Create CAN_inspector.ino

core-rocket · Jul 6, 2023 · cb12b0b · cb12b0b
1 parent ae0e890
commit cb12b0b
Showing 1 changed file with 156 additions and 0 deletions.
diff --git a/examples/CAN_inspector/CAN_inspector.ino b/examples/CAN_inspector/CAN_inspector.ino
@@ -0,0 +1,156 @@
+#include <SPI.h>
+#include <string.h>
+#include <CCP_MCP2515.h>
+// #include <Adafruit_GFX.h>
+// #include <Adafruit_SSD1331.h>
+
+// #define NC0         0
+// #define NC1         1
+#define CAN0_INT 2
+#define CAN0_CS 3
+// #define SSD1331_cs  4
+// #define SSD1331_dc  5
+// #define SSD1331_rst 6
+
+// Color definitions
+// #define BLACK           0x0000
+// #define BLUE            0x001F
+// #define RED             0xF800
+// #define GREEN           0x07E0
+// #define CYAN            0x07FF
+// #define MAGENTA         0xF81F
+// #define YELLOW          0xFFE0
+// #define WHITE           0xFFFF
+
+// Adafruit_SSD1331 display = Adafruit_SSD1331(&SPI, SSD1331_cs, SSD1331_dc, SSD1331_rst);
+
+// CAN
+CCP_MCP2515 CCP(CAN0_CS, CAN0_INT);
+
+// Other
+char msgString[128];
+char str_buf[7]; // 6+\0
+
+void setup()
+{
+  delay(500);
+  Serial.begin(2000000);
+  //  pinMode(NC0, INPUT_PULLUP);
+  //  pinMode(NC1, INPUT_PULLUP);
+  pinMode(CAN0_CS, OUTPUT);
+  //  pinMode(SSD1331_cs, OUTPUT);
+  pinMode(CAN0_INT, INPUT);
+  digitalWrite(CAN0_CS, HIGH);
+  //  digitalWrite(SSD1331_cs, HIGH);
+
+  // CAN
+  CCP.begin();
+  /*
+    display.begin();
+    display.setTextSize(1);
+    display.fillScreen(BLACK);
+    display.setTextColor(WHITE);
+
+    display.setCursor(0, 0);
+    display.println("main          V ");
+    display.setCursor(0, 8);
+    display.println("servo         V ");
+    display.setCursor(0, 16);
+    display.println("press        hPa");
+    display.setCursor(0, 24);
+    display.println("BMEalt        m ");
+    display.setCursor(0, 32);
+    display.println("GPSalt        m ");
+    display.setCursor(0, 40);
+    display.println("MPUacZ       mss");
+    display.setCursor(0, 48);
+    display.println("para            ");*/
+}
+
+void loop()
+{
+  if (!digitalRead(CAN0_INT)) // データ受信確認
+  {
+    CCP.read_device();
+    if (CCP.id < 0x40)
+    {
+      CCP.string(str_buf, 7);
+      sprintf(msgString, "ID,%03x,time,%d000,string,%s,,,,", CCP.id, CCP.time16(), str_buf);
+    }
+    else if (CCP.id < 0x80)
+    {
+      sprintf(msgString, "ID,%03x,time,%lu,uint32,%lu,,,,", CCP.id, CCP.time32(), CCP.data_uint32());
+    }
+    else if (CCP.id < 0xC0)
+    {
+      sprintf(msgString, "ID,%03x,time,%lu,float,%8.2f,,,,", CCP.id, CCP.time32(), CCP.data_float());
+    }
+    else
+    {
+      sprintf(msgString, "ID,%03x,time,%d000,fp16_0,%8.2f,fp16_1,%8.2f,fp16_2,%8.2f", CCP.id, CCP.time16(), CCP.data_fp16_0(), CCP.data_fp16_1(), CCP.data_fp16_2());
+    }
+    Serial.println(msgString);
+
+    /*
+        if (CCP.id == CCP_voltage_main) {
+          unsigned long int time = micros();
+          display.setCursor(36, 0);
+          display.fillRect(36, 0, 42, 8, BLACK);
+          display.println(CCP.data_float());
+          Serial.println(micros() - time);
+        }
+        if (CCP.id == CCP_voltage_actuator) {
+          unsigned long int time = micros();
+          display.setCursor(36, 8);
+          display.fillRect(36, 8, 42, 8, BLACK);
+          display.println(CCP.data_float());
+          Serial.println(micros() - time);
+        }
+        if (CCP.id == CCP_A_pressure_hPa) {
+          unsigned long int time = micros();
+          display.setCursor(36, 16);
+          display.fillRect(36, 16, 42, 8, BLACK);
+          display.println(CCP.data_float());
+          Serial.println(micros() - time);
+        }
+        if (CCP.id == CCP_A_pressure_altitude_m) {
+          unsigned long int time = micros();
+          display.setCursor(36, 24);
+          display.fillRect(36, 24, 42, 8, BLACK);
+          display.println(CCP.data_float());
+          Serial.println(micros() - time);
+        }
+        if (CCP.id == CCP_A_GNSS_altitude_mm) {
+          unsigned long int time = micros();
+          display.setCursor(36, 32);
+          display.fillRect(36, 32, 42, 8, BLACK);
+          display.println(CCP.data_uint32() / 1000);
+          Serial.println(micros() - time);
+        }
+        if (CCP.id == CCP_A_accel_mss) {
+          unsigned long int time = micros();
+          display.setCursor(36, 40);
+          display.fillRect(36, 40, 42, 8, BLACK);
+          display.println(CCP.data_fp16_2());
+          Serial.println(micros() - time);
+        }
+        if (CCP.id == CCP_parachute_judge) {
+          unsigned long int time = micros();
+          display.setCursor(36, 48);
+          display.fillRect(36, 48, 42, 8, BLACK);
+          CCP.string(str_buf, 7);
+          display.println(str_buf);
+          Serial.println(micros() - time);
+        }
+        if (CCP.id < 0x400) {
+          unsigned long int time = micros();
+          display.fillRect(0, 56, 96, 8, BLACK);
+          display.setCursor(0, 56);
+          display.println(CCP.id, HEX);
+          display.setCursor(36, 56);
+          CCP.string(str_buf, 7);
+          display.println(str_buf);
+          Serial.println(micros() - time);
+        }*/
+  }
+}