mcp2515: Initial implementation; C; C++

The mcp2515 is a CAN bus controller.  It was developed using the Seeed
CAN bus shield.

Signed-off-by: Jon Trulson <jtrulson@ics.com>

examples/c++/CMakeLists.txt

@@ -327,6 +327,7 @@ add_example (ecezo)
 add_example (mb704x)
 add_example (rf22-server)
 add_example (rf22-client)
+add_example (mcp2515)
 
 # These are special cases where you specify example binary, source file and module(s)
 include_directories (${PROJECT_SOURCE_DIR}/src)
@@ -369,3 +370,4 @@ if (OPENZWAVE_FOUND)
   add_custom_example (tzemt400-example-cxx tzemt400.cxx ozw)
 endif()
 add_custom_example (nmea_gps_i2c_example-cxx nmea_gps_i2c.cxx nmea_gps)
+add_custom_example (mcp2515-txrx-example-cxx mcp2515-txrx.cxx mcp2515)

examples/c++/mcp2515-txrx.cxx

@@ -0,0 +1,125 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <unistd.h>
+#include <stdio.h>
+#include <iostream>
+#include <signal.h>
+#include <upm_utilities.h>
+
+#include "mcp2515.hpp"
+
+using namespace std;
+
+bool shouldRun = true;
+
+void sig_handler(int signo)
+{
+  if (signo == SIGINT)
+    shouldRun = false;
+}
+
+
+int main(int argc, char **argv)
+{
+    signal(SIGINT, sig_handler);
+
+    // by default we just receive packets
+    bool do_tx = false;
+
+    // if an argument is given, we will transmit packets
+    if (argc > 1)
+        do_tx = true;
+//! [Interesting]
+
+    // NOTE: This example assumes that only two devices are connected
+    // to the CAN bus, and that both devices are running this example;
+    // one in TX (transmit) mode, and one in RX (receive) mode.
+
+    // If this is not the case, then in rx mode you may see other
+    // packets from other devices, or not, depending on whether the
+    // speed is correct for the network.  In tx mode, errors may be
+    // generated on the bus, especially if the CAN bus speed does not
+    // match the rest of the network.
+
+    // You should start the receiver example first.  The transmitter
+    // example will fail after about 5 seconds (timeout) of not being
+    // able to transmit a message.
+
+    // Instantiate a MCP2515 on SPI bus 0 using a hw CS pin (-1).
+    upm::MCP2515 *sensor = new upm::MCP2515(0, 9);
+
+    // By default, after initialization, the baud rate is set to
+    // 50Kbps, and the mode is NORMAL, so we don't need to set any of
+    // that here.
+
+    // our TX payload.  If transmitting, the first number will be
+    // incremented (and rollover) on each transmission.
+    string myPayload = "01234567";
+
+    while (shouldRun)
+    {
+        if (do_tx)
+        {
+            cout << "Loading a packet of 8 numbers (0-7) into a TX buffer..."
+                 << endl;
+            sensor->loadTXBuffer(MCP2515_TX_BUFFER0, 0, false, false,
+                                 myPayload);
+
+            // now lets try to transmit it
+            cout << "Transmitting packet..." << endl;
+            sensor->transmitBuffer(MCP2515_TX_BUFFER0, true);
+
+            myPayload[0]++;
+            cout << "Transmit successful" << endl;
+            cout << endl;
+
+            upm_delay_ms(500);
+        }
+        else
+        {
+            // RX mode
+            // Look for a packet waiting for us in RXB0
+            if (sensor->rxStatusMsgs() == MCP2515_RXMSG_RXB0)
+            {
+                cout << "Packet received in RXB0, decoding..." << endl;
+
+                // now lets retrieve and print it
+                sensor->getRXMsg(MCP2515_RX_BUFFER0);
+
+                sensor->printMsg();
+                cout << endl;
+            }
+
+            upm_delay_ms(100);
+        }
+    }
+
+    cout << "Exiting..." << endl;
+
+    delete sensor;
+//! [Interesting]
+
+    return 0;
+}

