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CAN configuration is passed to the constructor as an argument #12

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CAN configuration is passed to the constructor as an argument #12

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130 changes: 65 additions & 65 deletions examples/esp32can_basic/esp32can_basic.ino
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Original file line number Diff line number Diff line change
@@ -1,65 +1,65 @@
#include <Arduino.h>
#include <ESP32CAN.h>
#include <CAN_config.h>

CAN_device_t CAN_cfg; // CAN Config
unsigned long previousMillis = 0; // will store last time a CAN Message was send
const int interval = 1000; // interval at which send CAN Messages (milliseconds)
const int rx_queue_size = 10; // Receive Queue size

void setup() {
Serial.begin(115200);
Serial.println("Basic Demo - ESP32-Arduino-CAN");
CAN_cfg.speed = CAN_SPEED_125KBPS;
CAN_cfg.tx_pin_id = GPIO_NUM_5;
CAN_cfg.rx_pin_id = GPIO_NUM_4;
CAN_cfg.rx_queue = xQueueCreate(rx_queue_size, sizeof(CAN_frame_t));
// Init CAN Module
ESP32Can.CANInit();
}

void loop() {

CAN_frame_t rx_frame;

unsigned long currentMillis = millis();

// Receive next CAN frame from queue
if (xQueueReceive(CAN_cfg.rx_queue, &rx_frame, 3 * portTICK_PERIOD_MS) == pdTRUE) {

if (rx_frame.FIR.B.FF == CAN_frame_std) {
printf("New standard frame");
}
else {
printf("New extended frame");
}

if (rx_frame.FIR.B.RTR == CAN_RTR) {
printf(" RTR from 0x%08X, DLC %d\r\n", rx_frame.MsgID, rx_frame.FIR.B.DLC);
}
else {
printf(" from 0x%08X, DLC %d, Data ", rx_frame.MsgID, rx_frame.FIR.B.DLC);
for (int i = 0; i < rx_frame.FIR.B.DLC; i++) {
printf("0x%02X ", rx_frame.data.u8[i]);
}
printf("\n");
}
}
// Send CAN Message
if (currentMillis - previousMillis >= interval) {
previousMillis = currentMillis;
CAN_frame_t tx_frame;
tx_frame.FIR.B.FF = CAN_frame_std;
tx_frame.MsgID = 0x001;
tx_frame.FIR.B.DLC = 8;
tx_frame.data.u8[0] = 0x00;
tx_frame.data.u8[1] = 0x01;
tx_frame.data.u8[2] = 0x02;
tx_frame.data.u8[3] = 0x03;
tx_frame.data.u8[4] = 0x04;
tx_frame.data.u8[5] = 0x05;
tx_frame.data.u8[6] = 0x06;
tx_frame.data.u8[7] = 0x07;
ESP32Can.CANWriteFrame(&tx_frame);
}
}
#include <Arduino.h>
#include <ESP32CAN.h>
#include <CAN_config.h>
CAN_device_t CAN_cfg; // CAN Config
unsigned long previousMillis = 0; // will store last time a CAN Message was send
const int interval = 1000; // interval at which send CAN Messages (milliseconds)
const int rx_queue_size = 10; // Receive Queue size
void setup() {
Serial.begin(115200);
Serial.println("Basic Demo - ESP32-Arduino-CAN");
CAN_cfg.speed = CAN_SPEED_125KBPS;
CAN_cfg.tx_pin_id = GPIO_NUM_5;
CAN_cfg.rx_pin_id = GPIO_NUM_4;
CAN_cfg.rx_queue = xQueueCreate(rx_queue_size, sizeof(CAN_frame_t));
// Init CAN Module
ESP32Can.CANInit(CAN_cfg);
}
void loop() {
CAN_frame_t rx_frame;
unsigned long currentMillis = millis();
// Receive next CAN frame from queue
if (xQueueReceive(CAN_cfg.rx_queue, &rx_frame, 3 * portTICK_PERIOD_MS) == pdTRUE) {
if (rx_frame.FIR.B.FF == CAN_frame_std) {
printf("New standard frame");
}
else {
printf("New extended frame");
}
if (rx_frame.FIR.B.RTR == CAN_RTR) {
printf(" RTR from 0x%08X, DLC %d\r\n", rx_frame.MsgID, rx_frame.FIR.B.DLC);
}
else {
printf(" from 0x%08X, DLC %d, Data ", rx_frame.MsgID, rx_frame.FIR.B.DLC);
for (int i = 0; i < rx_frame.FIR.B.DLC; i++) {
printf("0x%02X ", rx_frame.data.u8[i]);
}
printf("\n");
}
}
// Send CAN Message
if (currentMillis - previousMillis >= interval) {
previousMillis = currentMillis;
CAN_frame_t tx_frame;
tx_frame.FIR.B.FF = CAN_frame_std;
tx_frame.MsgID = 0x001;
tx_frame.FIR.B.DLC = 8;
tx_frame.data.u8[0] = 0x00;
tx_frame.data.u8[1] = 0x01;
tx_frame.data.u8[2] = 0x02;
tx_frame.data.u8[3] = 0x03;
tx_frame.data.u8[4] = 0x04;
tx_frame.data.u8[5] = 0x05;
tx_frame.data.u8[6] = 0x06;
tx_frame.data.u8[7] = 0x07;
ESP32Can.CANWriteFrame(&tx_frame);
}
}
131 changes: 65 additions & 66 deletions examples/esp32can_filter/esp32can_filter.ino
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Original file line number Diff line number Diff line change
@@ -1,66 +1,65 @@
#include <Arduino.h>
#include <ESP32CAN.h>
#include <CAN_config.h>

