private void OnInterrupt(DateTime time)
{
MCP2515.CANMSG message;
if (IsEnabled && can.Receive(out message, 20))
{
OnMessageReceived(new CanMessage(message, time));
}
}
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++;
}
}