mirror of
https://github.com/Seeed-Studio/Seeed_Arduino_CAN.git
synced 2026-07-28 04:06:45 +00:00
113 lines
2.8 KiB
Arduino
113 lines
2.8 KiB
Arduino
/*
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* demo: CAN-BUS Shield, receive all frames and print all fields id/type/data
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* to receive frame fastly, a poll in loop() is required.
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*
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* Copyright (C) 2020 Seeed Technology Co.,Ltd.
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*/
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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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// Set SPI CS Pin according to your hardware
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#if defined(SEEED_WIO_TERMINAL) && defined(CAN_2518FD)
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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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const int SPI_CS_PIN = BCM8;
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const int CAN_INT_PIN = BCM25;
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#else
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// For Arduino MCP2515 Hat:
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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 CAN_INT_PIN = 2;
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#endif
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#ifdef CAN_2518FD
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#include "mcp2518fd_can.h"
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mcp2518fd CAN(SPI_CS_PIN); // Set CS pin
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// To TEST MCP2518FD CAN2.0 data transfer
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#define MAX_DATA_SIZE 8
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// To TEST MCP2518FD CANFD data transfer, uncomment below lines
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// #undef MAX_DATA_SIZE
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// #define MAX_DATA_SIZE 64
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#endif
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#ifdef CAN_2515
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#include "mcp2515_can.h"
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mcp2515_can CAN(SPI_CS_PIN); // Set CS pin
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#define MAX_DATA_SIZE 8
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#endif
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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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#if MAX_DATA_SIZE > 8
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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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#endif
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while (CAN_OK != CAN.begin(CAN_500KBPS)) { // init can bus : baudrate = 500k
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SERIAL_PORT_MONITOR.println(F("CAN init fail, retry..."));
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delay(100);
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}
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SERIAL_PORT_MONITOR.println(F("CAN init ok!"));
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}
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uint32_t id;
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uint8_t type; // bit0: ext, bit1: rtr
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uint8_t len;
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byte cdata[MAX_DATA_SIZE] = {0};
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void loop() {
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// check if data coming
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if (CAN_MSGAVAIL != CAN.checkReceive()) {
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return;
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}
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char prbuf[32 + MAX_DATA_SIZE * 3];
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int i, n;
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unsigned long t = millis();
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// read data, len: data length, buf: data buf
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CAN.readMsgBuf(&len, cdata);
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id = CAN.getCanId();
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type = (CAN.isExtendedFrame() << 0) |
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(CAN.isRemoteRequest() << 1);
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/*
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* MCP2515(or this driver) could not handle properly
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* the data carried by remote frame
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*/
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n = sprintf(prbuf, "%04lu.%03d ", t / 1000, int(t % 1000));
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/* Displayed type:
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*
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* 0x00: standard data frame
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* 0x02: extended data frame
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* 0x30: standard remote frame
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* 0x32: extended remote frame
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*/
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static const byte type2[] = {0x00, 0x02, 0x30, 0x32};
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n += sprintf(prbuf + n, "RX: [%08lX](%02X) ", (unsigned long)id, type2[type]);
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// n += sprintf(prbuf, "RX: [%08lX](%02X) ", id, type);
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for (i = 0; i < len; i++) {
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n += sprintf(prbuf + n, "%02X ", cdata[i]);
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}
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SERIAL_PORT_MONITOR.println(prbuf);
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}
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// END FILE
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