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ESP32 CAN Driver with examples

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This commit is contained in:
Michael Wagner 2018-04-01 16:21:55 +02:00
parent 0570338401
commit be9a76a65d
14 changed files with 1069 additions and 55 deletions
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45
examples/esp32can_mirror/esp32can_mirror.ino Normal file
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#include <ESP32CAN.h>
#include <CAN_config.h>
CAN_device_t CAN_cfg; // CAN Config
const int rx_queue_size = 10; // Receive Queue size
void setup() {
Serial.begin(115200);
Serial.println("Mirror Demo - ESP32-Arduino-CAN");
CAN_cfg.speed = CAN_SPEED_125KBPS;
CAN_cfg.tx_pin_id = GPIO_NUM_5;
CAN_cfg.rx_pin_id = GPIO_NUM_4;
CAN_cfg.rx_queue = xQueueCreate(rx_queue_size, sizeof(CAN_frame_t));
// Init CAN Module
ESP32Can.CANInit();
}
void loop() {
CAN_frame_t rx_frame;
//receive next CAN frame from queue
if (xQueueReceive(CAN_cfg.rx_queue, &rx_frame, 3 * portTICK_PERIOD_MS) == pdTRUE) {
if (rx_frame.FIR.B.FF == CAN_frame_std) {
printf("New standard frame");
}
else {
printf("New extended frame");
}
if (rx_frame.FIR.B.RTR == CAN_RTR) {
printf(" RTR from 0x%08X, DLC %d\r\n", rx_frame.MsgID, rx_frame.FIR.B.DLC);
}
else {
printf(" from 0x%08X, DLC %d, Data ", rx_frame.MsgID, rx_frame.FIR.B.DLC);
for (int i = 0; i < rx_frame.FIR.B.DLC; i++) {
printf("0x%02X ", rx_frame.data.u8[i]);
}
printf("\n");
}
//respond to sender
ESP32Can.CANWriteFrame(&rx_frame);
}
}