#include <FlexCAN_T4.h>
#define LEDPIN 16
FlexCAN_T4FD<CAN3, RX_SIZE_256, TX_SIZE_16> flexCan;
void printInfo(const CANFD_message_t& message, bool received = true, bool result = true)
{
Serial.println("*******************************");
Serial.println(received ? "* Frame Received" : "* Frame Send");
Serial.println(result ? "* Success" : "* Fail");
Serial.println("*");
Serial.print("* Id: "); Serial.print(message.id, HEX); Serial.println();
Serial.print("* Data: "); for(int i=0; i<message.len; i++){ Serial.print(message.buf[i], HEX); Serial.print(" "); } Serial.println();
Serial.println("*");
Serial.println("*******************************");
}
void frameReceivedHandler(const CANFD_message_t& message)
{
printInfo(message);
}
#define OPTION 1
#if OPTION == 0
int txId = 0x123, rxId = 0x321;
#endif
#if OPTION == 1
int txId = 0x321, rxId = 0x123;
#endif
void setup(void) {
Serial.begin(9600);
/************** Config LED **************/
pinMode(LEDPIN, OUTPUT);
delay(500);
/************ Initialize CAN ************/
flexCan.begin();
CANFD_timings_t config;
config.clock = CLK_24MHz;
config.baudrate = 1000000;
config.baudrateFD = 2000000;
config.propdelay = 190;
config.bus_length = 1;
config.sample = 87.5;
flexCan.setRegions(64);
flexCan.setBaudRate(config);
//flexCan.setBaudRate(500000);
}
void loop() {
static unsigned long timeout = millis();
CANFD_message_t message;
int result;
static int ctr = 0;
message.id = txId;
message.len = 8;
message.buf[0] = ctr;
message.buf[1] = ctr;
message.buf[2] = ctr;
message.buf[3] = ctr;
message.buf[4] = ctr;
message.buf[5] = ctr;
message.buf[6] = ctr;
message.buf[7] = ctr;
if(millis() - timeout >= 500)
{
timeout = millis();
result = flexCan.write(message);
printInfo(message, false, result);
flexCan.mailboxStatus();
/************ Blink LED ************/
if(result)
{
digitalWrite(LEDPIN, (ctr++)%2);
}
}
/************ Call event handlers ************/
if(flexCan.read(message))frameReceivedHandler(message);
}
)
