included code:#include <can.h>
#include <mcp2515.h>
#include <CANMessage.h>
#include <SPI.h>
// constants won't change. They're used here to set pin numbers:
const int buttonPin = 3; // the number of the pushbutton pin
const int ledPin = 9; // the number of the LED pin
// Variables will change:
int ledState = HIGH; // the current state of the output pin
int buttonState; // the current reading from the input pin
int lastButtonState = LOW; // the previous reading from the input pin
struct can_frame canMsg;
MCP2515 mcp2515(10);
// the following variables are unsigned longs because the time, measured in
// milliseconds, will quickly become a bigger number than can be stored in an int.
unsigned long lastDebounceTime = 0; // the last time the output pin was toggled
unsigned long debounceDelay = 50; // the debounce time; increase if the output flickers
void setup() {
pinMode(buttonPin, INPUT);
pinMode(ledPin, OUTPUT);
while (!Serial);
Serial.begin(9600);
SPI.begin(); //Begins SPI communication
mcp2515.reset();
mcp2515.setBitrate(CAN_500KBPS,MCP_8MHZ); //Sets CAN at speed 500KBPS and Clock 8MHz
mcp2515.setNormalMode();
// set initial LED state
digitalWrite(ledPin, ledState);
}
void loop() {
// read the state of the switch into a local variable:
int reading = digitalRead(buttonPin);
// check to see if you just pressed the button
// (i.e. the input went from LOW to HIGH), and you've waited long enough
// since the last press to ignore any noise:
// If the switch changed, due to noise or pressing:
if (reading != lastButtonState) {
// reset the debouncing timer
lastDebounceTime = millis();
}
if ((millis() - lastDebounceTime) > debounceDelay) {
// whatever the reading is at, it's been there for longer than the debounce
// delay, so take it as the actual current state:
// if the button state has changed:
if (reading != buttonState) {
buttonState = reading;
// only toggle the LED if the new button state is HIGH
if (buttonState == HIGH) {
ledState = !ledState;
// set the LED:
}
}
}
lastButtonState = reading;
digitalWrite(ledPin, ledState);
//int t = digitalRead (ledPin);
canMsg.can_id = 0x038; //CAN id as 0x036
canMsg.can_dlc = 8; //CAN data length as 8
canMsg.data[0] = 0x00; //
canMsg.data[1] = 0x00; //]
canMsg.data[2] = 0x00;
canMsg.data[3] = 0x00;
canMsg.data[4] = 0x00;
canMsg.data[5] = 0x00;
canMsg.data[6] = 0x00;
canMsg.data[7] = ledState;
mcp2515.sendMessage(&canMsg); //Sends the CAN message
Serial.print ("ledState:");
Serial.print (ledState);
Serial.print ("buttonState:");
Serial.print (buttonState);
Serial.print ("lastDebounceTime:");
Serial.print (lastDebounceTime);
Serial.print ("lastButtonState:");
Serial.print (lastButtonState);
Serial.print ("canMsg:");
Serial.print (canMsg.data[7]);
}