MCP_Lib Arduino Uno r3 w/ CAN-BUS shield DEV-13262 from SparkFun sendStat =-7

Projects Programming
1

I have checked to make sure the circuit, baud rate, mghz, pin usage, and connections should be correct. I am using an Arduino Uno R3, a Globe Motors EPS system, and the CAN-BUS Shield DEV-13262 from Sparkfun to try and send a message. I keep getting exit flag=7 for the first 3 attempts, and then it switches to exit flag=6 for the rest. Is there some error in how I am trying to send the message? Any help or suggestions are appreciated.

dataArray.ino (1.38 KB)

2

Your code was small enough to post inline.

#include <inttypes.h>
#include <mcp_can.h>
#include <SPI.h>
int32_t cf20=pow(2,20);
int16_t cf8=pow(2,8);
unsigned char m=3;
unsigned char blank=0;
float var1=1.25;
float var2=0;//-1;
unsigned char data[8]={};//0x02,0x00 /*(Unused)*/, 0x02,0x01, 0x01 , 0x05  /*(previous 4), (var1)*/, 0x00, 0x00};
MCP_CAN CAN0(10);
//byte data2[]={var1,var2};
void setup() {
  Serial.begin(230400);
  // Initialize MCP2515 running at 16MHz with a baudrate of 500kb/s and the masks and filters disabled.
  if (CAN0.begin(MCP_ANY, CAN_250KBPS, MCP_16MHZ) == CAN_OK){
    Serial.println("MCP2515 Initialized Successfully!");
  }
  else {
    Serial.println("Error Initializing MCP2515...");
  }
  CAN0.setMode(MCP_NORMAL);
}

union a_tag{
  int32_t var;
  byte dat[4];
} a;
union b_tag{
  int16_t var;
  byte dat[2];
} b;
//byte sndStat = 1;

void loop() {
  // put your main code here, to run repeatedly:
  a.var=round(var1*cf20);
  b.var=round(var2*cf8);
  data[0]=m;
  data[1]=blank;
  for (int d=0; d<4; d++){
    data[d+2]=a.dat[3-d];
  }
  data[6]=b.dat[1];
  data[7]=b.dat[0]; 
  /*for (int i=2; i<6; i++){
    Serial.println(data[i]);
  } */
  byte sndStat = CAN0.sendMsgBuf(0x18FF00F9, 1, sizeof(data), data);
  if (sndStat == CAN_OK) {
    Serial.println("Message Sent Successfully!");
  } else {
    Serial.println("Error Sending Message...");
    Serial.print("Error Code: "); Serial.println(sndStat);
  } 
   delay(100); 
}

Post links to the hardware, not descriptions of it. Post links to the libraries you are using.