Hello.
I try to use two CAN buses and switch between them via remap. But it does not work. Could you analyze?
Code is below.
First it sends out the message with ID 0x100 to the bus on A11A12 pins, but then nothing there. On the B8B9 pins then I get working cycle with messages of ID 0x111. And all further messages with ID 0x100 go also here with speed 33.
What am I doing wrong?
Not possible to remap on-the-fly?
#include <HardwareCAN.h>
//#include "changes.h"
/*
*
*/
#define T_DELAY 10
// Instanciation of CAN interface
HardwareCAN canBus(CAN1_BASE);
CanMsg msg ;
void CAN_a_33_Setup(void)
{
CAN_STATUS Stat ;
canBus.map(CAN_GPIO_PA11_PA12);
Stat = canBus.begin(CAN_SPEED_33, CAN_MODE_NORMAL);
canBus.filter(0, 0, 0);
canBus.set_irq_mode();
Stat = canBus.status();
if (Stat != CAN_OK)
{digitalWrite(PC13, LOW);
delay(10000);}
// /* Your own error processing here */ ; // Initialization failed
// delay(T_DELAY);
}
void CAN_b_95_Setup(void)
{
canBus.map(CAN_GPIO_PB8_PB9);
Stat = canBus.begin(CAN_SPEED_95, CAN_MODE_NORMAL);
canBus.filter(0, 0, 0);
canBus.set_irq_mode();
Stat = canBus.status();
if (Stat != CAN_OK)
{digitalWrite(PC13, LOW);
delay(10000);}
// /* Your own error processing here */ ; // Initialization failed
// delay(T_DELAY);
}
CAN_TX_MBX CANsend(CanMsg *pmsg)
{
CAN_TX_MBX mbx;
do
{
mbx = canBus.send(pmsg) ;
#ifdef USE_MULTITASK
vTaskDelay( 1 ) ; // Infinite loops are not multitasking-friendly
#endif
}
while(mbx == CAN_TX_NO_MBX) ; // Waiting outbound frames will eventually be sent, unless there is a CAN bus failure.
return mbx ;
}
// Send message
// Prepare and send a frame containing some value
void SendCANmessage(long id=0x001, byte dlength=8, byte d0=0x00, byte d1=0x00, byte d2=0x00, byte d3=0x00, byte d4=0x00, byte d5=0x00, byte d6=0x00, byte d7=0x00)
{
// Initialize the message structure
// A CAN structure includes the following fields:
msg.IDE = CAN_ID_STD; // Indicates a standard identifier ; CAN_ID_EXT would mean this frame uses an extended identifier
msg.RTR = CAN_RTR_DATA; // Indicated this is a data frame, as opposed to a remote frame (would then be CAN_RTR_REMOTE)
msg.ID = id ; // Identifier of the frame : 0-2047 (0-0x3ff) for standard idenfiers; 0-0x1fffffff for extended identifiers
msg.DLC = dlength; // Number of data bytes to follow
// Prepare frame : send something
msg.Data[0] = d0 ;
msg.Data[1] = d1 ;
msg.Data[2] = d2 ;
msg.Data[3] = d3 ;
msg.Data[4] = d4 ;
msg.Data[5] = d5 ;
msg.Data[6] = d6 ;
msg.Data[7] = d7 ;
digitalWrite(PC13, LOW); // turn the onboard LED on
CANsend(&msg) ; // Send this frame
digitalWrite(PC13, HIGH); // turn the LED off
delay(T_DELAY);
}
// The application program starts here
byte msgD0 = 0x00;
void setup() { // Initialize the CAN module and prepare the message structures.
pinMode(PC13, OUTPUT);
digitalWrite(PC13, HIGH);
delay(10);
digitalWrite(PC13, LOW);
delay(1000);
digitalWrite(PC13, HIGH);
delay(1000);
}
void loop() {
CAN_a_33_Setup();
delay(T_DELAY);
SendCANmessage(0x100,1,msgD0);
delay(T_DELAY);
CAN_b_95_Setup();
delay(T_DELAY);
SendCANmessage(0x111,1,msgD0);
delay(T_DELAY);
msgD0++;
}
