esp32-can-bus-arduino.ino

#include <CAN.h>

// https://github.com/sandeepmistry/arduino-CAN
//  For DO IT Dev On board LED 
//  MCP2551 VCC5V-DOITDEVBoaredVin CTX-5 CRX-5

#include "freertos/task.h"
#define ONBLED  2 // For DO IT Dev On board LED 

#define ON  1
#define OFF 0

/* Multi Task */
#define TSK1STACK 4096  // Task1 Stack size
#define TSK2STACK 4096  // Task2 Stack size

void task0(void* param) {
  const portTickType yDelay = 200UL;
  while(1) { // Task Must Need Inf Lool
    // Serial.printf("Task0 on core %d done\n",xPortGetCoreID());
    digitalWrite( ONBLED, ( digitalRead(ONBLED) ) ? LOW : HIGH ); 
    vTaskDelay(yDelay); // Delay SystemTic
  }
}

void task1(void* param) {
  const portTickType yDelay = 1UL;

  Serial.println("CAN Receiver Callback ###");
  while(1) { // Task Must Need Inf Lool
    // Serial.printf("Task0 on core %d done\n",xPortGetCoreID());
    if (Serial.available() > 0) {
      String s;
      s = Serial.readStringUntil('\n');
      Serial.println(s);
      Serial.println("START SEND ###");
 
      // Some Serial Input Send to Can world
      CAN.beginExtendedPacket(0xabcdef);
      CAN.write('w');
      CAN.write('o');
      CAN.write('r');
      CAN.write('l');
      CAN.write('d');
      CAN.endPacket();
  
      Serial.println("END SEND ###");
    }
    vTaskDelay(yDelay); //
  }
}

void init_tasks() {
  xTaskCreatePinnedToCore(task0, "Task0", TSK1STACK, NULL, 1, NULL, 0);
  xTaskCreatePinnedToCore(task1, "Task1", TSK2STACK, NULL, 1, NULL, 1);
}

void init_console() {
  // Set Up Serial ------
  Serial.begin(115200);
  delay(100);
  Serial.print("Start\n");

  // Set Up CAN ------
  Serial.println("CAN INIT ###");
  if (!CAN.begin(500E3)) {
    Serial.println("Starting CAN failed!");
    while (1);
  }
  CAN.onReceive(onReceive);
}

void init_hard() {
  pinMode(ONBLED,OUTPUT);
}

void setup() {
  init_hard();    // Hard ware initial
  init_console(); // Console initial for Debug
  init_tasks();   // Dual Core assigned TASK
}

void loop() {
  // Serial.printf("Loop on core %d done\n",xPortGetCoreID());

  delay(1);
}


// Receive CAN DATA --------
void onReceive(int packetSize) {
  // received a packet
  Serial.print("Received ");

  if (CAN.packetExtended()) {
    Serial.print("extended ");
  }

  if (CAN.packetRtr()) {
    // Remote transmission request, packet contains no data
    Serial.print("RTR ");
  }

  Serial.print("packet with id 0x");
  Serial.print(CAN.packetId(), HEX);

  if (CAN.packetRtr()) {
    Serial.print(" and requested length ");
    Serial.println(CAN.packetDlc());
  } else {
    Serial.print(" and length ");
    Serial.println(packetSize);

    // only print packet data for non-RTR packets
    while (CAN.available()) {
      Serial.print((char)CAN.read());
    }
    Serial.println();
  }

  Serial.println();
}