/* * Author: Jon Trulson * 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 #include #include #include #include #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; }