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https://github.com/Seeed-Studio/Seeed_Arduino_CAN.git
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68 lines
1.6 KiB
Arduino
68 lines
1.6 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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#include "mcp_can.h"
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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 LED = 8;
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boolean ledON = 1;
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MCP_CAN CAN(SPI_CS_PIN); // Set CS pin
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void setup()
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{
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Serial.begin(115200);
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pinMode(LED,OUTPUT);
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while (CAN_OK != CAN.begin(CAN_500KBPS)) // init can bus : baudrate = 500k
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{
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Serial.println("CAN BUS Shield init fail");
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Serial.println("Init CAN BUS Shield again");
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delay(100);
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}
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Serial.println("CAN BUS Shield init ok!");
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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()) // check if data coming
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{
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CAN.readMsgBuf(&len, buf); // read data, len: data length, buf: data buf
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unsigned char canId = CAN.getCanId();
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Serial.println("-----------------------------");
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Serial.println("get data from ID: ");
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Serial.println(canId);
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for(int i = 0; i<len; i++) // print the data
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{
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Serial.print(buf[i]);
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Serial.print("\t");
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if(ledON && i==0)
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{
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digitalWrite(LED, buf[i]);
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ledON = 0;
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delay(500);
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}
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else if((!(ledON)) && i==4)
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{
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digitalWrite(LED, buf[i]);
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ledON = 1;
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}
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}
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Serial.println();
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}
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}
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//END FILE
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