Arduino Mega2560 CAN Bus Radar Test System

為了模擬雷達物件的動態偵測, 設計了一個簡易的測試環境. 

1. 雷達距離偵測物件 1.5米

2. 偵測物件為金屬扇葉風扇

3. Mega2560 + MCP2515 + 4port relay board + one axis motor driver

4. circuit

測試步驟: C#程式GUI 控制Mega2560驅動單軸前進並利用 MCP2515接收CANBus的資料,  當雷達偵測到物件, 傳送資料到CANBus中,  GUI顯示雷達傳送的資料判斷是否在設定範圍決定PASS or FAIL.

先利用之前文章製作的CANHacker來驗證Mega2560+MCP2515的功能

CAN BUS 通訊研究

ESP32 + MCP2515 use CanHacker on CAN Bus system

Mega2560 SPI pin define

影片

   

//-----------------Mega2560 MCP2515 code --------------------------------------

mcp_can library  mcp_can - Arduino Reference

#include <SPI.h>

#include "mcp_can.h"

//------CAN BUS setting ---------------------------------------------------------

#define CAN0_INT 50 // Set INT to pin 50

const int SPI_CS_PIN = 53;

MCP_CAN myCAN(SPI_CS_PIN);

//------CAN BUS setting end ------------------------------------------------------

void setup()

{

    Serial.begin(115200);

    //can bus : baudrate = 250k

    while (CAN_OK != myCAN.begin(MCP_NORMAL, CAN_250KBPS, MCP_8MHZ)) 

    {

        Serial.println("CAN BUS Shield init fail");

        Serial.println(" Init CAN BUS Shield again");

        delay(100);

    }

    Serial.println("CAN BUS Shield init ok!");

}

void loop()

{

    unsigned char len = 0;

    unsigned char buf[8];

    if(CAN_MSGAVAIL == myCAN.checkReceive())            // check if data coming

    {

        myCAN.readMsgBuf(&len, buf);    // read data,  len: data length, buf: data buf

        unsigned char canId = myCAN.getCanId();

        

        Serial.println("-----------------------------------------------------------");

        Serial.print("Get data from ID: ");

        Serial.println(canId, HEX);

        for(int i = 0; i<len; i++)    // print the data

        {

            Serial.print(buf, HEX);

            Serial.print("\t");

        }

        Serial.println();

    }

}

//------------------------------------------------------------

若有問題歡迎留言討論!!!

//------------------------------------------------------------

測試影片

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