arduinoでcan

概要

arduinoでcanやってみました。

写真

回路図

uno写真

nano写真

サンプルコード

#include <SPI.h>
#include "mcp_can.h"
const int SPI_CS_PIN = 10;
MCP_CAN CAN(SPI_CS_PIN);
void setup()
{
    Serial.begin(115200);
START_INIT:
    if (CAN_OK == CAN.begin(CAN_500KBPS))
    {
        Serial.println("CAN BUS Shield init ok!");
    }
    else
    {
        Serial.println("CAN BUS Shield init fail");
        Serial.println("Init CAN BUS Shield again");
        delay(100);
        goto START_INIT;
    }
}
unsigned char stmp[8] = {
    0,
    1,
    2,
    3,
    4,
    5,
    6,
    7
};
void loop()
{
    CAN.sendMsgBuf(0x00, 0, 8, stmp);
    delay(100);
}

サンプルコード

#include <SPI.h>
#include "mcp_can.h"
const int SPI_CS_PIN = 10;
MCP_CAN CAN(SPI_CS_PIN);
void setup()
{
    Serial.begin(115200);
START_INIT:
    if (CAN_OK == CAN.begin(CAN_500KBPS))
    {
        Serial.println("CAN BUS Shield init ok!");
    }
    else
    {
        Serial.println("CAN BUS Shield init fail");
        Serial.println("Init CAN BUS Shield again");
        delay(100);
        goto START_INIT;
    }
}
void loop()
{
    unsigned char len = 0;
    unsigned char buf[8];
    if (CAN_MSGAVAIL == CAN.checkReceive())
    {
        CAN.readMsgBuf(&len, buf);
        unsigned char canId = CAN.getCanId();
        Serial.println("-----------------------------");
        Serial.println("get data from ID: ");
        Serial.println(canId);
        for (int i = 0; i < len; i++)
        {
            Serial.print(buf[i]);
            Serial.print("\t");
        }
        Serial.println();
    }
}