mirror of
https://github.com/m5stack/M5Stack.git
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109 lines
3.5 KiB
Arduino
109 lines
3.5 KiB
Arduino
/*
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* SPDX-FileCopyrightText: 2025 M5Stack Technology CO LTD
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*
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* SPDX-License-Identifier: MIT
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*/
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/*
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* @Hardwares: M5Core + Unit CAN
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* @Platform Version: Arduino M5Stack Board Manager v2.1.3
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* @Dependent Library:
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* M5GFX@^0.2.3: https://github.com/m5stack/M5GFX
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* M5Unified@^0.2.2: https://github.com/m5stack/M5Unified
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* ESP32-Arduino-CAN：https://github.com/miwagner/ESP32-Arduino-CAN
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*/
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#include <CAN_config.h>
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#include <ESP32CAN.h>
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#include <M5Unified.h>
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#include <M5GFX.h>
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M5GFX display;
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M5Canvas canvas(&display);
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CAN_device_t CAN_cfg; // CAN Config
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unsigned long previousMillis = 0; // will store last time a CAN Message was send
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const int interval = 1000; // interval at which send CAN Messages (milliseconds)
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const int rx_queue_size = 10; // Receive Queue size
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uint8_t count = 0;
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void setup()
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{
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M5.begin();
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Serial.println("Basic Demo - ESP32-Arduino-CAN");
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display.begin();
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canvas.setColorDepth(1); // mono color
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canvas.createSprite(display.width(), display.height());
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canvas.setTextSize(1);
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canvas.setPaletteColor(1, GREEN);
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canvas.setTextScroll(true);
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CAN_cfg.speed = CAN_SPEED_125KBPS;
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CAN_cfg.tx_pin_id = GPIO_NUM_26;
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CAN_cfg.rx_pin_id = GPIO_NUM_36;
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CAN_cfg.rx_queue = xQueueCreate(rx_queue_size, sizeof(CAN_frame_t));
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// Init CAN Module
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ESP32Can.CANInit();
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canvas.println("Init CAN Module.....");
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canvas.println("Waiting Frame");
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canvas.println("If there are phenomena such as failure of normal communication");
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canvas.println(
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"Please check the communication rate or add a terminal resistance "
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"between the H and L phases");
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canvas.pushSprite(0, 0);
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}
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void loop()
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{
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CAN_frame_t rx_frame;
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unsigned long currentMillis = millis();
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// Receive next CAN frame from queue
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if (xQueueReceive(CAN_cfg.rx_queue, &rx_frame, 3 * portTICK_PERIOD_MS) == pdTRUE) {
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if (rx_frame.FIR.B.FF == CAN_frame_std) {
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Serial.println("New standard frame");
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canvas.println("New standard frame");
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} else {
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Serial.println("New extended frame");
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canvas.println("New extended frame");
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}
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if (rx_frame.FIR.B.RTR == CAN_RTR) {
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Serial.printf("RTR from 0x%08X, DLC %d\r\n", rx_frame.MsgID, rx_frame.FIR.B.DLC);
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canvas.printf("RTR from 0x%08X, DLC %d\r\n", rx_frame.MsgID, rx_frame.FIR.B.DLC);
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} else {
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Serial.printf("from 0x%08X, DLC %d, Data \r\n", rx_frame.MsgID, rx_frame.FIR.B.DLC);
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canvas.printf("from 0x%08X, DLC %d, Data \r\n", rx_frame.MsgID, rx_frame.FIR.B.DLC);
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for (int i = 0; i < rx_frame.FIR.B.DLC; i++) {
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Serial.printf("0x%02X ", rx_frame.data.u8[i]);
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canvas.printf("0x%02X ", rx_frame.data.u8[i]);
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}
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Serial.println("\n");
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canvas.println("\n");
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}
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canvas.pushSprite(0, 0);
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}
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// Send CAN Message
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if (currentMillis - previousMillis >= interval) {
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previousMillis = currentMillis;
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CAN_frame_t tx_frame;
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tx_frame.FIR.B.FF = CAN_frame_std;
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tx_frame.MsgID = 0x001;
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tx_frame.FIR.B.DLC = 8;
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tx_frame.data.u8[0] = 0x00;
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tx_frame.data.u8[1] = 0x01;
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tx_frame.data.u8[2] = 0x02;
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tx_frame.data.u8[3] = 0x03;
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tx_frame.data.u8[4] = 0x04;
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tx_frame.data.u8[5] = 0x05;
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tx_frame.data.u8[6] = 0x06;
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tx_frame.data.u8[7] = 0x07;
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ESP32Can.CANWriteFrame(&tx_frame);
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}
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delay(1);
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}
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