examples/c++/mcp2515.cxx

@@ -0,0 +1,79 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <unistd.h>
+#include <stdio.h>
+#include <iostream>
+
+#include "mcp2515.hpp"
+
+using namespace std;
+
+int main(int argc, char **argv)
+{
+//! [Interesting]
+
+    // Instantiate a MCP2515 on SPI bus 0 using a hw CS pin (-1).
+    upm::MCP2515 *sensor = new upm::MCP2515(0, -1);
+
+    cout << "Setting loopback mode..." << endl;
+
+    // set the mode to loopback mode.  In loopback mode, transmitted
+    // packets are sent directly to an appropriate receive buffer
+    // without actually going out onto the CAN bus.
+    sensor->setOpmode(MCP2515_OPMODE_LOOPBACK);
+
+    // lets build up a packet and try loading it (8 bytes max).
+    string myPayload = "01234567";
+    cout << "Loading a packet of 8 numbers (0-7) into a TX buffer..." << endl;
+    sensor->loadTXBuffer(MCP2515_TX_BUFFER0, 0, false, false, myPayload);
+
+    // now lets try to transmit it
+    cout << "Transmitting packet..." << endl;
+    sensor->transmitBuffer(MCP2515_TX_BUFFER0, true);
+
+    cout << "Transmit successful" << endl;
+
+    // There should now be a packet waiting for us in RXB0
+    if (sensor->rxStatusMsgs() == MCP2515_RXMSG_RXB0)
+    {
+        cout << "Packet received in RXB0, decoding..." << endl;
+
+        // now lets retrieve and print it
+        sensor->getRXMsg(MCP2515_RX_BUFFER0);
+
+        sensor->printMsg();
+    }
+    else
+    {
+        cout << "No packet found, how strange." << endl;
+    }
+
+    cout << "Exiting..." << endl;
+
+    delete sensor;
+//! [Interesting]
+
+    return 0;
+}

examples/c/CMakeLists.txt

@@ -141,6 +141,7 @@ add_example (ms5803)
 add_example (ims)
 add_example (ecezo)
 add_example (mb704x)
+add_example (mcp2515)
 
 # Custom examples
 add_custom_example (nmea_gps_i2c-example-c nmea_gps_i2c.c nmea_gps)
@@ -149,3 +150,4 @@ add_custom_example (lcm1602-parallel-example-c lcm1602-parallel.c lcm1602)
 add_custom_example (rpr220-intr-example-c rpr220-intr.c rpr220)
 add_custom_example (md-stepper-example-c md-stepper.c md)
 add_custom_example (button_intr-example-c button_intr.c button)
+add_custom_example (mcp2515-txrx-example-c mcp2515-txrx.c mcp2515)

