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tmkdev/SWCAN_test_m2.ino

Created October 7, 2017 18:26
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  1. tmkdev created this gist Oct 7, 2017.
    87 changes: 87 additions & 0 deletions SWCAN_test_m2.ino
    View file
    Original file line number Diff line number Diff line change
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    #include <SPI.h>
    #include <MCP2515_sw_can.h>

    // Pin definitions specific to how the MCP2515 is wired up.
    #define CS_PIN SPI0_CS3
    #define INT_PIN SWC_INT
    #define Serial SerialUSB

    // Create CAN object with pins as defined
    SWcan CAN(CS_PIN, INT_PIN);

    void CANHandler() {
    CAN.intHandler();
    }

    void setup() {
    Serial.begin(115200);

    while (!Serial);

    pinMode(DS2, OUTPUT);
    pinMode(DS6, OUTPUT);

    Serial.println("Initializing ...");

    digitalWrite(DS2, HIGH);

    // Set up SPI Communication
    // dataMode can be SPI_MODE0 or SPI_MODE3 only for MCP2515
    SPI.setClockDivider(SPI_CLOCK_DIV2);
    SPI.setDataMode(SPI_MODE0);
    SPI.setBitOrder(MSBFIRST);
    SPI.begin();

    // Initialize MCP2515 CAN controller at the specified speed and clock frequency
    // (Note: This is the oscillator attached to the MCP2515, not the Arduino oscillator)
    //speed in KHz, clock in MHz
    CAN.setupSW(33333); //GMLAN
    CAN.mode(3); // Normal on the SWCAN bus.
    // 0 = Sleep
    // 1 = High Speed
    // 2 = High Voltage
    // 3 = Normal


    attachInterrupt(SWC_INT, CANHandler, FALLING);
    //CAN.SetRXMask(MASK0, 0x7F0, 0); //match all but bottom four bits
    //CAN.SetRXFilter(FILTER0, 0x100, 0); //allows 0x100 - 0x10F
    //So, this code will only accept frames with ID of 0x100 - 0x10F. All other frames
    //will be ignored.

    Serial.println("Ready ...");


    }

    byte i=0;

    // CAN message frame (actually just the parts that are exposed by the MCP2515 RX/TX buffers)
    Frame message;

    void loop() {

    if (CAN.GetRXFrame(message)) {
    digitalWrite(DS6, HIGH);

    // Print message
    Serial.print("ID: ");
    Serial.println(message.id,HEX);
    Serial.print("Extended: ");
    if(message.extended) {
    Serial.println("Yes");
    } else {
    Serial.println("No");
    }
    Serial.print("Length: ");
    Serial.println(message.length,DEC);
    for(i=0;i<message.length;i++) {
    Serial.print(message.data.byte[i],HEX);
    Serial.print(" ");
    }
    Serial.println();
    Serial.println();
    digitalWrite(DS6, LOW);

    }
    }