Reading CAN Message and Transmitting it Over LoRa

WisBlock
1

I’m using a Rak 4631 with the CANBUS module Rak 13006. I basically have two seperate pieces of code that I want to mesh into one file. Below is the first file which simply reads the 7th byte from a CANBUS message and prints it to serial monitor, This code works perfectly fine:
#include <Rak_CAN.h>

void setup () {

pinMode(WB_IO2, OUTPUT);

digitalWrite(WB_IO2, HIGH); // Enable power supply.

delay(300);

Serial.begin (115200) ;

while (!Serial) {

delay (50) ;

}

Rak_Can.init();

Serial.print ("sizeof (RAK_CAN_Settings): ") ;

Serial.print (sizeof (RAK_CAN_Settings)) ;

Serial.println (" bytes") ;

Serial.println (“Configure ACAN2518”) ;

RAK_CAN_Settings settings (RAK_CAN_Settings::OSC_40MHz, 500 * 1000) ; // CAN bit rate 500 kb/s

settings.mRequestedMode = RAK_CAN_Settings::Normal20B ;

const uint32_t errorCode = Rak_Can.begin (settings, [] { Rak_Can.isr () ; }) ;

if (errorCode == 0) {

Serial.print ("Bit Rate prescaler: ") ;

Serial.println (settings.mBitRatePrescaler) ;

Serial.print ("Phase segment 1: ") ;

Serial.println (settings.mPhaseSegment1) ;

Serial.print ("Phase segment 2: ") ;

Serial.println (settings.mPhaseSegment2) ;

Serial.print ("SJW:") ;

Serial.println (settings.mSJW) ;

Serial.print ("Actual bit rate: ") ;

Serial.print (settings.actualBitRate ()) ;

Serial.println (" bit/s") ;

Serial.print ("Exact bit rate ? ") ;

Serial.println (settings.exactBitRate () ? "yes" : "no") ;

Serial.print ("Sample point: ") ;

Serial.print (settings.samplePointFromBitStart ()) ;

Serial.println ("%") ;

} else {

Serial.print ("Configuration error 0x") ;

Serial.println (errorCode, HEX) ;

}

}

static uint32_t gBlinkLedDate = 0 ;

static uint32_t gReceivedFrameCount = 0 ;

void loop () {

delay(3000);

CANMessage frame ;

#if BOARDFLAG

if (Rak_Can.IntrruptFlag == 1)

#endif

{

Rak_Can.isr_core();

Serial.println("hell00");

if (Rak_Can.receive (frame)) {

      Serial.println("hell001");

  // if (!frame.rtr && (!frame.ext) && (frame.id == 0x05)) {

  if (frame.id == 0x6B0) {

    Serial.println("hell002");

    gReceivedFrameCount ++ ;

    Serial.print(map(frame.data[7]/2, 0, 95, 0, 100));

  }

}

#if BOARDFLAG

Rak_Can.IntrruptFlag = 0;

#endif

}

}
My other piece of code uses an analog I/O pin to read a voltage from a wire, then transmit that value mapped to a battery percentage over LoRa. This code also works perfectly fine:
#include <Arduino.h>
#include <SX126x-RAK4630.h>
#include <SPI.h>
#include <Wire.h>

// Function declarations
void OnTxDone(void);
void OnTxTimeout(void);

#ifdef NRF52_SERIES
#define LED_BUILTIN 35
#endif

// Define LoRa parameters
#define RF_FREQUENCY 868300000 // Hz
#define TX_OUTPUT_POWER 22 // dBm
#define LORA_BANDWIDTH 0 // [0: 125 kHz, 1: 250 kHz, 2: 500 kHz, 3: Reserved]
#define LORA_SPREADING_FACTOR 7 // [SF7…SF12]
#define LORA_CODINGRATE 1 // [1: 4/5, 2: 4/6, 3: 4/7, 4: 4/8]
#define LORA_PREAMBLE_LENGTH 8 // Same for Tx and Rx
#define LORA_SYMBOL_TIMEOUT 0 // Symbols
#define LORA_FIX_LENGTH_PAYLOAD_ON false
#define LORA_IQ_INVERSION_ON false
#define RX_TIMEOUT_VALUE 3000
#define TX_TIMEOUT_VALUE 3000

static RadioEvents_t RadioEvents;
static uint8_t TxdBuffer[64];
int BatteryPercentage = 0;
int BatteryPercentageAverage = 0;
int oldBatteryPercentage = 0;
int chargeSum = 0;
int countOfChargesAdded = 0;
bool firstDisplaySet = false;

void setup()
{
// Initialize LoRa chip.
lora_rak4630_init();

// Initialize Serial for debug output

Serial.begin(115200);
// while(!Serial){delay(10);}
Serial.println("=====================================");
Serial.println(“LoRap2p Tx Test”);
Serial.println("=====================================");

