[137] | 1 | #include "rca.h"
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| 2 |
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| 3 | // demo: CAN-BUS Shield, receive data
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| 4 | #include <SPI.h>
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| 5 | #include "mcp_can.h"
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| 6 | #include <stdio.h>
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| 7 | #define uint8_t unsigned char
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| 8 |
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| 9 | const int SPI_CS_PIN = 9;
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| 10 | #define CAN_INT_PIN 3
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| 11 | MCP_CAN CAN(SPI_CS_PIN); // Set CS pin
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| 12 |
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| 13 | extern void MCP2515_ISR();
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| 14 |
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| 15 | /*
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| 16 | * CAN Controller : MCP2515
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| 17 | * TXB : MCP_TXB0:0, MCP_RXB1:1,MCP_RXB2:2
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| 18 | * RXB : MCP_RXB0:0 : Mask MCP_RXM0:0 : Filer MCP_RXF0:0, MCP_RXF1:1
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| 19 | * MCP_RXB1:1 : Mask MCP_RXM2:1 : Filer MCP_RXF2:2, MCP_RXF3:3, MCP_RXF4:4, MCP_RXF5:5
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| 20 | * Interrupt mask
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| 21 | * MCP_TX0IF
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| 22 | * MCP_TX1IF
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| 23 | * MCP_TX2IF
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| 24 | * MCP_RX0IF
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| 25 | * MCP_RX1IF
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| 26 | */
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| 27 | bool can_init_done = false;
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| 28 |
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| 29 | void setup()
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| 30 | {
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| 31 | Serial.begin(115200);
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| 32 | pinMode(13, OUTPUT);
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| 33 |
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| 34 | /*
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| 35 | * CAN Initialize
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| 36 | */
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| 37 | if(CAN.begin(CAN_500KBPS) ==CAN_OK) {
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| 38 | Serial.print("can init ok!!\r\n");
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| 39 | }
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| 40 | else {
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| 41 | while(1){
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| 42 | Serial.print("Can init fail!!\r\n");
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| 43 | digitalWrite(13, HIGH);
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| 44 | delay(500);
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| 45 | digitalWrite(13, LOW);
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| 46 | delay(500);
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| 47 | };
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| 48 | }
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| 49 |
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| 50 | /*
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| 51 | * CAN Recive mabx Init
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| 52 | */
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| 53 |
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| 54 | /*
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| 55 | * RXB0
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| 56 | */
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| 57 | CAN.init_Mask(MCP_RXM0, 0x0f);
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| 58 | CAN.init_Filter(MCP_RXF0, 0x01);
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| 59 | CAN.init_Filter(MCP_RXF1, 0x02);
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| 60 | CAN.startReceive(MCP_RXB0);
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| 61 |
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| 62 | /*
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| 63 | * RXB1
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| 64 | */
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[204] | 65 | CAN.init_Mask(MCP_RXM1, 0x0f);
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[137] | 66 | CAN.init_Filter(MCP_RXF2, 0x03);
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| 67 | CAN.init_Filter(MCP_RXF3, 0x04);
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| 68 | CAN.init_Filter(MCP_RXF4, 0x05);
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| 69 | CAN.init_Filter(MCP_RXF5, 0x06);
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| 70 | CAN.startReceive(MCP_RXB1);
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| 71 |
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| 72 | CAN.enableInterrupt(MCP_RX0IF|MCP_RX1IF);
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| 73 | CAN.attachInterrupt(CAN_INT_PIN, MCP2515_ISR);
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| 74 |
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[171] | 75 | can_init_done = true;
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[137] | 76 | }
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| 77 |
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| 78 | uint8_t Flag_Recv = 0;
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| 79 |
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| 80 | void MCP2515_ISR()
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| 81 | {
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| 82 | Flag_Recv = 1;
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| 83 | }
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| 84 |
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| 85 | void loop()
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| 86 | {
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| 87 | uint8_t len = 0;
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| 88 | uint8_t buf[8];
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| 89 | uint8_t i;
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| 90 | uint32_t id;
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| 91 |
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| 92 | if(!Flag_Recv) {
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| 93 | delay(1);
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| 94 | return;
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| 95 | }
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| 96 |
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| 97 | Flag_Recv = 0;
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| 98 |
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| 99 | for(i = 0; i < 2; i++){
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| 100 | if(CAN.checkReceive(i) == CAN_NOMSG) {
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| 101 | continue;
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| 102 | }
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| 103 | CAN.readMsg(i, &id, &len, buf); // read data, len: data length, buf: data buf
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| 104 | Serial.print("CAN_BUS GET DATA MBX");
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| 105 | Serial.println(i);
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[204] | 106 | Serial.print("ID = ");Serial.print(id, HEX);
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[137] | 107 | Serial.print(", DLC = ");Serial.print(len);
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| 108 | Serial.print(", data = ");
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| 109 | for(int i = 0; i<len; i++){ // print the data
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| 110 | Serial.print(buf[i]);Serial.print("\t");
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| 111 | }
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| 112 | Serial.println();
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| 113 | }
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| 114 | }
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| 115 |
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| 116 | void task1_setup()
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| 117 | {
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| 118 | while(can_init_done == false){delay(10);}
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| 119 | }
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| 120 |
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| 121 | unsigned char stmp[8][8] = {
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| 122 | {1, 2, 3, 4, 5, 6, 7, 8},
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| 123 | {2, 3, 4, 5, 6, 7, 8, 1},
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| 124 | {3, 4, 5, 6, 7, 8, 1, 2},
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| 125 | {1, 2, 3, 4, 5, 6, 7, 8},
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| 126 | {1, 2, 3, 4, 5, 6, 7, 8},
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| 127 | {1, 2, 3, 4, 5, 6, 7, 8},
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| 128 | {1, 2, 3, 4, 5, 6, 7, 8},
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| 129 | {0, 1, 2, 3, 4, 5, 6, 7}
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| 130 | };
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| 131 |
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| 132 | unsigned char stmp1[8] = {0, 1, 2, 3, 4, 5, 6, 7};
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| 133 |
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| 134 | void task1_loop()
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| 135 | {
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| 136 | int i, e;
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| 137 |
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| 138 | for(e = 0; e < 3; e++){
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| 139 | Serial.print("Send can message from mbx ");
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| 140 | Serial.println(e);
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| 141 | for(i = 1; i <= 8; i++){
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| 142 | while(CAN_SENDWAIT == CAN.checkSend(e)){delay(10);};
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| 143 | /* mailbox, ID, DLC, DATA */
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| 144 | CAN.sendMsg(e, i, i, stmp[i-1]);
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| 145 | }
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| 146 | }
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| 147 |
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[204] | 148 | delay(5000);
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[137] | 149 | }
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