60 lines
1.2 KiB
C++
60 lines
1.2 KiB
C++
// Copyright (c) Sandeep Mistry. All rights reserved.
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// Licensed under the MIT license. See LICENSE file in the project root for full license information.
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#include <CAN.h>
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void setup() {
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Serial.begin(9600);
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while (!Serial);
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Serial.println("CAN Receiver Callback");
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// start the CAN bus at 500 kbps
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if (!CAN.begin(500E3)) {
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Serial.println("Starting CAN failed!");
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while (1);
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}
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// register the receive callback
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CAN.onReceive(onReceive);
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}
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void loop() {
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// do nothing
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}
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void onReceive(int packetSize) {
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// received a packet
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Serial.print("Received ");
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if (CAN.packetExtended()) {
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Serial.print("extended ");
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}
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if (CAN.packetRtr()) {
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// Remote transmission request, packet contains no data
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Serial.print("RTR ");
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}
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Serial.print("packet with id 0x");
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Serial.print(CAN.packetId(), HEX);
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if (CAN.packetRtr()) {
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Serial.print(" and requested length ");
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Serial.println(CAN.packetDlc());
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} else {
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Serial.print(" and length ");
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Serial.println(packetSize);
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// only print packet data for non-RTR packets
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while (CAN.available()) {
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Serial.print((char)CAN.read());
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}
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Serial.println();
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}
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Serial.println();
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}
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