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Update examples.
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@BlueAndi
BlueAndi committed Oct 31, 2024
1 parent 130c26e commit b07cc6b
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Showing 2 changed files with 49 additions and 63 deletions.
11 changes: 7 additions & 4 deletions examples/Seeed-Studio-CAN_BUS_Shield/Seeed-Studio-CAN_BUS_Shield.ino
View file
Original file line number Diff line number Diff line change
Expand Up @@ -44,13 +44,13 @@ static bool isActive = false;
// If no message is received return false, otherwise true.
bool transportRead(vscp_RxMessage * const rxMsg) {

bool status = false;
bool status = false;

if (CAN_MSGAVAIL == canCom.checkReceive())
{
unsigned long canMsgId = 0;
unsigned long canMsgId = 0;

if (CAN_OK == canCom.readMsgBufID(&canMsgId, &rxMsg->dataSize, rxMsg->data)) {
if (CAN_OK == canCom.readMsgBuf(&canMsgId, &rxMsg->dataSize, rxMsg->data)) {

rxMsg->vscpClass = (uint16_t)((canMsgId >> 16) & 0x01ff);
rxMsg->vscpType = (uint8_t)((canMsgId >> 8) & 0x00ff);
Expand Down Expand Up @@ -88,7 +88,7 @@ bool transportWrite(vscp_TxMessage const * const txMsg) {
}

// Send CAN message
if (CAN_OK != canCom.sendMsgBuf(canMsgId, 1, 0, txMsg->dataSize, (unsigned char*)txMsg->data)) {
if (CAN_OK != canCom.sendMsgBuf(canMsgId, 1, txMsg->dataSize, (unsigned char*)txMsg->data)) {

// CAN message couldn't be sent, try again.
++retryCnt;
Expand Down Expand Up @@ -158,6 +158,9 @@ void setup() {
} else {

Serial.println("CAN controller initialized successful.");

// Change to normal mode to allow messages to be transmitted
canCom.setMode(MCP_NORMAL);

// Only CAN frames with 29-bit identifier shall be received
canCom.init_Mask(0, 1, 0x1fffffff);
Expand Down
101 changes: 42 additions & 59 deletions examples/Sparkfun_CAN-BUS_Shield/Sparkfun_CAN-BUS_Shield.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -26,35 +26,40 @@

#include <VSCP.h> // VSCP framework
#include <SPI.h> // SPI used for CAN controller communication
#include <MCP2515.h> // CAN controller driver
#include <mcp2515.h> // CAN controller driver

// Create an instance of the VSCP framework
VSCP vscp;

// Create an instance of the CAN controller driver
MCP2515 mcp2515(
9 // Set CS (chip select) pin, note if you use a CAN BUS shield prior to V1.1 use pin 10!
);

// Node is in active state or not
static bool isActive = false;

// Read a message from the transport layer, e.g. the CAN bus
// If no message is received return false, otherwise true.
bool transportRead(vscp_RxMessage * const rxMsg) {

bool status = false;
CANMSG canMsg;
bool status = false;
struct can_frame canMsg;

// Any CAN frame received?
if (true == MCP2515::receiveCANMessage(&canMsg, 10)) {
if (MCP2515::ERROR_OK == mcp2515.readMessage(&canMsg)) {

// Is it a extended CAN frame?
if (true == canMsg.isExtendedAdrs) {

unsigned char index = 0;