examples/c/mcp2515-txrx.c

@@ -0,0 +1,144 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <unistd.h>
+#include <stdio.h>
+#include <signal.h>
+#include <upm_utilities.h>
+
+#include "mcp2515.h"
+
+bool shouldRun = true;
+
+void sig_handler(int signo)
+{
+  if (signo == SIGINT)
+    shouldRun = false;
+}
+
+int main(int argc, char **argv)
+{
+    signal(SIGINT, sig_handler);
+
+    // by default we just receive packets
+    bool do_tx = false;
+
+    // if an argument is given, we will transmit packets
+    if (argc > 1)
+        do_tx = true;
+//! [Interesting]
+
+    // NOTE: This example assumes that only two devices are connected
+    // to the CAN bus, and that both devices are running this example;
+    // one in TX (transmit) mode, and one in RX (receive) mode.
+
+    // If this is not the case, then in rx mode you may see other
+    // packets from other devices, or not, depending on whether the
+    // speed is correct for the network.  In tx mode, errors may be
+    // generated on the bus, especially if the CAN bus speed does not
+    // match the rest of the network.
+
+    // You should start the receiver example first.  The transmitter
+    // example will fail after about 5 seconds (timeout) of not being
+    // able to transmit a message.
+
+    // Instantiate a MCP2515 on SPI bus 0 using a hw CS pin (-1).
+    mcp2515_context sensor = mcp2515_init(0, -1);
+
+    if (!sensor)
+    {
+        printf("mcp2515_init() failed\n");
+        return 1;
+    }
+
+    // By default, after initialization, the baud rate is set to
+    // 50Kbps, and the mode is NORMAL, so we don't need to set any of
+    // that here.
+
+    if (!do_tx)
+        printf("RX mode, waiting for packets...\n");
+
+    // our TX payload.  If transmitting, the first number will be
+    // incremented (and rollover) on each transmission.
+    uint8_t myPayload[8] = {0, 1, 2, 3, 4, 5, 6, 7};
+
+    while (shouldRun)
+    {
+        if (do_tx)
+        {
+            // lets build up a packet and try loading it.
+            printf("Loading a packet of 8 numbers into a tx buffer...\n");
+            if (mcp2515_load_tx_buffer(sensor, MCP2515_TX_BUFFER0, 0,
+                                       false, false, myPayload, 8))
+            {
+                printf("mcp2515_load_tx_buffer() failed\n");
+                return 1;
+            }
+
+            // now lets try to transmit it
+            printf("Transmitting packet...\n");
+            upm_result_t rv = 0;
+            if ((rv = mcp2515_transmit_buffer(sensor, MCP2515_TX_BUFFER0,
+                                              true)))
+            {
+                printf("mcp2515_transmit_buffer() failed with code %d\n", rv);
+                return 1;
+            }
+
+            // increment the first number for each transmission
+            myPayload[0]++;
+            printf("Transmit successful\n\n");
+            upm_delay_ms(500);
+        }
+        else
+        {
+            // RX mode
+            // Look for a packet waiting for us in RXB0
+            if (mcp2515_rx_status_msgs(sensor) == MCP2515_RXMSG_RXB0)
+            {
+                printf("Packet received in RXB0, decoding...\n");
+
+                // now lets retrieve it
+                MCP2515_MSG_T msg;
+                if (mcp2515_get_rx_msg(sensor, MCP2515_RX_BUFFER0, &msg))
+                {
+                    printf("mcp2515_get_rx_msg() failed\n");
+                    return 1;
+                }
+                mcp2515_print_msg(sensor, &msg);
+                printf("\n");
+            }
+
+            upm_delay_ms(100);
+        }
+
+    }
+
+    printf("Exiting...\n");
+
+    mcp2515_close(sensor);
+//! [Interesting]
+
+    return 0;
+}

examples/c/mcp2515.c

@@ -0,0 +1,101 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <unistd.h>
+#include <stdio.h>
+
+#include "mcp2515.h"
+
+int main(int argc, char **argv)
+{
+//! [Interesting]
+
+    // Instantiate a MCP2515 on SPI bus 0 using a hw CS pin (-1).
+    mcp2515_context sensor = mcp2515_init(0, -1);
+
+    if (!sensor)
+    {
+        printf("mcp2515_init() failed\n");
+        return 1;
+    }
+
+    printf("Setting loopback mode...\n");
+
+    // set the mode to loopback mode.  In loopback mode, transmitted
+    // packets are sent directly to an appropriate receive buffer
+    // without actually going out onto the CAN bus.
+    if (mcp2515_set_opmode(sensor, MCP2515_OPMODE_LOOPBACK))
+    {
+        printf("mcp2515_set_opmode(loopback) failed.\n");
+        return 1;
+    }
+
+    // lets build up a packet and try loading it.
+    uint8_t myPayload[8] = {0, 1, 2, 3, 4, 5, 6, 7};
+    printf("Loading a packet of 8 numbers (0-7) into a TX buffer...\n");
+    if (mcp2515_load_tx_buffer(sensor, MCP2515_TX_BUFFER0, 0, false, false,
+                               myPayload, 8))
+    {
+        printf("mcp2515_load_tx_buffer() failed\n");
+        return 1;
+    }
+
+    // now lets try to transmit it
+    printf("Transmitting packet...\n");
+    upm_result_t rv = 0;
+    if ((rv = mcp2515_transmit_buffer(sensor, MCP2515_TX_BUFFER0, true)))
+    {
+        printf("mcp2515_transmit_buffer() failed with code %d\n", rv);
+        return 1;
+    }
+
+    printf("Transmit successful\n");
+
+    // There should now be a packet waiting for us in RXB0
+    if (mcp2515_rx_status_msgs(sensor) == MCP2515_RXMSG_RXB0)
+    {
+        printf("Packet received in RXB0, decoding...\n");
+
+        // now lets retrieve it
+        MCP2515_MSG_T msg;
+        if (mcp2515_get_rx_msg(sensor, MCP2515_RX_BUFFER0, &msg))
+        {
+            printf("mcp2515_get_rx_msg() failed\n");
+            return 1;
+        }
+
+        mcp2515_print_msg(sensor, &msg);
+    }
+    else
+    {
+        printf("No packet found, how strange.\n");
+    }
+
+    printf("Exiting...\n");
+
+    mcp2515_close(sensor);
+//! [Interesting]
+
+    return 0;
+}

