102 lines
2.5 KiB
C++
102 lines
2.5 KiB
C++
/*
|
|
Arduino Due - Displays frames that fall between a range of addresses.
|
|
Modified from some of the other examples - notably CAN_SnooperCallBack
|
|
The difference here is that we only allow a range of ids. This demonstrates
|
|
the new watchForRange function as well as per-mailbox and general callback
|
|
functionality
|
|
|
|
By Thibaut Viard/Wilfredo Molina/Collin Kidder 2013-2014
|
|
*/
|
|
|
|
// 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
|
|
|
|
void printFrame(CAN_FRAME *frame, int filter) {
|
|
Serial.print("Fltr: ");
|
|
if (filter > -1) Serial.print(filter);
|
|
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");
|
|
}
|
|
|
|
void gotFrameMB0(CAN_FRAME *frame)
|
|
{
|
|
printFrame(frame, 0);
|
|
}
|
|
|
|
void gotFrameMB1(CAN_FRAME *frame)
|
|
{
|
|
printFrame(frame, 1);
|
|
}
|
|
|
|
void gotFrameMB3(CAN_FRAME *frame)
|
|
{
|
|
printFrame(frame, 3);
|
|
}
|
|
|
|
void gotFrameMB4(CAN_FRAME *frame)
|
|
{
|
|
printFrame(frame, 4);
|
|
}
|
|
|
|
void gotFrameMB5(CAN_FRAME *frame)
|
|
{
|
|
printFrame(frame, 5);
|
|
}
|
|
|
|
void gotFrame(CAN_FRAME *frame)
|
|
{
|
|
printFrame(frame, -1);
|
|
}
|
|
|
|
void setup()
|
|
{
|
|
|
|
Serial.begin(115200);
|
|
|
|
// Initialize CAN0, Set the proper baud rates here
|
|
Can0.init(CAN_BPS_250K);
|
|
|
|
//By default there are 7 RX mailboxes for each device
|
|
//extended
|
|
//syntax is mailbox, ID, mask, extended
|
|
Can0.watchForRange(0x10000000, 0x10004000);
|
|
Can0.watchForRange(0x10050000, 0x100500FF);
|
|
Can0.setRXFilter(0, 0, true); //catch all mailbox
|
|
|
|
//standard
|
|
Can0.watchForRange(0x400, 0x470);
|
|
Can0.watchForRange(0x500, 0x5FF);
|
|
Can0.watchForRange(0x200, 0x220);
|
|
Can0.setRXFilter(0, 0, false); //catch all mailbox
|
|
|
|
//now register all of the callback functions.
|
|
Can0.attachCANInterrupt(0, gotFrameMB0);
|
|
Can0.attachCANInterrupt(1, gotFrameMB1);
|
|
Can0.attachCANInterrupt(3, gotFrameMB3);
|
|
Can0.attachCANInterrupt(4, gotFrameMB4);
|
|
Can0.attachCANInterrupt(5, gotFrameMB5);
|
|
//this function will get a callback for any mailbox that doesn't have a registered callback from above -> 2 and 6
|
|
Can0.attachCANInterrupt(gotFrame);
|
|
|
|
}
|
|
|
|
void loop(){ //note the empty loop here. All work is done via callback as frames come in - no need to poll for them
|
|
}
|
|
|
|
|