1 | // demo: CAN-BUS Shield, receive data with interrupt mode, and set mask and filter
|
---|
2 | //
|
---|
3 | // when in interrupt mode, the data coming can't be too fast, must >20ms, or else you can use check mode
|
---|
4 | // loovee, 2014-7-8
|
---|
5 |
|
---|
6 | #include <SPI.h>
|
---|
7 | #include "mcp_can.h"
|
---|
8 |
|
---|
9 | // the cs pin of the version after v1.1 is default to D9
|
---|
10 | // v0.9b and v1.0 is default D10
|
---|
11 | const int SPI_CS_PIN = 9;
|
---|
12 |
|
---|
13 | MCP_CAN CAN(SPI_CS_PIN); // Set CS pin
|
---|
14 |
|
---|
15 |
|
---|
16 | unsigned char flagRecv = 0;
|
---|
17 | unsigned char len = 0;
|
---|
18 | unsigned char buf[8];
|
---|
19 | char str[20];
|
---|
20 |
|
---|
21 | void setup()
|
---|
22 | {
|
---|
23 | Serial.begin(115200);
|
---|
24 |
|
---|
25 | START_INIT:
|
---|
26 |
|
---|
27 | if(CAN_OK == CAN.begin(CAN_500KBPS)) // init can bus : baudrate = 500k
|
---|
28 | {
|
---|
29 | Serial.println("CAN BUS Shield init ok!");
|
---|
30 | }
|
---|
31 | else
|
---|
32 | {
|
---|
33 | Serial.println("CAN BUS Shield init fail");
|
---|
34 | Serial.println("Init CAN BUS Shield again");
|
---|
35 | delay(100);
|
---|
36 | goto START_INIT;
|
---|
37 | }
|
---|
38 |
|
---|
39 | attachInterrupt(0, MCP2515_ISR, FALLING); // start interrupt
|
---|
40 |
|
---|
41 |
|
---|
42 | /*
|
---|
43 | * set mask, set both the mask to 0x3ff
|
---|
44 | */
|
---|
45 | CAN.init_Mask(0, 0, 0x3ff); // there are 2 mask in mcp2515, you need to set both of them
|
---|
46 | CAN.init_Mask(1, 0, 0x3ff);
|
---|
47 |
|
---|
48 |
|
---|
49 | /*
|
---|
50 | * set filter, we can receive id from 0x04 ~ 0x09
|
---|
51 | */
|
---|
52 | CAN.init_Filt(0, 0, 0x04); // there are 6 filter in mcp2515
|
---|
53 | CAN.init_Filt(1, 0, 0x05); // there are 6 filter in mcp2515
|
---|
54 |
|
---|
55 | CAN.init_Filt(2, 0, 0x06); // there are 6 filter in mcp2515
|
---|
56 | CAN.init_Filt(3, 0, 0x07); // there are 6 filter in mcp2515
|
---|
57 | CAN.init_Filt(4, 0, 0x08); // there are 6 filter in mcp2515
|
---|
58 | CAN.init_Filt(5, 0, 0x09); // there are 6 filter in mcp2515
|
---|
59 |
|
---|
60 | }
|
---|
61 |
|
---|
62 | void MCP2515_ISR()
|
---|
63 | {
|
---|
64 | flagRecv = 1;
|
---|
65 | }
|
---|
66 |
|
---|
67 | void loop()
|
---|
68 | {
|
---|
69 | if(flagRecv) // check if get data
|
---|
70 | {
|
---|
71 |
|
---|
72 | flagRecv = 0; // clear flag
|
---|
73 | CAN.readMsgBuf(&len, buf); // read data, len: data length, buf: data buf
|
---|
74 |
|
---|
75 | Serial.println("\r\n------------------------------------------------------------------");
|
---|
76 | Serial.print("Get Data From id: ");
|
---|
77 | Serial.println(CAN.getCanId());
|
---|
78 | for(int i = 0; i<len; i++) // print the data
|
---|
79 | {
|
---|
80 | Serial.print("0x");
|
---|
81 | Serial.print(buf[i], HEX);
|
---|
82 | Serial.print("\t");
|
---|
83 | }
|
---|
84 | Serial.println();
|
---|
85 |
|
---|
86 | }
|
---|
87 | }
|
---|
88 |
|
---|
89 | /*********************************************************************************************************
|
---|
90 | END FILE
|
---|
91 | *********************************************************************************************************/
|
---|