examples/java/CMakeLists.txt

@@ -160,6 +160,7 @@ add_example(MS5803_Example ms5803)
 add_example(ECEZO_Example ecezo)
 add_example(IMS_Example ims)
 add_example(MB704X_Example mb704x)
+add_example(MCP2515_Example mcp2515)
 
 add_example_with_path(Jhd1313m1_lcdSample lcd i2clcd)
 add_example_with_path(Jhd1313m1Sample lcd i2clcd)
@@ -181,3 +182,4 @@ if (OPENZWAVE_FOUND)
   add_example_with_path(TZEMT400_Example ozw ozw)
 endif()
 add_example_with_path(NMEAGPS_I2C_Example nmea_gps nmea_gps)
+add_example_with_path(MCP2515_TXRX_Example mcp2515 mcp2515)

examples/java/MCP2515_Example.java

@@ -0,0 +1,73 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+import upm_mcp2515.MCP2515;
+
+public class MCP2515_Example
+{
+    public static void main(String[] args) throws InterruptedException
+    {
+// ! [Interesting]
+
+        // Instantiate a MCP2515 on SPI bus 0 using a hw CS pin (-1).
+        MCP2515 sensor = new MCP2515(0, -1);
+
+        // set the mode to loopback mode.  In loopback mode, transmitted
+        // packets are sent directly to an appropriate receive buffer
+        // without actually going out onto the CAN bus.
+        sensor.setOpmode(upm_mcp2515.MCP2515_OPMODE_T.MCP2515_OPMODE_LOOPBACK);
+
+        // lets build up a packet and try loading it (8 bytes max).
+        String myPayload = "01234567";
+        System.out.println("Loading a packet of 8 numbers (0-7) into a TX buffer...");
+        sensor.loadTXBuffer(upm_mcp2515.MCP2515_TX_BUFFER_T.MCP2515_TX_BUFFER0,
+                            0, false, false, myPayload);
+
+        // now lets try to transmit it
+        System.out.println("Transmitting packet...");
+        sensor.transmitBuffer(upm_mcp2515.MCP2515_TX_BUFFER_T.MCP2515_TX_BUFFER0,
+                              true);
+
+        System.out.println("Transmit successful");
+
+        // There should now be a packet waiting for us in RXB0
+        if (sensor.rxStatusMsgs() == upm_mcp2515.MCP2515_RXMSG_T.MCP2515_RXMSG_RXB0)
+        {
+            System.out.println("Packet received in RXB0, decoding...");
+
+            // now lets retrieve and print it
+            sensor.getRXMsg(upm_mcp2515.MCP2515_RX_BUFFER_T.MCP2515_RX_BUFFER0);
+
+            sensor.printMsg();
+        }
+        else
+        {
+            System.out.println("No packet found, how strange.");
+        }
+
+        System.out.println("Exiting...");
+
+// ! [Interesting]
+    }
+}

