main.c

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// coding: utf-8
 
#include <avr/io.h>
#include <avr/pgmspace.h>
 
#include "can.h"
 
// -----------------------------------------------------------------------------
const uint8_t can_filter[] PROGMEM = 
{
        // Group 0
        MCP2515_FILTER(0),                              // Filter 0
        MCP2515_FILTER(0),                              // Filter 1
        
        // Group 1
        MCP2515_FILTER_EXTENDED(0),             // Filter 2
        MCP2515_FILTER_EXTENDED(0),             // Filter 3
        MCP2515_FILTER_EXTENDED(0),             // Filter 4
        MCP2515_FILTER_EXTENDED(0),             // Filter 5
        
        MCP2515_FILTER(0),                              // Mask 0 (for group 0)
        MCP2515_FILTER_EXTENDED(0),             // Mask 1 (for group 1)
};
// You can receive 11 bit identifiers with either group 0 or 1.
 
 
// -----------------------------------------------------------------------------
// Main loop for receiving and sending messages.
 
int main(void)
{
        // Initialize MCP2515
        can_init(BITRATE_125_KBPS);
        
        // Load filters and masks
        can_static_filter(can_filter);
        
        // Create a test messsage
        can_t msg;
        
        msg.id = 0x123456;
        msg.flags.rtr = 0;
        msg.flags.extended = 1;
        
        msg.length = 4;
        msg.data[0] = 0xde;
        msg.data[1] = 0xad;
        msg.data[2] = 0xbe;
        msg.data[3] = 0xef;
        
        // Send the message
        can_send_message(&msg);
        
        while (1)
        {
                // Check if a new messag was received
                if (can_check_message())
                {
                        can_t msg;
                        
                        // Try to read the message
                        if (can_get_message(&msg))
                        {
                                // If we received a message resend it with a different id
                                msg.id += 10;
                                
                                // Send the new message
                                can_send_message(&msg);
                        }
                }
        }
        
        return 0;
}