Simple helper library to make sending, scheduling and checksum calculation of CAN bus messages in Arduino easy.
Basic
Will default to Serial printing when sent. Useful for setup and debugging.
CANMessage<messageLength> CAN_0B8(unsigned long id, int freq);
Specify the number of message bytes messageLength in the <template> for the constructor. Valid values are ints 0-8.
First parameter id is the CAN ID.
Second parameter freq is the sending interval in ms.
Specifying a Sender interface
Will be sent using the given CANMessageSender instance.
CANMessage<messageLength> CAN_0B8(unsigned long id, int freq, CANMessageSender& senderService)
Specify the number of message bytes messageLength in the <template> for the constructor. Valid values are ints 0-8.
First parameter id is the CAN ID.
Second parameter freq is the sending interval in ms.
A CANMessageSender is a wrapper class for any CAN bus interface, must be instantiated before passing to constructor. Senders for the built-in Arduino_CAN and MCP2515 interfaces are included with lis library, see futher in readme for extending for your own CAN interface if different.
Specifying a Checksum Calculator
Message checksum will be calculated and insterted into the payload before being sent on the default (Serial) output.
CANMessage<messageLength> CAN_0B8(unsigned long id, int freq, CANMessageChecksumCalculator& checksumCalculator)
Specify the number of message bytes messageLength in the <template> for the constructor. Valid values are ints 0-8.
First parameter id is the CAN ID.
Second parameter freq is the sending interval in ms.
A CANMessageChecksumCalculator is an instance of a Checksum calculator class and some basic ones are included with this library, see further in readme for extending your own checksum calculators
Specifying a Sender interface and Checksum Calculator
Message checksum will be calculated and insterted into the payload before being sent on the default given CANMessageSender instance.
CANMessage<messageLength> CAN_0B8(unsigned long id, int freq, CANMessageSender& senderService, CANMessageChecksumCalculator& checksumCalculator)
Specify the number of message bytes messageLength in the <template> for the constructor. Valid values are ints 0-8.
First parameter id is the CAN ID.
Second parameter freq is the sending interval in ms.
A CANMessageSender is a wrapper class for any CAN bus interface, must be instantiated before passing to constructor. Senders for the built-in Arduino_CAN and MCP2515 interfaces are included with lis library, see futher in readme for extending for your own CAN interface if different.
A CANMessageChecksumCalculator is an instance of a Checksum calculator class and some basic ones are included with this library, see further in readme for extending your own checksum calculators
CANID: the CAN ID
messageLength: the length of the message, in bytes
message: the message data, array of 8bit bytes
sendingFrequency: the sending interval in ms
lastSentTimestamp: the timestamp millis() when this message was last sent
shouldSend(): compares the lastSentTimestamp to current millis(), returns true if greater than the sendingFrequency
sendIfReady(): all in one method to send the message if ready sendingFrequency has elapsed since it was last sent. Calling without arguments will log to serial port, or can accept an instance of mcp2515_can CAN interface to send on. Updates the lastSentTimestamp.
sendMessage(): sends the message, Calling without arguments will log to serial port, or can accept an instance of mcp2515_can CAN interface to send on. Updates the lastSentTimestamp.
outputToSerial(int idFormat = HEX, int dataFormat = HEX): log the message to an open serial output. Formating of the ID and message data are customiseable. Calling this method does not update the lastSentTimestamp.
updateTimestamp: updates the lastSentTimestamp to current value of millis().