Initial commit

This is just the 2018 code configured for PlatformIO

lib/due_can/examples/CAN_SnoopCB_WithObjects/CAN_SnoopCB_WithObjects.ino

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+// Arduino Due - Displays all traffic found on either canbus port
+//Modified version of the SnooperCallback sketch. This one illustrates
+//how to use a class object to receive callbacks. It's a little different
+//from the non-OO approach.
+
+// By Thibaut Viard/Wilfredo Molina/Collin Kidder 2013-2015
+
+// Required libraries
+#include "variant.h"
+#include <due_can.h>
+
+//Leave defined if you use native port, comment if using programming port
+//This sketch could provide a lot of traffic so it might be best to use the
+//native port
+#define Serial SerialUSB
+
+class ExampleClass : public CANListener //CANListener provides an interface to get callbacks on this class
+{
+  public:
+  void printFrame(CAN_FRAME *frame, int mailbox);
+  void gotFrame(CAN_FRAME *frame, int mailbox); //overrides the parent version so we can actually do something
+};
+
+//Prints out the most useful information about the incoming frame.
+void ExampleClass::printFrame(CAN_FRAME *frame, int mailbox)
+{
+   Serial.print("MB: ");
+   if (mailbox > -1) Serial.print(mailbox);
+   else Serial.print("???");
+   Serial.print(" ID: 0x");
+   Serial.print(frame->id, HEX);
+   Serial.print(" Len: ");
+   Serial.print(frame->length);
+   Serial.print(" Data: 0x");
+   for (int count = 0; count < frame->length; count++) {
+       Serial.print(frame->data.bytes[count], HEX);
+       Serial.print(" ");
+   }
+   Serial.print("\r\n");  
+}
+
+//Classes register just one method that receives all callbacks. If a frame didn't match any specific mailbox
+//callback but the general callback was registered then the mailbox will be set as -1. Otherwise it is the mailbox
+//with the matching filter for this frame.
+void ExampleClass::gotFrame(CAN_FRAME* frame, int mailbox)
+{
+    this->printFrame(frame, mailbox);
+}
+
+ExampleClass myClass; //initialize the class global so the reference to it can be picked up anywhere
+
+void setup()
+{
+
+  Serial.begin(115200);
+  
+  // Initialize CAN0, Set the proper baud rates here
+  // Pass the proper pin for enabling your transceiver or 255 if you don't need an enable pin to be toggled.
+  Can0.begin(CAN_BPS_500K, 50);
+  
+  //By default there are 7 RX mailboxes for each device
+  //extended
+  //syntax is mailbox, ID, mask, extended
+  Can0.setRXFilter(0, 0x2FF00, 0x1FF2FF00, true);
+  Can0.setRXFilter(1, 0x1F0000, 0x1F1F0000, true);
+  Can0.setRXFilter(2, 0, 0, true); //catch all mailbox
+  
+  //standard  
+  Can0.setRXFilter(3, 0x40F, 0x7FF, false);
+  Can0.setRXFilter(4, 0x310, 0x7F0, false);
+  Can0.setRXFilter(5, 0x200, 0x700, false);
+  Can0.setRXFilter(6, 0, 0, false); //catch all mailbox
+  
+  Can0.attachObj(&myClass);
+  //let library know we want to receive callbacks for the following mailboxes
+  //once we attach above the canbus object knows about us. The actual functions
+  //to attach are members of CANListener so use your class name
+  myClass.attachMBHandler(0);
+  myClass.attachMBHandler(1);
+  myClass.attachMBHandler(3);
+  myClass.attachMBHandler(4);
+  myClass.attachMBHandler(5);
+  
+  //set to get a callback for any other mailboxes not already covered above
+  myClass.attachGeneralHandler();
+}
+
+void loop(){ //All work is done via callback as frames come in - no need to poll for them. SO, just print periodic message to show we're alive
+	delay(5000);
+	Serial.println("Still listening");
+}
+
+