1 | // demo: CAN-BUS Shield, receive data with check mode
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2 | // send data coming to fast, such as less than 10ms, you can use this way
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3 | // loovee, 2014-6-13
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4 |
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5 |
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6 | #include <SPI.h>
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7 | #include "mcp_can.h"
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8 |
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9 |
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10 | // the cs pin of the version after v1.1 is default to D9
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11 | // v0.9b and v1.0 is default D10
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12 | const int SPI_CS_PIN = 9;
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13 | const int LED=8;
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14 | boolean ledON=1;
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15 | MCP_CAN CAN(SPI_CS_PIN); // Set CS pin
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16 |
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17 | void setup()
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18 | {
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19 | Serial.begin(115200);
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20 | pinMode(LED,OUTPUT);
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21 |
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22 | START_INIT:
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23 |
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24 | if(CAN_OK == CAN.begin(CAN_500KBPS)) // init can bus : baudrate = 500k
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25 | {
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26 | Serial.println("CAN BUS Shield init ok!");
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27 | }
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28 | else
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29 | {
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30 | Serial.println("CAN BUS Shield init fail");
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31 | Serial.println("Init CAN BUS Shield again");
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32 | delay(100);
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33 | goto START_INIT;
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34 | }
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35 | }
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36 |
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37 |
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38 | void loop()
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39 | {
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40 | unsigned char len = 0;
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41 | unsigned char buf[8];
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42 |
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43 | if(CAN_MSGAVAIL == CAN.checkReceive()) // check if data coming
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44 | {
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45 | CAN.readMsgBuf(&len, buf); // read data, len: data length, buf: data buf
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46 |
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47 | unsigned char canId = CAN.getCanId();
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48 |
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49 | Serial.println("-----------------------------");
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50 | Serial.println("get data from ID: ");
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51 | Serial.println(canId);
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52 |
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53 | for(int i = 0; i<len; i++) // print the data
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54 | {
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55 | Serial.print(buf[i]);
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56 | Serial.print("\t");
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57 | if(ledON && i==0)
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58 | {
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59 |
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60 | digitalWrite(LED,buf[i]);
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61 | ledON=0;
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62 | delay(500);
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63 | }
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64 | else if((!(ledON)) && i==4){
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65 |
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66 | digitalWrite(LED,buf[i]);
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67 | ledON=1;
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68 | }
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69 |
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70 |
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71 | }
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72 | Serial.println();
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73 | }
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74 | }
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75 |
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76 | /*********************************************************************************************************
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77 | END FILE
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78 | *********************************************************************************************************/
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