public static void Main()
{
// PJ5 is LD2 in STM32F769I_DISCO
//_led = GpioController.GetDefault().OpenPin(PinNumber('J', 5));
// PG14 is LEDLD4 in F429I_DISCO
//_led = GpioController.GetDefault().OpenPin(PinNumber('G', 14));
// PD13 is LED3 in DISCOVERY4
_led = GpioController.GetDefault().OpenPin(PinNumber('D', 13));
_led.SetDriveMode(GpioPinDriveMode.Output);
// set settings for CAN controller
CanSettings canSettings = new CanSettings(6, 8, 1, 0);
// get controller for CAN1
CanController1 = CanController.FromId("CAN1", canSettings);
// get controller for CAN2
CanController2 = CanController.FromId("CAN2", canSettings);
//CanController1.MessageReceived += CanController_DataReceived;
CanController2.MessageReceived += CanController_DataReceived;
while (true)
{
CanController1.WriteMessage(new CanMessage(0x01234567, CanMessageIdType.EID, CanMessageFrameType.Data, new byte[] { 0xCA, 0xFE }));
//CanController2.WriteMessage(new CanMessage(0x01234567, false, true, new byte[] { 0xFE, 0xCA }));
Thread.Sleep(2000);
}
}
private static void OnboardCanToCanSpi()
{
var Msg1 = new CanMessage()
{
ArbitrationId = 0x00,
Length = 8,
RemoteTransmissionRequest = false,
ExtendedId = false
};
for (var i = 0; i < 10; i++)
{
Msg1.Data = Encoding.UTF8.GetBytes($"Hello{Msg1.ArbitrationId:X3}");
Debug.WriteLine($"Onboard CAN sending message 'Hello{Msg1.ArbitrationId:X3}', ID 0x{Msg1.ArbitrationId:X3} --->");
_onboardCan.WriteMessage(Msg1);
Msg1.ArbitrationId++;
Thread.Sleep(200);
}
}
private void CanController_MessageReceived(CanController sender, MessageReceivedEventArgs e)
{
var msgs = new GHIElectronics.TinyCLR.Devices.Can.CanMessage[e.Count];
for (var i = 0; i < msgs.Length; i++)
{
msgs[i] = new GHIElectronics.TinyCLR.Devices.Can.CanMessage();
}
this.messageReceiveCount += sender.ReadMessages(msgs, 0, msgs.Length);
for (var i = 0; i < msgs.Length; i++)
{
this.UpdateStatusText(ArbitrationId + msgs[i].ArbitrationId, true);
this.UpdateStatusText(FdCanMode + msgs[i].FdCan, false);
this.UpdateStatusText(ExtendedId + msgs[i].ExtendedId, false);
this.UpdateStatusText(RTR + msgs[i].RemoteTransmissionRequest, false);
this.UpdateStatusText(BitRateSwitch + msgs[i].BitRateSwitch, false);
var dataText = string.Empty;
for (var ii = 0; ii < 8; ii++)
{
dataText += msgs[i].Data[ii] + " ";
}
this.UpdateStatusText(Data + dataText, false);
this.UpdateStatusText(TotalReceived + this.messageReceiveCount, false);
try {
msgs[i].ArbitrationId += 1;
sender.WriteMessage(msgs[i]);
}
catch {
}
}
}
