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sago35
76 lines
1.7 KiB
Go
76 lines
1.7 KiB
Go
package main
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import (
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"device/sam"
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"fmt"
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"machine"
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"time"
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)
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type canMsg struct {
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ch byte
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id uint32
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dlc byte
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data []byte
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}
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func main() {
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ch := make(chan canMsg, 10)
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go func() {
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for {
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select {
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case m := <-ch:
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fmt.Printf("%d %03X %X ", m.ch, m.id, m.dlc)
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for _, d := range m.data {
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fmt.Printf("%02X ", d)
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}
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fmt.Printf("\r\n")
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}
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}
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}()
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can1 := machine.CAN1
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can1.Configure(machine.CANConfig{
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TransferRate: machine.CANTransferRate500kbps,
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TransferRateFD: machine.CANTransferRate1000kbps,
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Rx: machine.CAN1_RX,
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Tx: machine.CAN1_TX,
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Standby: machine.CAN1_STANDBY,
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})
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// RF0NE : Rx FIFO 0 New Message Interrupt Enable
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can1.SetInterrupt(sam.CAN_IE_RF0NE, func(*machine.CAN) {
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rxMsg := machine.CANRxBufferElement{}
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can1.RxRaw(&rxMsg)
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m := canMsg{ch: 1, id: rxMsg.ID, dlc: rxMsg.DLC, data: rxMsg.Data()}
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select {
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case ch <- m:
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}
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})
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can0 := machine.CAN0
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can0.Configure(machine.CANConfig{
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TransferRate: machine.CANTransferRate500kbps,
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TransferRateFD: machine.CANTransferRate1000kbps,
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Rx: machine.CAN0_RX,
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Tx: machine.CAN0_TX,
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Standby: machine.NoPin,
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})
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// RF0NE : Rx FIFO 0 New Message Interrupt Enable
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can0.SetInterrupt(sam.CAN_IE_RF0NE, func(*machine.CAN) {
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rxMsg := machine.CANRxBufferElement{}
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can0.RxRaw(&rxMsg)
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m := canMsg{ch: 2, id: rxMsg.ID, dlc: rxMsg.DLC, data: rxMsg.Data()}
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select {
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case ch <- m:
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}
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})
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for {
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can0.Tx(0x123, []byte{0x01, 0x23, 0x45, 0x67, 0x89, 0xAB, 0xCD, 0xEF}, false, false)
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time.Sleep(time.Millisecond * 500)
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can1.Tx(0x456, []byte{0xAA, 0xBB, 0xCC}, false, false)
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time.Sleep(time.Millisecond * 1000)
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}
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}
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