mirror of
https://github.com/Seeed-Studio/Seeed_Arduino_CAN.git
synced 2026-07-28 04:06:45 +00:00
76 lines
2.2 KiB
Arduino
76 lines
2.2 KiB
Arduino
/*
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This is an example of sending and receiving (FD) on its own, connect two channels to each other using jumpers.
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*/
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#include <SPI.h>
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#include "mcp2518fd_can.h"
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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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const int SPI_CS_PIN_SEND = 9;
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const int SPI_CS_PIN_RECEIVE = 2;
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mcp2518fd CAN_SEND(SPI_CS_PIN_SEND);
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mcp2518fd CAN_RECEIVE(SPI_CS_PIN_RECEIVE);
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void setup() {
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SERIAL_PORT_MONITOR.begin(115200);
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while(!Serial); // wait for Serial
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CAN_SEND.setMode(0);
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CAN_RECEIVE.setMode(0);
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if (CAN_SEND.begin((byte)CAN_500K_1M) != 0 || CAN_RECEIVE.begin((byte)CAN_500K_1M) != 0) {
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Serial.println("CAN-BUS initiliased error!");
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while(1);
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}
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byte send_mode = CAN_SEND.getMode();
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byte receive_mode = CAN_RECEIVE.getMode();
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SERIAL_PORT_MONITOR.print("CAN BUS Send Mode = "); SERIAL_PORT_MONITOR.println(send_mode);
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SERIAL_PORT_MONITOR.print("CAN BUS Receive Mode = "); SERIAL_PORT_MONITOR.println(receive_mode);
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SERIAL_PORT_MONITOR.println("CAN BUS Shield init ok!");
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}
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unsigned char stmp[64] = {0};
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unsigned char len = 0;
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unsigned char buf[64];
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void loop() {
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stmp[63] = stmp[63] + 1;
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if (stmp[63] == 100) {
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stmp[63] = 0;
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stmp[62] = stmp[62] + 1;
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if (stmp[62] == 100) {
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stmp[62] = 0;
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stmp[61] = stmp[61] + 1;
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}
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}
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CAN_SEND.sendMsgBuf(0x00, 0, 15, 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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if (CAN_MSGAVAIL == CAN_RECEIVE.checkReceive()) {
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// read data, len: data length, buf: data buf
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SERIAL_PORT_MONITOR.println("checkReceive");
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CAN_RECEIVE.readMsgBuf(&len, buf);
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// print the data
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for (int i = 0; i < len; i++) {
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SERIAL_PORT_MONITOR.print(buf[i]); SERIAL_PORT_MONITOR.print("");
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}
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SERIAL_PORT_MONITOR.println();
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}
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SERIAL_PORT_MONITOR.println("---LOOP END---");
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}
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// END FILE
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