rxMsg->vscpClass = (uint16_t)((canMsg.adrsValue >> 16) & 0x01ff);
rxMsg->vscpType = (uint8_t)((canMsg.adrsValue >> 8) & 0x00ff);
rxMsg->oAddr = (uint8_t)((canMsg.adrsValue >> 0) & 0x00ff);
rxMsg->hardCoded = (uint8_t)((canMsg.adrsValue >> 25) & 0x0001);
rxMsg->priority = (VSCP_PRIORITY)((canMsg.adrsValue >> 26) & 0x0007);
rxMsg->dataSize = canMsg.dataLength;
rxMsg->vscpClass = (uint16_t)((canMsg.can_id >> 16) & 0x01ff);
rxMsg->vscpType = (uint8_t)((canMsg.can_id >> 8) & 0x00ff);
rxMsg->oAddr = (uint8_t)((canMsg.can_id >> 0) & 0x00ff);
rxMsg->hardCoded = (uint8_t)((canMsg.can_id >> 25) & 0x0001);
rxMsg->priority = (VSCP_PRIORITY)((canMsg.can_id >> 26) & 0x0007);
rxMsg->dataSize = canMsg.can_dlc;

// Protect against a buffer out of bounce access
if (VSCP_L1_DATA_SIZE < rxMsg->dataSize) {
Expand All @@ -79,24 +84,23 @@ bool transportRead(vscp_RxMessage * const rxMsg) {
// If it fails to send the message return false, otherwise true.
bool transportWrite(vscp_TxMessage const * const txMsg) {

bool status = false;
CANMSG canMsg;
unsigned char index = 0;
unsigned char retryCnt = 0;

canMsg.isExtendedAdrs = true;

canMsg.adrsValue = (((uint32_t)txMsg->priority) << 26) |
(((uint32_t)txMsg->hardCoded) << 25) |
(((uint32_t)txMsg->vscpClass) << 16) |
(((uint32_t)txMsg->vscpType) << 8) |
txMsg->oAddr;

canMsg.rtr = 0;

canMsg.dataLength = txMsg->dataSize;
bool status = false;
struct can_frame canMsg;
unsigned char index = 0;
unsigned char retryCnt = 0;

canMsg.can_id = (1 << 31) | // Extended 29 bit
(0 << 30) | // No RTR
(0 << 29) | // No error message frame
(((uint32_t)txMsg->priority) << 26) |
(((uint32_t)txMsg->hardCoded) << 25) |
(((uint32_t)txMsg->vscpClass) << 16) |
(((uint32_t)txMsg->vscpType) << 8) |
txMsg->oAddr;

canMsg.can_dlc = txMsg->dataSize;

for(index = 0; index < canMsg.dataLength; ++index) {
for(index = 0; index < canMsg.can_dlc; ++index) {

canMsg.data[index] = txMsg->data[index];
}
Expand All @@ -110,7 +114,7 @@ bool transportWrite(vscp_TxMessage const * const txMsg) {
}

// Send CAN message
if (false == MCP2515::transmitCANMessage(canMsg, 10)) {
if (MCP2515::ERROR_OK == mcp2515.sendMessage(canMsg, 10)) {

// CAN message couldn't be sent, try again.
++retryCnt;
Expand All @@ -121,7 +125,7 @@ bool transportWrite(vscp_TxMessage const * const txMsg) {
}

} while((false == status) && (0 < retryCnt));

return status;
}

Expand Down Expand Up @@ -152,37 +156,16 @@ void setup() {
Serial.begin(115200);
Serial.println("VSCP node starts up ...");

do {
// Initialize CAN controller with 125 kbit/s (VSCP default bitrate)
if (false == MCP2515::initCAN(CAN_BAUD_125K)) {

// Try again
delay(100);
--retry;

if (0 == retry) {
isError = true;
}

} else {

// Successful initialized
retry = 0;
}

} while(0 < retry);

if (true == isError) {

Serial.println("Failed to initialize CAN controller!");

if (MCP2515::ERROR_OK != mcp2515.reset()) {
isError = true;
}
// Set to normal mode non single shot
else if (false == MCP2515::setCANNormalMode(LOW)) {

Serial.println("Failed to set CAN controller to normal mode!");

} else {
else if (MCP2515::ERROR_OK != mcp2515.setBitrate(CAN_125KBPS)) {
isError = true;
}
else if (MCP2515::ERROR_OK != mcp2515.setNormalMode()) {
isError = true;
}
else {

Serial.println("CAN controller initialized successful.");

Expand Down

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