From 1df8509e128d83485c0c6dd85cb7f4a1c2d58fbf Mon Sep 17 00:00:00 2001
From: byun <nulav@naver.com>
Date: Thu, 30 Apr 2026 17:40:40 +0000
Subject: [PATCH] =?UTF-8?q?=EA=B8=B0=EB=B3=B8TEST=EB=AA=A9=EC=A0=81?=
MIME-Version: 1.0
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---
 MCP2518FD_RX_Test.ino | 97 +++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 97 insertions(+)
 create mode 100644 MCP2518FD_RX_Test.ino

diff --git a/MCP2518FD_RX_Test.ino b/MCP2518FD_RX_Test.ino
new file mode 100644
index 0000000..88d9543
--- /dev/null
+++ b/MCP2518FD_RX_Test.ino
@@ -0,0 +1,97 @@
+#include <SPI.h>
+#include <ACAN2517FD.h>
+
+#define PIN_CAN_SCK   12
+#define PIN_CAN_MOSI  11
+#define PIN_CAN_MISO  13
+#define PIN_CAN_CS    10
+#define PIN_CAN_INT   255
+
+#define LOOPBACK_TEST  false
+
+SPIClass    gSPI(HSPI);
+ACAN2517FD  gCAN(PIN_CAN_CS, gSPI, PIN_CAN_INT);
+
+uint32_t gTxCount = 0;
+uint32_t gRxCount = 0;
+
+void setup() {
+  Serial.begin(115200);
+  delay(500);
+
+  Serial.println("\n====================================");
+  Serial.println(" MCP2518FD v3 - INT=255 NULL 콜백");
+  Serial.println(LOOPBACK_TEST ? " [STEP1] InternalLoopBack" : " [STEP2] Normal20B 수신");
+  Serial.println("====================================");
+
+  gSPI.begin(PIN_CAN_SCK, PIN_CAN_MISO, PIN_CAN_MOSI, PIN_CAN_CS);
+  gSPI.setFrequency(5000000);
+
+  ACAN2517FDSettings settings(
+    ACAN2517FDSettings::OSC_20MHz,
+    500UL * 1000UL,
+    DataBitRateFactor::x1
+  );
+
+  settings.mRequestedMode = LOOPBACK_TEST
+    ? ACAN2517FDSettings::InternalLoopBack
+    : ACAN2517FDSettings::Normal20B;
+
+  settings.mControllerReceiveFIFOSize = 16;
+
+  Serial.printf("비트레이트: %lu bps\n", settings.actualArbitrationBitRate());
+
+  // INT=255 폴링모드는 반드시 NULL
+  const uint32_t err = gCAN.begin(settings, NULL);
+
+  if (err == 0) {
+    Serial.println("[OK] 초기화 성공!");
+    Serial.println(LOOPBACK_TEST
+      ? "1초마다 자동 송신 -> [LOOPBACK_OK] 뜨면 정상\n"
+      : "PC에서 500kbps CAN 프레임 보내세요.\n");
+  } else {
+    Serial.printf("[ERROR] 0x%08X\n", err);
+    while (true) delay(1000);
+  }
+}
+
+void loop() {
+  gCAN.isr();  // 폴링모드: 루프마다 직접 호출
+
+  if (LOOPBACK_TEST) {
+    static uint32_t lastTx = 0;
+    if (millis() - lastTx >= 1000) {
+      lastTx = millis();
+      CANFDMessage txMsg;
+      txMsg.id  = 0x123;
+      txMsg.len = 8;
+      for (uint8_t i = 0; i < 8; i++) txMsg.data[i] = i;
+      if (gCAN.tryToSend(txMsg)) {
+        gTxCount++;
+        Serial.printf("TX [%lu]  ID:0x123\n", gTxCount);
+      }
+    }
+  }
+
+  CANFDMessage msg;
+  while (gCAN.receive(msg)) {
+    gRxCount++;
+    if (LOOPBACK_TEST) {
+      Serial.printf("[LOOPBACK_OK] RX [%lu]  ID:0x%03X  DLC:%d  Data:",
+                    gRxCount, msg.id, msg.len);
+    } else {
+      Serial.printf("[%5lu] %s  ID:0x%08X  DLC:%d  Data:",
+                    gRxCount, msg.ext ? "EXT" : "STD", msg.id, msg.len);
+    }
+    for (uint8_t i = 0; i < msg.len; i++) Serial.printf(" %02X", msg.data[i]);
+    Serial.println();
+  }
+
+  static uint32_t lastSt = 0;
+  if (millis() - lastSt >= 5000) {
+    lastSt = millis();
+    if (LOOPBACK_TEST && gRxCount == 0 && gTxCount >= 3)
+      Serial.println("!! RX=0 -> 여전히 문제");
+    Serial.printf("-- TX=%lu  RX=%lu\n", gTxCount, gRxCount);
+  }
+}
\ No newline at end of file