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Code: Select all

	can_init(canDev,
		     false,          // TTCM: Time triggered comm mode?
		     true,           // ABOM: Automatic bus-off management?
		     false,          // AWUM: Automatic wakeup mode?
		     false,          // NART: No automatic retransmission?
		     false,          // RFLM: Receive FIFO locked mode?
		     false,          // TXFP: Transmit FIFO priority?
		     CAN_BTR_SJW_1TQ,
		     canSpeed[baudrate].ts1,
		     canSpeed[baudrate].ts2,
		     canSpeed[baudrate].prescaler,				// BRP+1: Baud rate prescaler
		     false,
		     false);

Code: Select all

static void Ms1Task(void)
{
    if (Param::GetInt(Param::canperiod) == CAN_PERIOD_1MS)
         can->SendAll();
   
}
.
.
.
s.AddTask(Ms1Task, 1);

Code: Select all

void loop()
{
    unsigned char len = 0;
    unsigned char buf[8];

    if(CAN_MSGAVAIL == CAN.checkReceive())            // check if data coming
    {
        CAN.readMsgBuf(&len, buf);    // read data,  len: data length, buf: data buf

        unsigned int canId = CAN.getCanId();
        if (canId == 640) {
          Serial.println("-----------------------------");
    
          uint16_t rpm = (buf[3] << 8) | buf[2];
          Serial.print(rpm/4, DEC);
  
          Serial.print("\t");
         
          Serial.println();
        }

    }
}