1 | /****************************************************************************
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2 | CAN Write Demo for the SparkFun CAN Bus Shield.
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3 |
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4 | Written by Stephen McCoy.
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5 | Original tutorial available here: http://www.instructables.com/id/CAN-Bus-Sniffing-and-Broadcasting-with-Arduino
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6 | Used with permission 2016. License CC By SA.
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7 |
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8 | Distributed as-is; no warranty is given.
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9 | *************************************************************************/
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10 |
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11 | #include <Canbus.h>
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12 | #include <defaults.h>
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13 | #include <global.h>
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14 | #include <mcp2515.h>
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15 | #include <mcp2515_defs.h>
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16 |
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17 | //********************************Setup Loop*********************************//
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18 |
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19 | void setup() {
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20 | Serial.begin(9600);
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21 | Serial.println("CAN Write - Testing transmission of CAN Bus messages");
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22 | delay(1000);
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23 |
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24 | if(Canbus.init(CANSPEED_500)) //Initialise MCP2515 CAN controller at the specified speed
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25 | Serial.println("CAN Init ok");
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26 | else
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27 | Serial.println("Can't init CAN");
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28 |
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29 | delay(1000);
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30 | }
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31 |
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32 | //********************************Main Loop*********************************//
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33 |
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34 | void loop()
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35 | {
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36 | tCAN message;
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37 |
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38 | message.id = 0x631; //formatted in HEX
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39 | message.header.rtr = 0;
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40 | message.header.length = 8; //formatted in DEC
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41 | message.data[0] = 0x40;
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42 | message.data[1] = 0x05;
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43 | message.data[2] = 0x30;
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44 | message.data[3] = 0xFF; //formatted in HEX
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45 | message.data[4] = 0x00;
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46 | message.data[5] = 0x40;
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47 | message.data[6] = 0x00;
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48 | message.data[7] = 0x00;
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49 |
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50 | tCAN message2;
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51 |
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52 | message.id = 0x231; //formatted in HEX
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53 | message.header.rtr = 0;
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54 | message.header.length = 8; //formatted in DEC
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55 | message.data[0] = 0x40;
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56 | message.data[1] = 0x05;
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57 | message.data[2] = 0x30;
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58 | message.data[3] = 0xFF; //formatted in HEX
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59 | message.data[4] = 0x00;
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60 | message.data[5] = 0x40;
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61 | message.data[6] = 0x00;
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62 | message.data[7] = 0x00;
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63 |
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64 | tCAN message3;
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65 |
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66 | message.id = 0x240; //formatted in HEX
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67 | message.header.rtr = 0;
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68 | message.header.length = 8; //formatted in DEC
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69 | message.data[0] = 0x40;
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70 | message.data[1] = 0x05;
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71 | message.data[2] = 0x30;
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72 | message.data[3] = 0xFF; //formatted in HEX
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73 | message.data[4] = 0x00;
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74 | message.data[5] = 0x40;
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75 | message.data[6] = 0x00;
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76 | message.data[7] = 0x00;
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77 |
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78 | tCAN message4;
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79 |
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80 | message.id = 0x221; //formatted in HEX
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81 | message.header.rtr = 0;
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82 | message.header.length = 8; //formatted in DEC
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83 | message.data[0] = 0x40;
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84 | message.data[1] = 0x05;
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85 | message.data[2] = 0x30;
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86 | message.data[3] = 0xFF; //formatted in HEX
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87 | message.data[4] = 0x00;
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88 | message.data[5] = 0x40;
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89 | message.data[6] = 0x00;
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90 | message.data[7] = 0x00;
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91 |
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92 |
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93 | tCAN message5;
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94 |
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95 | message.id = 0x110; //formatted in HEX
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96 | message.header.rtr = 0;
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97 | message.header.length = 8; //formatted in DEC
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98 | message.data[0] = 0x40;
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99 | message.data[1] = 0x05;
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100 | message.data[2] = 0x30;
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101 | message.data[3] = 0xFF; //formatted in HEX
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102 | message.data[4] = 0x00;
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103 | message.data[5] = 0x40;
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104 | message.data[6] = 0x00;
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105 | message.data[7] = 0x00;
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106 |
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107 | mcp2515_bit_modify(CANCTRL, (1<<REQOP2)|(1<<REQOP1)|(1<<REQOP0), 0);
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108 |
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109 | mcp2515_send_message(&message);
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110 | delay(1000);
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111 |
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112 | mcp2515_send_message(&message2);
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113 | delay(1000);
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114 |
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115 | mcp2515_send_message(&message3);
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116 | delay(1000);
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117 |
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118 | mcp2515_send_message(&message4);
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119 | delay(1000);
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120 |
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121 | mcp2515_send_message(&message5);
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122 | delay(1000);
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123 |
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124 | software_Reset();
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125 | }
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126 |
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127 | void software_Reset() // Restarts program from beginning but does not reset the peripherals and registers
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128 | {
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129 | asm volatile (" jmp 0");
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130 | }
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