98 lines
2.5 KiB
Arduino
98 lines
2.5 KiB
Arduino
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// Arduino Due - Displays all traffic found on either canbus port
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//Modified from the more generic TrafficSniffer sketch to instead use
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//callback functions to receive the frames. Illustrates how to use
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//the per-mailbox and general callback functionality
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// By Thibaut Viard/Wilfredo Molina/Collin Kidder 2013-2014
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// Required libraries
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#include "variant.h"
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#include <due_can.h>
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//Leave defined if you use native port, comment if using programming port
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//This sketch could provide a lot of traffic so it might be best to use the
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//native port
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#define Serial SerialUSB
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void printFrame(CAN_FRAME *frame, int filter) {
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Serial.print("Fltr: ");
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if (filter > -1) Serial.print(filter);
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else Serial.print("???");
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Serial.print(" ID: 0x");
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Serial.print(frame->id, HEX);
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Serial.print(" Len: ");
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Serial.print(frame->length);
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Serial.print(" Data: 0x");
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for (int count = 0; count < frame->length; count++) {
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Serial.print(frame->data.bytes[count], HEX);
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Serial.print(" ");
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}
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Serial.print("\r\n");
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}
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void gotFrameMB0(CAN_FRAME *frame)
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{
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printFrame(frame, 0);
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}
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void gotFrameMB1(CAN_FRAME *frame)
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{
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printFrame(frame, 1);
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}
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void gotFrameMB3(CAN_FRAME *frame)
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{
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printFrame(frame, 3);
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}
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void gotFrameMB4(CAN_FRAME *frame)
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{
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printFrame(frame, 4);
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}
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void gotFrameMB5(CAN_FRAME *frame)
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{
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printFrame(frame, 5);
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}
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void gotFrame(CAN_FRAME *frame)
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{
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printFrame(frame, -1);
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}
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void setup()
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{
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Serial.begin(115200);
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// Initialize CAN0, Set the proper baud rates here
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Can0.begin(CAN_BPS_250K);
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//By default there are 7 RX mailboxes for each device
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//extended
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//syntax is mailbox, ID, mask, extended
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Can0.setRXFilter(0, 0x2FF00, 0x1FF2FF00, true);
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Can0.setRXFilter(1, 0x1F0000, 0x1F1F0000, true);
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Can0.setRXFilter(2, 0, 0, true); //catch all mailbox
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//standard
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Can0.setRXFilter(3, 0x40F, 0x7FF, false);
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Can0.setRXFilter(4, 0x310, 0x7F0, false);
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Can0.watchFor(0x200, 0x700); //used in place of above syntax
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Can0.setRXFilter(0, 0, false); //catch all mailbox - no mailbox ID specified
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//now register all of the callback functions.
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Can0.setCallback(0, gotFrameMB0);
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Can0.setCallback(1, gotFrameMB1);
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Can0.setCallback(3, gotFrameMB3);
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Can0.setCallback(4, gotFrameMB4);
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Can0.setCallback(5, gotFrameMB5);
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//this function will get a callback for any mailbox that doesn't have a registered callback from above -> 2 and 6
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Can0.setGeneralCallback(gotFrame);
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}
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void loop(){ //note the empty loop here. All work is done via callback as frames come in - no need to poll for them
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}
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