From 9d839b680be1f1e89fc3ad398fc5783f9e6bd390 Mon Sep 17 00:00:00 2001
From: Michael Waiblinger <wiebel@wiebels.info>
Date: Mon, 30 May 2016 23:34:41 +0200
Subject: [PATCH] initial

---
 src/CANode.cpp | 111 +++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 111 insertions(+)
 create mode 100644 src/CANode.cpp

diff --git a/src/CANode.cpp b/src/CANode.cpp
new file mode 100644
index 0000000..3bcf6fb
--- /dev/null
+++ b/src/CANode.cpp
@@ -0,0 +1,111 @@
+#include <Arduino.h>
+
+// -------------------------------------------------------------
+// CANtest for Teensy 3.1
+// by teachop
+//
+// This test is talking to a single other echo-node on the bus.
+// 6 frames are transmitted and rx frames are counted.
+// Tx and rx are done in a way to force some driver buffering.
+// Serial is used to print the ongoing status.
+//
+
+#include <Metro.h>
+#include <FlexCAN.h>
+
+#define CAN_RS_PIN 2
+
+Metro sysTimer = Metro(1);// milliseconds
+
+int led = 13;
+FlexCAN CANbus(125000);
+static CAN_message_t msg,rxmsg;
+static uint8_t hex[17] = "0123456789abcdef";
+
+int txCount,rxCount;
+unsigned int txTimer,rxTimer;
+
+
+// -------------------------------------------------------------
+static void hexDump(uint8_t dumpLen, uint8_t *bytePtr)
+{
+  uint8_t working;
+  while( dumpLen-- ) {
+    working = *bytePtr++;
+    Serial.write( hex[ working>>4 ] );
+    Serial.write( hex[ working&15 ] );
+  }
+  Serial.write('\r');
+  Serial.write('\n');
+}
+
+
+// -------------------------------------------------------------
+void setup(void)
+{
+  pinMode(CAN_RS_PIN,OUTPUT);
+  digitalWrite(CAN_RS_PIN,0);
+  CANbus.begin();
+  pinMode(led, OUTPUT);
+  digitalWrite(led, 1);
+
+  delay(1000);
+  Serial.println(F("Hello Teensy 3.1 CAN Test."));
+
+  sysTimer.reset();
+}
+
+
+// -------------------------------------------------------------
+void loop(void)
+{
+  // service software timers based on Metro tick
+  if ( sysTimer.check() ) {
+    if ( txTimer ) {
+      --txTimer;
+    }
+    if ( rxTimer ) {
+      --rxTimer;
+    }
+  }
+
+  // if not time-delayed, read CAN messages and print 1st byte
+  if ( !rxTimer ) {
+    while ( CANbus.read(rxmsg) ) {
+      //hexDump( sizeof(rxmsg), (uint8_t *)&rxmsg );
+      Serial.write(rxmsg.buf[0]);
+      rxCount++;
+    }
+  }
+
+  // insert a time delay between transmissions
+  if ( !txTimer ) {
+    // if frames were received, print the count
+    if ( rxCount ) {
+      Serial.write('=');
+      Serial.print(rxCount);
+      Serial.print(",Hello=");
+      Serial.print(rxmsg.id,HEX);
+      rxCount = 0;
+    }
+    txTimer = 100;//milliseconds
+    msg.len = 8;
+    msg.id = 0x222;
+    for( int idx=0; idx<8; ++idx ) {
+      msg.buf[idx] = '0'+idx;
+    }
+    // send 6 at a time to force tx buffering
+    txCount = 16;
+    digitalWrite(led, 1);
+    Serial.println(".");
+    while ( txCount-- ) {
+      CANbus.write(msg);
+      msg.buf[0]++;
+    }
+    digitalWrite(led, 0);
+    // time delay to force some rx data queue use
+    rxTimer = 3;//milliseconds
+  }
+
+}
+