From 5f7be7e38388294c610127f3805b83a69d5a0052 Mon Sep 17 00:00:00 2001
From: m_klimkiewicz <marcin.klimkiewicz@mobica.com>
Date: Thu, 25 Jan 2024 08:30:21 +0100
Subject: [PATCH] Added new example sketch - sending periodic frames

---
 .../CAN_periodicFrames/CAN_periodicFrames.ino | 85 +++++++++++++++++++
 1 file changed, 85 insertions(+)
 create mode 100644 examples/CAN_periodicFrames/CAN_periodicFrames.ino

diff --git a/examples/CAN_periodicFrames/CAN_periodicFrames.ino b/examples/CAN_periodicFrames/CAN_periodicFrames.ino
new file mode 100644
index 0000000..def77ed
--- /dev/null
+++ b/examples/CAN_periodicFrames/CAN_periodicFrames.ino
@@ -0,0 +1,85 @@
+#include <SPI.h>
+#include <mcp2515.h>
+
+/* Configuration defines */
+#define MCP2512_CS_PIN      10
+#define MCP2515_CLOCK       MCP_8MHZ
+#define MCP2515_CAN_SPEED   CAN_250KBPS
+
+/* Internal variables */
+static unsigned long currentTime;
+static unsigned long previousTime;
+static MCP2515 mcp2515(MCP2512_CS_PIN);
+
+/* Example frames */
+can_frame canMsg1 = { .can_id = 0x100, .can_dlc = 1, .data = { 0x00 } };
+can_frame canMsg2 = { .can_id = 0x500, .can_dlc = 8, .data = { 0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07} };
+
+
+void setup() {
+  while (!Serial);
+  Serial.begin(115200);
+
+  if(mcp2515.reset() != MCP2515::ERROR_OK)
+  {
+    Serial.println("reset error");
+  }
+  if(mcp2515.setBitrate(MCP2515_CAN_SPEED, MCP2515_CLOCK) != MCP2515::ERROR_OK)
+  {
+    Serial.println("setBitrate error");
+  }
+  if(mcp2515.setNormalMode() != MCP2515::ERROR_OK)
+  {
+    Serial.println("setNormalMode error");
+  }
+}
+
+
+static void _100ms_task(void)
+{
+  /* Enter your code here */
+
+  mcp2515.sendMessage(&canMsg1);
+  canMsg1.data[0]++;
+}
+
+static void _500ms_task(void)
+{
+  /* Enter your code here */
+  
+  mcp2515.sendMessage(&canMsg2);
+}
+
+static void _1000ms_task(void)
+{
+  /* Enter your code here */
+}
+
+static void simpleScheduler(void)
+{
+  currentTime = millis();
+
+  if(currentTime > previousTime)
+  {
+    previousTime = currentTime;
+
+    if(currentTime % 100 == 0)
+    {
+      _100ms_task();
+    }
+    if(currentTime % 500 == 0)
+    {
+      _500ms_task();
+    }
+    if(currentTime % 1000 == 0)
+    {
+      _1000ms_task();
+    }
+  }
+}
+
+void loop() {
+  simpleScheduler();
+
+  /* Another non-blocking code */
+}
\ No newline at end of file