接線

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Arduino 部分使用 MCP2515 模塊

Arduino 程序

/** CAN_test.ino */

#include

#include

struct can_frame canMsg1;

struct can_frame canMsg2;

struct can_frame recv_frame;

MCP2515 mcp2515(10);

void setup() {

  canMsg1.can_id  = 0x000;

  canMsg1.can_dlc = 1;

  canMsg1.data[0] = 0x00;

  canMsg1.data[1] = 0x87;

  canMsg1.data[2] = 0x32;

  canMsg1.data[3] = 0xFA;

  canMsg1.data[4] = 0x26;

  canMsg1.data[5] = 0x8E;

  canMsg1.data[6] = 0xBE;

  canMsg1.data[7] = 0x86;

  canMsg2.can_id  = 0x00;

  canMsg2.can_dlc = 4;

  canMsg2.data[0] = 0x0E;

  canMsg2.data[1] = 0x00;

  canMsg2.data[2] = 0x00;

  canMsg2.data[3] = 0x08;

  canMsg2.data[4] = 0x01;

  canMsg2.data[5] = 0x00;

  canMsg2.data[6] = 0x00;

  canMsg2.data[7] = 0xA0;

  while (!Serial);

  Serial.begin(115200);

  SPI.begin();

  mcp2515.reset();

  mcp2515.setBitrate(CAN_500KBPS, MCP_20MHZ);

  //mcp2515.setListenOnlyMode();

  mcp2515.setNormalMode();

  Serial.println('Example: Write to CAN');

}

void loop() {

  mcp2515.sendMessage(&canMsg1);

  //mcp2515.sendMessage(&canMsg2);

  Serial.println('polling');

  if (mcp2515.readMessage(&recv_frame) == MCP2515::ERROR_OK) {

    Serial.print('recv id:');

    Serial.print(recv_frame.can_id);

    Serial.print(' dlc:');

    Serial.print(recv_frame.can_dlc);

    Serial.print(' data:');

    Serial.print(recv_frame.data[0]);

    Serial.println('');

  }

  delay(100);

}