
|
|
unsigned char buf[8];
|
|
|
|
if(CAN_MSGAVAIL == CAN.checkReceive()) // check if data coming
|
|
{
|
|
CAN.readMsgBuf(&len, buf); // read data, len: data length, buf: data buf
|
|
|
|
unsigned long canId = CAN.getCanId();
|
|
|
|
SERIAL.println("-----------------------------");
|
|
SERIAL.print("Get data from ID: 0x");
|
|
SERIAL.println(canId, HEX);
|
|
|
|
for(int i = 0; i<len; i++) // print the data
|
|
{
|
|
SERIAL.print(buf[i], HEX);
|
|
SERIAL.print("\t");
|
|
}
|
|
SERIAL.println();
|
|
}
|
|
}
|
|
|
|
/*********************************************************************************************************
|
|
END FILE
|
|
*********************************************************************************************************/
|