arduino due开发板有2个can接口,can0和can1,而且官方的arduino ide也有can api。arduino 开发can总线没有很多的资料。笔者在淘宝上购买了几个can总线收发器(TJA1050 CAN模块),8元一个,接在arduino due开发板的2个can接口上,很简单,
arduino due can模块
5v --------------------------------------vcc
GND-------------------------------------GND
CANTX-----------------------------------TX
CANRX-----------------------------------RX
把硬件连接好后就可以写程序了。
can_mb_conf_t can0_mailbox;
can_mb_conf_t can1_mailbox;
void setup() {
Serial.begin(9600);
pmc_enable_periph_clk(ID_CAN0);
pmc_enable_periph_clk(ID_CAN1);
can_init(CAN0, SystemCoreClock, CAN_BPS_1000K);
can_init(CAN1, SystemCoreClock, CAN_BPS_1000K);
can_reset_all_mailbox(CAN0);
can_reset_all_mailbox(CAN1);
can1_mailbox.ul_mb_idx = 0;
can1_mailbox.uc_obj_type = CAN_MB_RX_MODE;
can1_mailbox.ul_id_msk = CAN_MAM_MIDvA_Msk | CAN_MAM_MIDvB_Msk;
can1_mailbox.ul_id = CAN_MID_MIDvA(0x07);
can_mailbox_init(CAN1, &can1_mailbox);
can0_mailbox.ul_mb_idx = 0;
can0_mailbox.uc_obj_type = CAN_MB_TX_MODE;
can0_mailbox.uc_tx_prio = 15;
can0_mailbox.uc_id_ver = 0;
can0_mailbox.ul_id_msk = 0;
can_mailbox_init(CAN0, &can0_mailbox);
can0_mailbox.ul_id = CAN_MID_MIDvA(0x07);
can0_mailbox.ul_datal = 0x12345678;
can0_mailbox.ul_datah = 0x87654321;
can0_mailbox.uc_length = 8;
can_mailbox_write(CAN0, &can0_mailbox);
}
void loop() {
can_global_send_transfer_cmd(CAN0, CAN_TCR_MB0);
while (!(can_mailbox_get_status(CAN1, 0) & CAN_MSR_MRDY)) {
}
can_mailbox_read(CAN1, &can1_mailbox);
Serial.print("data L:");
Serial.print(can1_mailbox.ul_datal);
Serial.print(" data H:");
Serial.println(can1_mailbox.ul_datah);
delay(1000);
}
这是can0接口发送,can1接收的例子。不错呀,大家可以试试。can.h和can.c 在官方的arduino ide里面自带,编译的时候回自动加进去,很方便。我用的是arduino ide 1.6.1
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