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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65 | CAN.init_Mask(MCP_RXM1, 0x00);
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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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75 | // can_init_done = true;
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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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106 | Serial.print("ID = ");Serial.print(id);
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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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148 | delay(2000);
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149 | }
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