56 lines
1.1 KiB
Arduino
56 lines
1.1 KiB
Arduino
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//Reads all traffic on CAN0 and forwards it to CAN1 (and in the reverse direction) but modifies some frames first.
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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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#define Serial SerialUSB
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void setup()
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{
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Serial.begin(115200);
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// Initialize CAN0 and CAN1, Set the proper baud rates here
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Can0.begin(CAN_BPS_250K);
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Can1.begin(CAN_BPS_250K);
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Can0.watchFor();
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}
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void sendData()
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{
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CAN_FRAME outgoing;
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outgoing.id = 0x400;
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outgoing.extended = false;
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outgoing.priority = 4; //0-15 lower is higher priority
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outgoing.data.s0 = 0xFEED;
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outgoing.data.byte[2] = 0xDD;
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outgoing.data.byte[3] = 0x55;
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outgoing.data.high = 0xDEADBEEF;
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Can0.sendFrame(outgoing);
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}
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void loop(){
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CAN_FRAME incoming;
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static unsigned long lastTime = 0;
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if (Can0.available() > 0) {
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Can0.read(incoming);
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Can1.sendFrame(incoming);
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}
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if (Can1.available() > 0) {
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Can1.read(incoming);
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Can0.sendFrame(incoming);
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}
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if ((millis() - lastTime) > 1000)
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{
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lastTime = millis();
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sendData();
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}
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}
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