public CanMCP2515Adapter(CanMCP2515AdapterSettings settings) : base(settings)
{
can = new MCP2515();
can.InitCAN(settings.SPI, settings.ChipSelect, GetTimings(settings));
}
public static void Main()
{
int cnt = 0;
bool bootState = false;
bool txLedState = false;
bool rxLedState = false;
OutputPort txled = new OutputPort(Pins.GPIO_PIN_D8, txLedState);
OutputPort rxled = new OutputPort(Pins.GPIO_PIN_D7, rxLedState);
OutputPort bootLed = new OutputPort(Pins.ONBOARD_LED, bootState);
// Blink the netduino led to indicate boot state.
for (int i = 0; i < 3; i++)
{
bootLed.Write(bootState);
Thread.Sleep(500);
bootState = !bootState;
}
// Create the CAN Handler.
MCP2515 CANHandler = new MCP2515();
CANHandler.InitCAN(MCP2515.enBaudRate.CAN_BAUD_500K);
// Set to normal operation mode.
CANHandler.SetCANNormalMode();
// Create standard TX message.
MCP2515.CANMSG txMessage = new MCP2515.CANMSG();
txMessage.data = new byte[] { 0xCC, 0xAA, 0xAA, 0xAA, 0x11, 0x00, 0xFF, 0xFF };
txMessage.CANID = 0x1AA;
// Create extended TX message.
MCP2515.CANMSG txMessageExt = new MCP2515.CANMSG();
txMessageExt.CANID = 0x1FEDCBA1;
txMessageExt.data = new byte[] { 0x00, 0xEE };
// Create the message that will hold received messages.
MCP2515.CANMSG rxMessage = new MCP2515.CANMSG();
while (true)
{
// Put a counter in the message.
txMessage.data[6] = (byte)(cnt >> 8);
txMessage.data[7] = (byte)cnt;
// Transmit messages.
CANHandler.Transmit(txMessage, 10);
CANHandler.Transmit(txMessageExt, 10);
// Blink CAN shield TX led every 5 cycles.
txLedState = (cnt % 5 == 0) ? !txLedState : txLedState;
txled.Write(txLedState);
// Check if a message was received.
if (CANHandler.Receive(out rxMessage, 20))
{
rxled.Write(rxLedState);
if (rxMessage.IsExtended)
{
rxLedState = !rxLedState;
}
else
{
}
}
// Increase counter.
cnt++;
}
}
public static void Main()
{
txMessage.CANID = 0x09;
txMessage.data[0] = 0x11;
txMessage.data[1] = 0x22;
txMessage.data[2] = 0x33;
txMessage.data[3] = 0x44;
txMessage.data[4] = 0x55;
txMessage.data[5] = 0x66;
txMessage.data[6] = 0x77;
txMessage.data[7] = 0x88;
canCS.Write(false);
Thread.Sleep(50);
CANHandler.InitCAN(MCP2515.enBaudRate.CAN_BAUD_500K, filter, mask);
Thread.Sleep(50);
canCS.Write(true);
Thread.Sleep(50);
canCS.Write(false);
Thread.Sleep(50);
CANHandler.canReset();
Thread.Sleep(50);
canCS.Write(true);
Thread.Sleep(50);
// SEt baud rate
//canCS.Write(false);
//Thread.Sleep(50);
//CANHandler.SetCANBaud(MCP2515.enBaudRate.CAN_BAUD_500K);
//Thread.Sleep(50);
//canCS.Write(true);
//Thread.Sleep(50);
// Baud rate commands split up so we can manually do chip select..
canCS.Write(false);
Thread.Sleep(50);
CANHandler.baud1();
Thread.Sleep(50);
canCS.Write(true);
Thread.Sleep(50);
canCS.Write(false);
Thread.Sleep(50);
CANHandler.baud2();
Thread.Sleep(50);
canCS.Write(true);
Thread.Sleep(50);
canCS.Write(false);
Thread.Sleep(50);
CANHandler.baud3();
Thread.Sleep(50);
canCS.Write(true);
Thread.Sleep(50);
// Set normal mode
canCS.Write(false);
Thread.Sleep(50);
CANHandler.SetCANNormalMode();
canCS.Write(true);
Thread.Sleep(50);
while (true)
{
// The method with auto chip select
//CANHandler.Transmit(txMessage, 100);
// Now with manual chip select.
canCS.Write(false);
CANHandler.tId(txMessage);
canCS.Write(true);
canCS.Write(false);
CANHandler.tRemote();
canCS.Write(true);
canCS.Write(false);
CANHandler.tSend(txMessage);
canCS.Write(true);
canCS.Write(false);
CANHandler.tTransmit();
canCS.Write(true);
Thread.Sleep(1000);
}
}