CAN Setup rev_01

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    - Project: CAN Setup
    - Source Code NOT compiled for: Arduino Mega
    - Source Code created on: 2024-10-16 07:50:43

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/****** SYSTEM REQUIREMENTS *****/
/****** SYSTEM REQUIREMENT 1 *****/
    /* Implement a CAN bus communication system using the */
    /* MCP2515 controller, ensuring reliable message */
    /* transmission and reception via SPI interface with */
    /* Arduino. Utilize digital pin configurations for */
    /* interrupt handling and SPI communication. */
/****** END SYSTEM REQUIREMENTS *****/

/****** DEFINITION OF LIBRARIES *****/
#include <SPI.h>
#include <mcp2515.h>    // https://github.com/autowp/arduino-mcp2515

/****** FUNCTION PROTOTYPES *****/
void setup(void);
void loop(void);

/***** DEFINITION OF DIGITAL INPUT PINS *****/
const uint8_t can_shield_MCP2515_INT_PIN_D2     = 2; // Interrupt pin for MCP2515

/***** DEFINITION OF SPI PINS *****/
const uint8_t can_shield_MCP2515_SPI_PIN_MOSI_D51       = 51; // MOSI pin
const uint8_t can_shield_MCP2515_SPI_PIN_MISO_D50       = 50; // MISO pin
const uint8_t can_shield_MCP2515_SPI_PIN_SCLK_D52       = 52; // SCLK pin
const uint8_t can_shield_MCP2515_SPI_PIN_CS_D53     = 53; // CS pin

/****** DEFINITION OF LIBRARIES CLASS INSTANCES *****/
MCP2515 mcp2515(can_shield_MCP2515_SPI_PIN_CS_D53); // Initialize MCP2515 with CS pin
struct can_frame canMsg; // Structure to hold CAN message

void setup(void)
{
    // Set interrupt pin as input with pull-up
    pinMode(can_shield_MCP2515_INT_PIN_D2, INPUT_PULLUP);

    // Set CS pin as output
    pinMode(can_shield_MCP2515_SPI_PIN_CS_D53, OUTPUT);

    // Start the SPI library
    SPI.begin(); // Initialize SPI

    // Initialize MCP2515
    mcp2515.reset(); // Reset the MCP2515
    mcp2515.setBitrate(CAN_125KBPS); // Set bitrate to 125 kbps
    mcp2515.setNormalMode(); // Set MCP2515 to normal mode

    Serial.begin(115200); // Initialize Serial communication
    Serial.println("MCP2515 Initialized Successfully");
}

void loop(void)
{
    // Check if a message is received
    if (mcp2515.readMessage(&canMsg) == MCP2515::ERROR_OK) {
        // Print the received CAN message details
        Serial.print("ID: ");
        Serial.print(canMsg.can_id, HEX); // Print CAN ID in hexadecimal
        Serial.print(" DLC: ");
        Serial.print(canMsg.can_dlc, HEX); // Print Data Length Code in hexadecimal
        Serial.print(" Data: ");
        for (int i = 0; i < canMsg.can_dlc; i++) { // Loop through the data bytes
            Serial.print(canMsg.data[i], HEX); // Print each data byte in hexadecimal
            Serial.print(" ");
        }
        Serial.println(); // New line after printing the message
    }
}

/* END CODE */