64 lines
1.5 KiB
C++
64 lines
1.5 KiB
C++
//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_500K);
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Can1.begin(CAN_BPS_250K);
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//By default there are 7 mailboxes for each device that are RX boxes
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//This sets each mailbox to have an open filter that will accept extended
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//or standard frames
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int filter;
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//extended
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for (filter = 0; filter < 3; filter++) {
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Can0.setRXFilter(filter, 0, 0, true);
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Can1.setRXFilter(filter, 0, 0, true);
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}
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//standard
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//for (int filter = 3; filter < 7; filter++) {
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//Can0.setRXFilter(filter, 0, 0, false);
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//Can1.setRXFilter(filter, 0, 0, false);
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//}
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}
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void printFrame(CAN_FRAME &frame) {
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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 loop(){
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CAN_FRAME incoming;
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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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//printFrame(incoming); //uncomment line to print frames that are going out
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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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//printFrame(incoming);
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}
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}
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