CAN_device_t CAN_cfg; // CAN Config
const int rx_queue_size = 10; // Receive Queue size

void setup() {
Serial.begin(115200);
Serial.println("Filter Demo - ESP32-Arduino-CAN");
CAN_cfg.speed = CAN_SPEED_125KBPS;
CAN_cfg.tx_pin_id = GPIO_NUM_5;
CAN_cfg.rx_pin_id = GPIO_NUM_4;
CAN_cfg.rx_queue = xQueueCreate(rx_queue_size, sizeof(CAN_frame_t));

// Set CAN Filter
// See in the SJA1000 Datasheet chapter "6.4.15 Acceptance filter"
// and the APPLICATION NOTE AN97076 chapter "4.1.2 Acceptance Filter"
// for PeliCAN Mode
CAN_filter_t p_filter;
p_filter.FM = Single_Mode;

p_filter.ACR0 = 0x29;
p_filter.ACR1 = 0;
p_filter.ACR2 = 0;
p_filter.ACR3 = 0;

p_filter.AMR0 = 0;
p_filter.AMR1 = 0xFF;
p_filter.AMR2 = 0xFF;
p_filter.AMR3 = 0xFF;
ESP32Can.CANConfigFilter(&p_filter);

// Init CAN Module
ESP32Can.CANInit();
}

void loop() {

CAN_frame_t rx_frame;

unsigned long currentMillis = millis();

// Receive next CAN frame from queue
if (xQueueReceive(CAN_cfg.rx_queue, &rx_frame, 3 * portTICK_PERIOD_MS) == pdTRUE) {

if (rx_frame.FIR.B.FF == CAN_frame_std) {
printf("New standard frame");
}
else {
printf("New extended frame");
}

if (rx_frame.FIR.B.RTR == CAN_RTR) {
printf(" RTR from 0x%08X, DLC %d\r\n", rx_frame.MsgID, rx_frame.FIR.B.DLC);
}
else {
printf(" from 0x%08X, DLC %d, Data ", rx_frame.MsgID, rx_frame.FIR.B.DLC);
for (int i = 0; i < rx_frame.FIR.B.DLC; i++) {
printf("0x%02X ", rx_frame.data.u8[i]);
}
printf("\n");
}
}
}

#include <Arduino.h>
#include <ESP32CAN.h>
#include <CAN_config.h>

CAN_device_t CAN_cfg; // CAN Config
const int rx_queue_size = 10; // Receive Queue size

void setup() {
Serial.begin(115200);
Serial.println("Filter Demo - ESP32-Arduino-CAN");
CAN_cfg.speed = CAN_SPEED_125KBPS;
CAN_cfg.tx_pin_id = GPIO_NUM_5;
CAN_cfg.rx_pin_id = GPIO_NUM_4;
CAN_cfg.rx_queue = xQueueCreate(rx_queue_size, sizeof(CAN_frame_t));

// Set CAN Filter
// See in the SJA1000 Datasheet chapter "6.4.15 Acceptance filter"
// and the APPLICATION NOTE AN97076 chapter "4.1.2 Acceptance Filter"
// for PeliCAN Mode
CAN_filter_t p_filter;
p_filter.FM = Single_Mode;

p_filter.ACR0 = 0x29;
p_filter.ACR1 = 0;
p_filter.ACR2 = 0;
p_filter.ACR3 = 0;

p_filter.AMR0 = 0;
p_filter.AMR1 = 0xFF;
p_filter.AMR2 = 0xFF;
p_filter.AMR3 = 0xFF;
ESP32Can.CANConfigFilter(&p_filter);

