143 lines
5.3 KiB
C++
143 lines
5.3 KiB
C++
/**
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* @brief This example enables the loopback mode to test the transmission and reception of CAN frames via MCP2515 without any physical bus connection.
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* @author Alexander Entinger, MSc / LXRobotics GmbH
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*/
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/**************************************************************************************
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* INCLUDE
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**************************************************************************************/
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#include <SPI.h>
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#include <107-Arduino-MCP2515.h>
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#undef max
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#undef min
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#include <algorithm>
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/**************************************************************************************
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* CONSTANTS
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**************************************************************************************/
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static int const MKRCAN_MCP2515_CS_PIN = 3;
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static int const MKRCAN_MCP2515_INT_PIN = 7;
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static SPISettings const MCP2515x_SPI_SETTING{1000000, MSBFIRST, SPI_MODE0};
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/**************************************************************************************
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* FUNCTION DECLARATION
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**************************************************************************************/
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void onReceiveBufferFull(uint32_t const, uint32_t const, uint8_t const *, uint8_t const);
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/**************************************************************************************
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* TYPEDEF
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**************************************************************************************/
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typedef struct
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{
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uint32_t id;
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uint8_t data[8];
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uint8_t len;
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} sCanTestFrame;
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/**************************************************************************************
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* GLOBAL CONSTANTS
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**************************************************************************************/
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static sCanTestFrame const test_frame_1 = { 0x00000001, {0}, 0 }; /* Minimum (no) payload */
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static sCanTestFrame const test_frame_2 = { 0x00000002, {0xCA, 0xFE, 0xCA, 0xFE, 0, 0, 0, 0}, 4 }; /* Between minimum and maximum payload */
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static sCanTestFrame const test_frame_3 = { 0x00000003, {0xCA, 0xFE, 0xCA, 0xFE, 0xCA, 0xFE, 0xCA, 0xFE}, 8 }; /* Maximum payload */
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static sCanTestFrame const test_frame_4 = { 0x40000004, {0}, 0 }; /* RTR frame */
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static sCanTestFrame const test_frame_5 = { 0x000007FF, {0}, 0 }; /* Highest standard 11 bit CAN address */
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static sCanTestFrame const test_frame_6 = { 0x80000000, {0}, 0 }; /* Lowest extended 29 bit CAN address */
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static sCanTestFrame const test_frame_7 = { 0x9FFFFFFF, {0}, 0 }; /* Highest extended 29 bit CAN address */
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static std::array<sCanTestFrame, 7> const CAN_TEST_FRAME_ARRAY =
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{
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test_frame_1,
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test_frame_2,
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test_frame_3,
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test_frame_4,
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test_frame_5,
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test_frame_6,
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test_frame_7
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};
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/**************************************************************************************
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* GLOBAL VARIABLES
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**************************************************************************************/
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ArduinoMCP2515 mcp2515([]() { digitalWrite(MKRCAN_MCP2515_CS_PIN, LOW); },
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[]() { digitalWrite(MKRCAN_MCP2515_CS_PIN, HIGH); },
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[](uint8_t const d) { return SPI.transfer(d); },
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micros,
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onReceiveBufferFull,
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nullptr);
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/**************************************************************************************
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* SETUP/LOOP
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**************************************************************************************/
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void setup()
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{
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Serial.begin(9600);
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while(!Serial) { }
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/* Setup SPI access */
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SPI.begin();
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SPI.beginTransaction(MCP2515x_SPI_SETTING);
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pinMode(MKRCAN_MCP2515_CS_PIN, OUTPUT);
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digitalWrite(MKRCAN_MCP2515_CS_PIN, HIGH);
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/* Attach interrupt handler to register MCP2515 signaled by taking INT low */
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pinMode(MKRCAN_MCP2515_INT_PIN, INPUT_PULLUP);
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attachInterrupt(digitalPinToInterrupt(MKRCAN_MCP2515_INT_PIN), [](){ mcp2515.onExternalEventHandler(); }, LOW);
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mcp2515.begin();
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mcp2515.setBitRate(CanBitRate::BR_250kBPS_16MHZ); // CAN bit rate and MCP2515 clock speed
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mcp2515.setLoopbackMode();
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std::for_each(CAN_TEST_FRAME_ARRAY.cbegin(),
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CAN_TEST_FRAME_ARRAY.cend(),
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[](sCanTestFrame const frame)
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{
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if(!mcp2515.transmit(frame.id, frame.data, frame.len)) {
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Serial.println("ERROR TX");
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}
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delay(10);
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});
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}
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void loop()
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{
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}
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/**************************************************************************************
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* FUNCTION DEFINITION
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**************************************************************************************/
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void onReceiveBufferFull(uint32_t const timestamp_us, uint32_t const id, uint8_t const * data, uint8_t const len)
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{
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Serial.print("[ ");
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Serial.print(timestamp_us);
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Serial.print("] ");
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Serial.print("ID");
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if(id & MCP2515::CAN_EFF_BITMASK) Serial.print("(EXT)");
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if(id & MCP2515::CAN_RTR_BITMASK) Serial.print("(RTR)");
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Serial.print(" ");
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Serial.print(id, HEX);
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Serial.print(" DATA[");
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Serial.print(len);
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Serial.print("] ");
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std::for_each(data,
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data+len,
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[](uint8_t const elem) {
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Serial.print(elem, HEX);
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Serial.print(" ");
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});
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Serial.println();
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}
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