97 lines
2.6 KiB
C++
97 lines
2.6 KiB
C++
#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);
|
|
}
|
|
} |