// Init CAN Module
ESP32Can.CANInit(CAN_cfg);
}

void loop() {

CAN_frame_t rx_frame;

unsigned long currentMillis = millis();

// Receive next CAN frame from queue
if (xQueueReceive(CAN_cfg.rx_queue, &rx_frame, 3 * portTICK_PERIOD_MS) == pdTRUE) {

if (rx_frame.FIR.B.FF == CAN_frame_std) {
printf("New standard frame");
}
else {
printf("New extended frame");
}

if (rx_frame.FIR.B.RTR == CAN_RTR) {
printf(" RTR from 0x%08X, DLC %d\r\n", rx_frame.MsgID, rx_frame.FIR.B.DLC);
}
else {
printf(" from 0x%08X, DLC %d, Data ", rx_frame.MsgID, rx_frame.FIR.B.DLC);
for (int i = 0; i < rx_frame.FIR.B.DLC; i++) {
printf("0x%02X ", rx_frame.data.u8[i]);
}
printf("\n");
}
}
}
92 changes: 46 additions & 46 deletions examples/esp32can_mirror/esp32can_mirror.ino
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Original file line number Diff line number Diff line change
@@ -1,46 +1,46 @@
#include <Arduino.h>
#include <ESP32CAN.h>
#include <CAN_config.h>

CAN_device_t CAN_cfg; // CAN Config
const int rx_queue_size = 10; // Receive Queue size

void setup() {
Serial.begin(115200);
Serial.println("Mirror Demo - ESP32-Arduino-CAN");
CAN_cfg.speed = CAN_SPEED_125KBPS;
CAN_cfg.tx_pin_id = GPIO_NUM_5;
CAN_cfg.rx_pin_id = GPIO_NUM_4;
CAN_cfg.rx_queue = xQueueCreate(rx_queue_size, sizeof(CAN_frame_t));
// Init CAN Module
ESP32Can.CANInit();
}

void loop() {
CAN_frame_t rx_frame;
//receive next CAN frame from queue
if (xQueueReceive(CAN_cfg.rx_queue, &rx_frame, 3 * portTICK_PERIOD_MS) == pdTRUE) {

if (rx_frame.FIR.B.FF == CAN_frame_std) {
printf("New standard frame");
}
else {
printf("New extended frame");
}

if (rx_frame.FIR.B.RTR == CAN_RTR) {
printf(" RTR from 0x%08X, DLC %d\r\n", rx_frame.MsgID, rx_frame.FIR.B.DLC);
}
else {
printf(" from 0x%08X, DLC %d, Data ", rx_frame.MsgID, rx_frame.FIR.B.DLC);
for (int i = 0; i < rx_frame.FIR.B.DLC; i++) {
printf("0x%02X ", rx_frame.data.u8[i]);
}
printf("\n");
}

//respond to sender
ESP32Can.CANWriteFrame(&rx_frame);
}

}
#include <Arduino.h>
#include <ESP32CAN.h>
#include <CAN_config.h>
CAN_device_t CAN_cfg; // CAN Config
const int rx_queue_size = 10; // Receive Queue size
void setup() {
Serial.begin(115200);
Serial.println("Mirror Demo - ESP32-Arduino-CAN");
CAN_cfg.speed = CAN_SPEED_125KBPS;
CAN_cfg.tx_pin_id = GPIO_NUM_5;
CAN_cfg.rx_pin_id = GPIO_NUM_4;
CAN_cfg.rx_queue = xQueueCreate(rx_queue_size, sizeof(CAN_frame_t));
// Init CAN Module
ESP32Can.CANInit(CAN_cfg);
}
void loop() {
CAN_frame_t rx_frame;
//receive next CAN frame from queue
if (xQueueReceive(CAN_cfg.rx_queue, &rx_frame, 3 * portTICK_PERIOD_MS) == pdTRUE) {
if (rx_frame.FIR.B.FF == CAN_frame_std) {
printf("New standard frame");
}
else {
printf("New extended frame");
}
if (rx_frame.FIR.B.RTR == CAN_RTR) {
printf(" RTR from 0x%08X, DLC %d\r\n", rx_frame.MsgID, rx_frame.FIR.B.DLC);
}
else {
printf(" from 0x%08X, DLC %d, Data ", rx_frame.MsgID, rx_frame.FIR.B.DLC);
for (int i = 0; i < rx_frame.FIR.B.DLC; i++) {
printf("0x%02X ", rx_frame.data.u8[i]);
}
printf("\n");
}
//respond to sender
ESP32Can.CANWriteFrame(&rx_frame);
}
}
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