//——————————————————————————————————————————————————————————————————————————————
//  ACAN2515 Demo in loopback mode
//——————————————————————————————————————————————————————————————————————————————

#include <ACAN2515.h>

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//  MCP2515 connections:
//    - standard SPI pins for SCK, MOSI and MISO
//    - a digital output for CS
//    - interrupt input pin for INT
//——————————————————————————————————————————————————————————————————————————————
// If you use CAN-BUS shield (http://wiki.seeedstudio.com/CAN-BUS_Shield_V2.0/) with Arduino Uno,
// use B connections for MISO, MOSI, SCK, #9 or #10 for CS (as you want),
// #2 or #3 for INT (as you want).
//——————————————————————————————————————————————————————————————————————————————
// Error codes and possible causes:
//    In case you see "Configuration error 0x1", the Arduino doesn't communicate
//       with the 2515. You will get this error if there is no CAN shield or if
//       the CS pin is incorrect. 
//    In case you see succes up to "Sent: 17" and from then on "Send failure":
//       There is a problem with the interrupt. Check if correct pin is configured
//——————————————————————————————————————————————————————————————————————————————

static const byte MCP2515_CS  = 5 ; // CS input of MCP2515 (adapt to your design) 
static const byte MCP2515_INT =  26 ; // INT output of MCP2515 (adapt to your design)

//——————————————————————————————————————————————————————————————————————————————
//  MCP2515 Driver object
//——————————————————————————————————————————————————————————————————————————————

ACAN2515 can (MCP2515_CS, SPI, MCP2515_INT) ;

//——————————————————————————————————————————————————————————————————————————————
//  MCP2515 Quartz: adapt to your design
//——————————————————————————————————————————————————————————————————————————————

static const uint32_t QUARTZ_FREQUENCY = 8UL * 1000UL * 1000UL ; // 16 MHz
//static const uint32_t QUARTZ_FREQUENCY = 16UL * 1000UL * 1000UL ; // 16 MHz

//——————————————————————————————————————————————————————————————————————————————
//   SETUP
//——————————————————————————————————————————————————————————————————————————————

void setup () {
//--- Switch on builtin led
  pinMode (LED_BUILTIN, OUTPUT) ;
  digitalWrite (LED_BUILTIN, HIGH) ;
//--- Start serial
  Serial.begin (115200) ;
//--- Wait for serial (blink led at 10 Hz during waiting)
  while (!Serial) {
    delay (50) ;
    digitalWrite (LED_BUILTIN, !digitalRead (LED_BUILTIN)) ;
  }
//--- Begin SPI
  SPI.begin () ;
//--- Configure ACAN2515
  delay(500);
  Serial.println ("Configure ACAN2515") ;
  //ACAN2515Settings settings (QUARTZ_FREQUENCY, 125UL * 1000UL) ; // CAN bit rate 125 kb/s
  ACAN2515Settings settings (QUARTZ_FREQUENCY, 10UL * 1000UL) ; // CAN bit rate 125 kb/s
  
  settings.mRequestedMode = ACAN2515Settings::NormalMode ; // Select loopback mode
  //settings.mRequestedMode = ACAN2515Settings::LoopBackMode ; // Select loopback mode
  const uint16_t errorCode = can.begin (settings, [] { can.isr () ; }) ;
  if (errorCode == 0) {
    Serial.print ("Bit Rate prescaler: ") ;
    Serial.println (settings.mBitRatePrescaler) ;
    Serial.print ("Propagation Segment: ") ;
    Serial.println (settings.mPropagationSegment) ;
    Serial.print ("Phase segment 1: ") ;
    Serial.println (settings.mPhaseSegment1) ;
    Serial.print ("Phase segment 2: ") ;
    Serial.println (settings.mPhaseSegment2) ;
    Serial.print ("SJW: ") ;
    Serial.println (settings.mSJW) ;
    Serial.print ("Triple Sampling: ") ;
    Serial.println (settings.mTripleSampling ? "yes" : "no") ;
    Serial.print ("Actual bit rate: ") ;
    Serial.print (settings.actualBitRate ()) ;
    Serial.println (" bit/s") ;
    Serial.print ("Exact bit rate ? ") ;
    Serial.println (settings.exactBitRate () ? "yes" : "no") ;
    Serial.print ("Sample point: ") ;
    Serial.print (settings.samplePointFromBitStart ()) ;
    Serial.println ("%") ;
  }else{
    Serial.print ("Configuration error 0x") ;
    Serial.println (errorCode, HEX) ;
  }
}

//----------------------------------------------------------------------------------------------------------------------

static uint32_t gBlinkLedDate = 0 ;
static uint32_t gReceivedFrameCount = 0 ;
static uint32_t gSentFrameCount = 0 ;

//——————————————————————————————————————————————————————————————————————————————

void loop () 
{
    CANMessage frame ;
  
    if (can.receive (frame)) 
    {
      gReceivedFrameCount ++ ;
      Serial.print ("  id: ");Serial.println (frame.id,HEX);
      Serial.print ("  ext: ");Serial.println (frame.ext);
      Serial.print ("  rtr: ");Serial.println (frame.rtr);
      Serial.print ("  len: ");Serial.println (frame.len);
      Serial.print ("  data: ");
      for(int x=0;x<frame.len;x++) 
      {
        Serial.print (frame.data[x],HEX); Serial.print(":");
      }
      Serial.println ("");
      Serial.print ("Received: ") ;
      Serial.println (gReceivedFrameCount) ;
  }
}

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