test

arduino/test.ino

@@ -0,0 +1,80 @@
+// demo: CAN-BUS Shield, receive data with check mode
+// send data coming to fast, such as less than 10ms, you can use this way
+// loovee, 2014-6-13
+#include <SPI.h>
+
+#define CAN_2515
+// #define CAN_2518FD
+
+// Set SPI CS Pin according to your hardware
+
+#if defined(SEEED_WIO_TERMINAL) && defined(CAN_2518FD)
+// For Wio Terminal w/ MCP2518FD RPi Hat：
+// Channel 0 SPI_CS Pin: BCM 8
+// Channel 1 SPI_CS Pin: BCM 7
+// Interupt Pin: BCM25
+const int SPI_CS_PIN  = BCM8;
+const int CAN_INT_PIN = BCM25;
+#else
+
+// For Arduino MCP2515 Hat:
+// the cs pin of the version after v1.1 is default to D9
+// v0.9b and v1.0 is default D10
+const int SPI_CS_PIN = 9;
+const int CAN_INT_PIN = 2;
+#endif
+
+
+#ifdef CAN_2518FD
+#include "mcp2518fd_can.h"
+mcp2518fd CAN(SPI_CS_PIN); // Set CS pin
+#endif
+
+#ifdef CAN_2515
+#include "mcp2515_can.h"
+mcp2515_can CAN(SPI_CS_PIN); // Set CS pin
+#endif
+
+void setup() {
+    SERIAL_PORT_MONITOR.begin(9600);
+
+    while (CAN_OK != CAN.begin(CAN_500KBPS, MCP_8MHz)) {             // init can bus : baudrate = 500k
+        SERIAL_PORT_MONITOR.println("CAN init fail, retry...");
+        delay(100);
+    }
+    SERIAL_PORT_MONITOR.println("CAN init ok!");
+}
+
+void loop() {
+    unsigned char len = 0;
+    unsigned char buf[8];
+
+    if (CAN_MSGAVAIL == CAN.checkReceive()) {         // check if data coming
+        CAN.readMsgBuf(&len, buf);    // read data,  len: data length, buf: data buf
+
+        unsigned long canId = CAN.getCanId();
+
+        SERIAL_PORT_MONITOR.println("-----------------------------");
+        SERIAL_PORT_MONITOR.print("Get data from ID: 0x");
+        // SPEED
+        byte speed = buf[0];
+
+        // RPM
+        byte lowByte = buf[1];
+        byte highByte = buf[2];
+        word rpm = word(highByte, lowByte);
+
+        SERIAL_PORT_MONITOR.println(canId, HEX);
+
+        SERIAL_PORT_MONITOR.print("SPEED: ");
+        SERIAL_PORT_MONITOR.print(speed);
+        SERIAL_PORT_MONITOR.print("\t");
+        SERIAL_PORT_MONITOR.print("RPM: ");
+        SERIAL_PORT_MONITOR.print(rpm);
+        SERIAL_PORT_MONITOR.println();
+    }
+}
+
+/*********************************************************************************************************
+    END FILE
+*********************************************************************************************************/