44 lines
1.1 KiB
C++
44 lines
1.1 KiB
C++
#include <mcp2515.h>
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MCP2515 mcp2515(8);
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void setup() {
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Serial.begin(115200);
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mcp2515.reset();
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mcp2515.setBitrate(CAN_50KBPS);
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mcp2515.setNormalMode();
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for (int i = 0; i < 5; i++) {
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Serial.print("BEGIN START\n"); // 11 bytes plus newline
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delay(1000);
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}
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}
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void loop() {
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struct can_frame receive_frame;
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if (mcp2515.readMessage(&receive_frame) == MCP2515::ERROR_OK) {
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Serial.write((byte) (receive_frame.can_id >> 8));
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Serial.write((byte) (receive_frame.can_id & 0xff));
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Serial.write((byte) receive_frame.can_dlc);
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for (int i = 0; i < receive_frame.can_dlc; i++) {
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Serial.write((byte) receive_frame.data[i]);
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}
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for (int i = 0; i < (8 - receive_frame.can_dlc); i++) {
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Serial.write('\0');
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}
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Serial.write('\n');
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}
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if (Serial.available()) {
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byte readbuffer[12];
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if ((Serial.readBytes(readbuffer, 12) != 12) || readbuffer[11] != '\n') {
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return;
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}
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struct can_frame send_frame;
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send_frame.can_id = (((uint32_t) readbuffer[0]) << 8) | (readbuffer[1]);
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send_frame.can_dlc = readbuffer[2];
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for (int i = 0; i < 8; i++) {
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send_frame.data[i] = readbuffer[3+i];
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}
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mcp2515.sendMessage(&send_frame);
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}
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}
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