examples/java/MCP2515_TXRX_Example.java

@@ -0,0 +1,94 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+import upm_mcp2515.MCP2515;
+
+public class MCP2515_TXRX_Example
+{
+    public static void main(String[] args) throws InterruptedException
+    {
+// ! [Interesting]
+
+        // by default we just receive packets
+        Boolean do_tx = false;
+        if (args.length > 0)
+            do_tx = true;
+
+        // Instantiate a MCP2515 on SPI bus 0 using a hw CS pin (-1).
+        MCP2515 sensor = new MCP2515(0, -1);
+
+        // NOTE: This example assumes that only two devices are connected
+        // to the CAN bus, and that both devices are running this example;
+        // one in TX (transmit) mode, and one in RX (receive) mode.
+
+        // If this is not the case, then in rx mode you may see other
+        // packets from other devices, or not, depending on whether the
+        // speed is correct for the network.  In tx mode, errors may be
+        // generated on the bus, especially if the CAN bus speed does not
+        // match the rest of the network.
+
+        // You should start the receiver example first.  The transmitter
+        // example will fail after about 5 seconds (timeout) of not being
+        // able to transmit a message.
+
+        while (true)
+        {
+            if (do_tx)
+            {
+                // lets build up a packet and try loading it (8 bytes max).
+                String myPayload = "01234567";
+                System.out.println("Loading a packet of 8 numbers (0-7) into a TX buffer...");
+                sensor.loadTXBuffer(upm_mcp2515.MCP2515_TX_BUFFER_T.MCP2515_TX_BUFFER0,
+                                    0, false, false, myPayload);
+
+                // now lets try to transmit it
+                System.out.println("Transmitting packet...");
+                sensor.transmitBuffer(upm_mcp2515.MCP2515_TX_BUFFER_T.MCP2515_TX_BUFFER0,
+                                      true);
+
+                System.out.println("Transmit successful");
+                System.out.println();
+                Thread.sleep(500);
+            }
+            else
+            {
+                // There should now be a packet waiting for us in RXB0
+                if (sensor.rxStatusMsgs() == upm_mcp2515.MCP2515_RXMSG_T.MCP2515_RXMSG_RXB0)
+                {
+                    System.out.println("Packet received in RXB0, decoding...");
+
+                    // now lets retrieve and print it
+                    sensor.getRXMsg(upm_mcp2515.MCP2515_RX_BUFFER_T.MCP2515_RX_BUFFER0);
+
+                    sensor.printMsg();
+                    System.out.println();
+                }
+
+                Thread.sleep(100);
+            }
+        }
+
+// ! [Interesting]
+    }
+}

examples/javascript/mcp2515-txrx.js

@@ -0,0 +1,94 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+var sensorObj = require('jsupm_mcp2515');
+
+// Instantiate a MCP2515 on SPI bus 0 using a hw CS pin (-1).
+var sensor = new sensorObj.MCP2515(0, -1);
+
+// NOTE: This example assumes that only two devices are connected
+// to the CAN bus, and that both devices are running this example;
+// one in TX (transmit) mode, and one in RX (receive) mode.
+
+// If this is not the case, then in rx mode you may see other
+// packets from other devices, or not, depending on whether the
+// speed is correct for the network.  In tx mode, errors may be
+// generated on the bus, especially if the CAN bus speed does not
+// match the rest of the network.
+
+// You should start the receiver example first.  The transmitter
+// example will fail after about 5 seconds (timeout) of not being
+// able to transmit a message.
+
+function transmit(sensor)
+{
+    // lets build up a packet and try loading it (8 bytes max).
+    var myPayload = "01234567";
+    console.log("Loading a packet of 8 numbers (0-7) into a TX buffer...");
+    sensor.loadTXBuffer(sensorObj.MCP2515_TX_BUFFER0,
+                        0, false, false, myPayload);
+
+    // now lets try to transmit it
+    console.log("Transmitting packet...");
+    sensor.transmitBuffer(sensorObj.MCP2515_TX_BUFFER0, true);
+
+    console.log("Transmit successful");
+    console.log();
+}
+
+function receive(sensor)
+{
+    // There should now be a packet waiting for us in RXB0
+    if (sensor.rxStatusMsgs() == sensorObj.MCP2515_RXMSG_RXB0)
+    {
+        console.log("Packet received in RXB0, decoding...");
+
+        // now lets retrieve and print it
+        sensor.getRXMsg(sensorObj.MCP2515_RX_BUFFER0);
+
+        sensor.printMsg();
+        console.log();
+    }
+}
+
+// by default we just receive packets
+if (process.argv.length > 2)
+{
+    // transmit mode
+    interval = setInterval(function() { transmit(sensor); }, 500);
+}
+else
+{
+    // receive mode
+    interval = setInterval(function() { receive(sensor); }, 100);
+}
+
+process.on('SIGINT', function()
+{
+    sensor = null;
+    sensorObj.cleanUp();
+    sensorObj = null;
+    console.log("Exiting...");
+    process.exit(0);
+});

