mirror of
https://github.com/Seeed-Studio/Seeed_Arduino_CAN.git
synced 2026-09-15 11:03:48 +00:00
106 lines
2.7 KiB
Arduino
106 lines
2.7 KiB
Arduino
// demo: CAN-BUS Shield, receive data and save to sd card, can.csv
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// when in interrupt mode, the data coming can't be too fast, must >20ms, or else you can use check mode
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// NOTE: Only CAN Bus Shield V2.0 has SD slot, for other versions, you need an SD card Shield as well
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// loovee, Jun 12, 2017
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#include <SPI.h>
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#include <SD.h>
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/*SAMD core*/
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#ifdef ARDUINO_SAMD_VARIANT_COMPLIANCE
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#define SERIAL SerialUSB
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#else
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#define SERIAL Serial
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#endif
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File myFile;
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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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#ifdef CAN_2518FD
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#include "mcp2518fd_can.h"
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const int SPI_CS_PIN = BCM8;
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const int CAN_INT_PIN = BCM25;
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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 // Set CS pin
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unsigned char flagRecv = 0;
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unsigned char len = 0;
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unsigned char buf[8];
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char str[20];
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void setup() {
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SERIAL.begin(115200);
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attachInterrupt(digitalPinToInterrupt(CAN_INT_PIN), MCP2515_ISR, FALLING); // start interrupt
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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.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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if (!SD.begin(4)) {
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SERIAL.println("SD initialization failed!");
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while (1);
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}
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SERIAL.println("SD initialization done.");
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}
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void MCP2515_ISR() {
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flagRecv = 1;
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}
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void loop() {
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if (flagRecv) {
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// check if get data
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flagRecv = 0; // clear flag
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unsigned long id = 0;
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myFile = SD.open("can.csv", FILE_WRITE);
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// iterate over all pending messages
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// If either the bus is saturated or the MCU is busy,
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// both RX buffers may be in use and reading a single
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// message does not clear the IRQ conditon.
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while (CAN_MSGAVAIL == CAN.checkReceive()) {
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// read data, len: data length, buf: data buf
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CAN.readMsgBufID(&id, &len, buf);
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SERIAL.print(id);
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SERIAL.print(",");
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myFile.print(id);
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myFile.print(",");
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for (int i = 0; i < len; i++) {
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SERIAL.print(buf[i]);
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SERIAL.print(",");
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myFile.print(buf[i]);
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myFile.print(",");
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}
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SERIAL.println();
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myFile.println();
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}
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myFile.close();
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}
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}
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// END FILE
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