Library Description

Library offers a choice to exchange messages with the other device by using CAN communication. Library also offers a choice to access a control, status and RAM registers of the device. For more details check documentation.

Key functions:

• void MCP2518FD_transmitMessage( uint8_t numDataBytes, uint8_t *transmitFlag, uint8_t *dataIn ) - Transmits the desired message and checks is message successfully sent.
• void MCP2518FD_receiveMessage( uint8_t *receiveFlag, uint8_t *dataOut ) - Receives the message and checks is message successfully received.
• int8_t MCP2518FD_Configure(T_MCP2518FD_id index, T_MCP2518FD_cfg* config) - CAN Control register configuration.
• int8_t MCP2518FD_ConfigureObjectReset(T_MCP2518FD_cfg* config) - Reset Configure object to reset values.

Examples description

The application is composed of the three sections :

• System Initialization - Initializes peripherals and pins.
• Application Initialization - Initializes SPI interface and performs the device configuration to work properly.
• Application Task - (code snippet) - Always checks is new message in FIFO ready for receiving and when is message ready, receives a message from the other device. Also in this example we can sent the desired message via CAN communication to the other device. We can choose a message to be sent by sending the determined command to the UART. In this example the command, which determines a message, can be number from 1 to 7.

void applicationTask()
{
    if (UART_Rdy_Ptr())
    {
        rxDat = UART_Rd_Ptr();
        chPtr = &txd[0];

        switch (rxDat)
        {
            case '1' :
            {
                _strcpy( chPtr, &txtMessage1[0] );
                MCP2518FD_transmitMessage( 5, &checkFlag, &txd[0] );
                if (checkFlag == 1)
                {
                    mikrobus_logWrite( "Message Sent", _LOG_LINE );
                }
            break;
            }
            case '2' :
            {
                _strcpy( chPtr, &txtMessage2[0] );
                MCP2518FD_transmitMessage( 7, &checkFlag, &txd[0] );
                if (checkFlag == 1)
                {
                    mikrobus_logWrite( "Message Sent", _LOG_LINE );
                }
            break;
            }
            case '3' :
            {
                _strcpy( chPtr, &txtMessage3[0] );
                MCP2518FD_transmitMessage( 2, &checkFlag, &txd[0] );
                if (checkFlag == 1)
                {
                    mikrobus_logWrite( "Message Sent", _LOG_LINE );
                }
            break;
            }
            case '4' :
            {
                _strcpy( chPtr, &txtMessage4[0] );
                MCP2518FD_transmitMessage( 4, &checkFlag, &txd[0] );
                if (checkFlag == 1)
                {
                    mikrobus_logWrite( "Message Sent", _LOG_LINE );
                }
            break;
            }
            case '5' :
            {
                _strcpy( chPtr, &txtMessage5[0] );
                MCP2518FD_transmitMessage( 3, &checkFlag, &txd[0] );
                if (checkFlag == 1)
                {
                    mikrobus_logWrite( "Message Sent", _LOG_LINE );
                }
            break;
            }
            case '6' :
            {
                _strcpy( chPtr, &txtMessage6[0] );
                MCP2518FD_transmitMessage( 3, &checkFlag, &txd[0] );
                if (checkFlag == 1)
                {
                    mikrobus_logWrite( "Message Sent", _LOG_LINE );
                }
            break;
            }
            case '7' :
            {
                _strcpy( chPtr, &txtMessage7[0] );
                MCP2518FD_transmitMessage( 7, &checkFlag, &txd[0] );
                if (checkFlag == 1)
                {
                    mikrobus_logWrite( "Message Sent", _LOG_LINE );
                }
            break;
            }
            default :
            {
            break;
            }
        }
    }

    MCP2518FD_receiveMessage( &checkFlag, &rxd[0] );
    if (checkFlag == 1)
    {
        chPtr = &rxd[0];
        mikrobus_logWrite( "Received Message : ", _LOG_TEXT );
        mikrobus_logWrite( chPtr, _LOG_LINE );
    }
}

Additional Functions :

• char * _strcpy( char * _to, char * _from ) - String copy function.

Other mikroE Libraries used in the example:

• SPI
• UART

Additional notes and informations

Depending on the development board you are using, you may need USB UART click, USB UART 2 click or RS232 click to connect to your PC, for development systems with no UART to USB interface available on the board. The terminal available in all MikroElektronika compilers, or any other terminal application of your choice, can be used to read the message.