examples/javascript/mcp2515.js

@@ -0,0 +1,66 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+var sensorObj = require('jsupm_mcp2515');
+
+// Instantiate a MCP2515 on SPI bus 0 using a hw CS pin (-1).
+var sensor = new sensorObj.MCP2515(0, -1);
+
+// set the mode to loopback mode.  In loopback mode, transmitted
+// packets are sent directly to an appropriate receive buffer
+// without actually going out onto the CAN bus.
+sensor.setOpmode(sensorObj.MCP2515_OPMODE_LOOPBACK);
+
+// lets build up a packet and try loading it (8 bytes max).
+var myPayload = "01234567";
+console.log("Loading a packet of 8 numbers (0-7) into a TX buffer...");
+sensor.loadTXBuffer(sensorObj.MCP2515_TX_BUFFER0, 0, false, false, myPayload);
+
+// now lets try to transmit it
+console.log("Transmitting packet...");
+sensor.transmitBuffer(sensorObj.MCP2515_TX_BUFFER0, true);
+
+console.log("Transmit successful");
+
+// There should now be a packet waiting for us in RXB0
+if (sensor.rxStatusMsgs() == sensorObj.MCP2515_RXMSG_RXB0)
+{
+    console.log("Packet received in RXB0, decoding...");
+
+    // now lets retrieve and print it
+    sensor.getRXMsg(sensorObj.MCP2515_RX_BUFFER0);
+
+    sensor.printMsg();
+}
+else
+{
+    console.log("No packet found, how strange.");
+}
+
+console.log("Exiting...");
+
+sensor = null;
+sensorObj.cleanUp();
+sensorObj = null;
+process.exit(0);

examples/python/mcp2515-txrx.py

@@ -0,0 +1,99 @@
+#!/usr/bin/python
+# Author: Jon Trulson <jtrulson@ics.com>
+# Copyright (c) 2016 Intel Corporation.
+#
+# Permission is hereby granted, free of charge, to any person obtaining
+# a copy of this software and associated documentation files (the
+# "Software"), to deal in the Software without restriction, including
+# without limitation the rights to use, copy, modify, merge, publish,
+# distribute, sublicense, and/or sell copies of the Software, and to
+# permit persons to whom the Software is furnished to do so, subject to
+# the following conditions:
+#
+# The above copyright notice and this permission notice shall be
+# included in all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+# LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+from __future__ import print_function
+import time, sys, signal, atexit
+from upm import pyupm_mcp2515 as MCP2515
+
+def main():
+    # Instantiate a MCP2515 on SPI bus 0 using a hw CS pin (-1).
+    sensor = MCP2515.MCP2515(0, -1)
+
+    ## Exit handlers ##
+    # This function stops python from printing a stacktrace when you
+    # hit control-C
+    def SIGINTHandler(signum, frame):
+        raise SystemExit
+
+    # This function lets you run code on exit, including functions from sensor
+    def exitHandler():
+        print("Exiting")
+        sys.exit(0)
+
+    # Register exit handlers
+    atexit.register(exitHandler)
+    signal.signal(signal.SIGINT, SIGINTHandler)
+
+    # by default we just receive packets
+    do_tx = False;
+    if (len(sys.argv) > 1):
+        do_tx = True
+
+    # NOTE: This example assumes that only two devices are connected
+    # to the CAN bus, and that both devices are running this example;
+    # one in TX (transmit) mode, and one in RX (receive) mode.
+
+    # If this is not the case, then in rx mode you may see other
+    # packets from other devices, or not, depending on whether the
+    # speed is correct for the network.  In tx mode, errors may be
+    # generated on the bus, especially if the CAN bus speed does not
+    # match the rest of the network.
+
+    # You should start the receiver example first.  The transmitter
+    # example will fail after about 5 seconds (timeout) of not being
+    # able to transmit a message.
+
+    # By default, after initialization, the baud rate is set to
+    # 50Kbps, and the mode is NORMAL, so we don't need to set any of
+    # that here.
+
+    while (True):
+        if (do_tx):
+            print("Loading a packet of 8 numbers (0-7) into a TX buffer...")
+            myPayload = "01234567";
+            sensor.loadTXBuffer(MCP2515.MCP2515_TX_BUFFER0, 0, False,
+                                False, myPayload);
+
+            # now lets try to transmit it
+            print("Transmitting packet...")
+            sensor.transmitBuffer(MCP2515.MCP2515_TX_BUFFER0, True)
+
+            print("Transmit successful")
+            print()
+            time.sleep(.5)
+        else:
+            # RX mode
+            # Look for a packet waiting for us in RXB0
+            if (sensor.rxStatusMsgs() == MCP2515.MCP2515_RXMSG_RXB0):
+                print("Packet received in RXB0, decoding...")
+
+                # now lets retrieve and print it
+                sensor.getRXMsg(MCP2515.MCP2515_RX_BUFFER0)
+
+                sensor.printMsg();
+                print()
+
+    print("Exiting...")
+
+if __name__ == '__main__':
+    main()

