/* * Author: Jon Trulson <jtrulson@ics.com> * Copyright (c) 2016 Intel Corporation. * * This program and the accompanying materials are made available under the * terms of the The MIT License which is available at * https://opensource.org/licenses/MIT. * * SPDX-License-Identifier: MIT */ #include <unistd.h> #include <stdio.h> #include "mcp2515.h" int main(int argc, char **argv) { //! [Interesting] #if defined(CONFIG_BOARD_ARDUINO_101) // ARDUINO_101 (Quark core) where you must use SPI // Instantiate a MCP2515 instance using default SPI bus and pin 10 as CS mcp2515_context sensor = mcp2515_init(0, 10); #else // Instantiate a MCP2515 on SPI bus 0 using a hw CS pin (-1). mcp2515_context sensor = mcp2515_init(0, -1); #endif 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; }