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package main
import (
"device/sam"
"fmt"
"machine"
"time"
)
var (
can0 = machine.CAN0
can1 = machine.CAN1
ch = make(chan canMsg, 10)
)
type canMsg struct {
bus byte
can machine.CANRxBufferElement
}
func main() {
go print(ch)
can1.Configure(machine.CANConfig{
TransferRate: machine.CANTransferRate500kbps,
TransferRateFD: machine.CANTransferRate1000kbps,
Rx: machine.CAN1_RX,
Tx: machine.CAN1_TX,
Standby: machine.CAN1_STANDBY,
})
// RF0NE : Rx FIFO 0 New Message Interrupt Enable
can1.SetInterrupt(sam.CAN_IE_RF0NE, func(can *machine.CAN) {
rxMsg := machine.CANRxBufferElement{}
can.RxRaw(&rxMsg)
msg := canMsg{
bus: 1,
can: rxMsg,
}
select {
case ch <- msg:
}
})
can0.Configure(machine.CANConfig{
TransferRate: machine.CANTransferRate500kbps,
TransferRateFD: machine.CANTransferRate1000kbps,
Rx: machine.CAN0_RX,
Tx: machine.CAN0_TX,
Standby: machine.NoPin,
})
// RF0NE : Rx FIFO 0 New Message Interrupt Enable
can0.SetInterrupt(sam.CAN_IE_RF0NE, func(can *machine.CAN) {
rxMsg := machine.CANRxBufferElement{}
can.RxRaw(&rxMsg)
msg := canMsg{
bus: 1,
can: rxMsg,
}
select {
case ch <- msg:
}
})
for {
can0.Tx(0x123, []byte{0x01, 0x23, 0x45, 0x67, 0x89, 0xAB, 0xCD, 0xEF}, false, false)
time.Sleep(time.Millisecond * 500)
can1.Tx(0x456, []byte{0xAA, 0xBB, 0xCC}, false, false)
time.Sleep(time.Millisecond * 1000)
}
}
func print(ch <-chan canMsg) {
for {
select {
case m := <-ch:
fmt.Printf("%d %03X %X ", m.bus, m.can.ID, m.can.DLC)
for _, d := range m.can.DB[:m.can.Length()] {
fmt.Printf("%02X ", d)
}
fmt.Printf("\r\n")
}
}
}
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