examples/python/mcp2515.py

@@ -0,0 +1,79 @@
+#!/usr/bin/python
+# Author: Jon Trulson <jtrulson@ics.com>
+# Copyright (c) 2016 Intel Corporation.
+#
+# Permission is hereby granted, free of charge, to any person obtaining
+# a copy of this software and associated documentation files (the
+# "Software"), to deal in the Software without restriction, including
+# without limitation the rights to use, copy, modify, merge, publish,
+# distribute, sublicense, and/or sell copies of the Software, and to
+# permit persons to whom the Software is furnished to do so, subject to
+# the following conditions:
+#
+# The above copyright notice and this permission notice shall be
+# included in all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+# LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+from __future__ import print_function
+import time, sys, signal, atexit
+from upm import pyupm_mcp2515 as MCP2515
+
+def main():
+    # Instantiate a MCP2515 on SPI bus 0 using a hw CS pin (-1).
+    sensor = MCP2515.MCP2515(0, -1)
+
+    ## Exit handlers ##
+    # This function stops python from printing a stacktrace when you
+    # hit control-C
+    def SIGINTHandler(signum, frame):
+        raise SystemExit
+
+    # This function lets you run code on exit, including functions from sensor
+    def exitHandler():
+        print("Exiting")
+        sys.exit(0)
+
+    # Register exit handlers
+    atexit.register(exitHandler)
+    signal.signal(signal.SIGINT, SIGINTHandler)
+
+    print("Setting loopback mode...")
+
+    # set the mode to loopback mode.  In loopback mode, transmitted
+    # packets are sent directly to an appropriate receive buffer
+    # without actually going out onto the CAN bus.
+    sensor.setOpmode(MCP2515.MCP2515_OPMODE_LOOPBACK);
+
+    # lets build up a packet and try loading it (8 bytes max).
+    myPayload = "01234567";
+    print("Loading a packet of 8 numbers (0-7) into a TX buffer...")
+    sensor.loadTXBuffer(MCP2515.MCP2515_TX_BUFFER0, 0, False, False, myPayload);
+
+    # now lets try to transmit it
+    print("Transmitting packet...")
+    sensor.transmitBuffer(MCP2515.MCP2515_TX_BUFFER0, True);
+
+    print("Transmit successful")
+
+    # There should now be a packet waiting for us in RXB0
+    if (sensor.rxStatusMsgs() == MCP2515.MCP2515_RXMSG_RXB0):
+        print("Packet received in RXB0, decoding...")
+
+        # now lets retrieve and print it
+        sensor.getRXMsg(MCP2515.MCP2515_RX_BUFFER0);
+
+        sensor.printMsg();
+    else:
+        print("No packet found, how strange.")
+
+    print("Exiting...")
+
+if __name__ == '__main__':
+    main()