// Initialize the Radio callbacks
RadioEvents.TxDone = OnTxDone;
RadioEvents.RxDone = NULL;
RadioEvents.TxTimeout = OnTxTimeout;
RadioEvents.RxTimeout = NULL;
RadioEvents.RxError = NULL;
RadioEvents.CadDone = NULL;

// Initialize the Radio
Radio.Init(&RadioEvents);

// Set Radio channel
Radio.SetChannel(RF_FREQUENCY);

pinMode(WB_IO4, INPUT);

// Set Radio TX configuration
Radio.SetTxConfig(MODEM_LORA, TX_OUTPUT_POWER, 0, LORA_BANDWIDTH,
				  LORA_SPREADING_FACTOR, LORA_CODINGRATE,
				  LORA_PREAMBLE_LENGTH, LORA_FIX_LENGTH_PAYLOAD_ON,
				  true, 0, 0, LORA_IQ_INVERSION_ON, TX_TIMEOUT_VALUE);

// send();
}

void loop()
{
// Handle Radio events
Radio.IrqProcess();

// We are on FreeRTOS, give other tasks a chance to run
delay(100);

BatteryPercentage = analogRead(WB_IO4); // read the input pin
BatteryPercentage = map(BatteryPercentage, 0, 798, 0, 100);
chargeSum+=BatteryPercentage;
countOfChargesAdded++;
if(countOfChargesAdded==200){
countOfChargesAdded = 0;
BatteryPercentageAverage = chargeSum/200;
chargeSum = 0;
Serial.println(BatteryPercentageAverage);
firstDisplaySet = true;
}

// Serial.println(BatteryPercentage);
send();

yield();

}

/**@brief Function to be executed on Radio Tx Done event
*/
void OnTxDone(void)
{
Serial.println(“OnTxDone”);
delay(5000);
send();
}

/**@brief Function to be executed on Radio Tx Timeout event
*/
void OnTxTimeout(void)
{
Serial.println(“OnTxTimeout”);
}

void send()
{
if(BatteryPercentageAverage != oldBatteryPercentage){
// Convert BatteryPercentage to byte array and store in TxdBuffer
snprintf((char *)TxdBuffer, sizeof(TxdBuffer), “Remaining Charge: %d%%”, BatteryPercentageAverage);

  // Send the message, remember to change the length in Radio.Send() 
  // to be the length of the message. In this example, I'm assuming
  // the message length is less than 64, but you should probably add checks for that.
  Radio.Send(TxdBuffer, strlen((char *)TxdBuffer));  
  oldBatteryPercentage = BatteryPercentageAverage;
}else if(!firstDisplaySet){
        // Convert BatteryPercentage to byte array and store in TxdBuffer
  snprintf((char *)TxdBuffer, sizeof(TxdBuffer), "Remaining Charge: %d%%", BatteryPercentage);
  
  // Send the message, remember to change the length in Radio.Send() 
  // to be the length of the message. In this example, I'm assuming
  // the message length is less than 64, but you should probably add checks for that.
  Radio.Send(TxdBuffer, strlen((char *)TxdBuffer));  
  firstDisplaySet = true;
}

}
Now, I want to take the code to read the 7th byte from CAN BUS and then combine that with the code to transmit over LoRa so that I can send that value to a second Wisblock kit. Below is my code attempting to do that, but it does not work. The code never enters this if statement: if (Rak_Can.receive (frame))
#include <Arduino.h>

#include <SX126x-RAK4630.h>

#include <SPI.h>

#include <Wire.h>

#include <Rak_CAN.h>

// Function declarations

void OnTxDone(void);

void OnTxTimeout(void);

#ifdef NRF52_SERIES

#define LED_BUILTIN 35

#endif

// Define LoRa parameters

#define RF_FREQUENCY 868300000 // Hz

#define TX_OUTPUT_POWER 22 // dBm

#define LORA_BANDWIDTH 0 // [0: 125 kHz, 1: 250 kHz, 2: 500 kHz, 3: Reserved]

#define LORA_SPREADING_FACTOR 7 // [SF7…SF12]

#define LORA_CODINGRATE 1 // [1: 4/5, 2: 4/6, 3: 4/7, 4: 4/8]

#define LORA_PREAMBLE_LENGTH 8 // Same for Tx and Rx

#define LORA_SYMBOL_TIMEOUT 0 // Symbols

#define LORA_FIX_LENGTH_PAYLOAD_ON false

#define LORA_IQ_INVERSION_ON false

#define RX_TIMEOUT_VALUE 3000

#define TX_TIMEOUT_VALUE 3000

static RadioEvents_t RadioEvents;

static uint8_t TxdBuffer[64];

int batteryPercentage = 0;

int oldBatteryPercentage = 0;

void setup()

{

// Initialize LoRa chip.

lora_rak4630_init();

// Initialize Serial for debug output

Serial.begin(115200);

// while(!Serial){delay(10);}

Serial.println("=====================================");

Serial.println(“LoRap2p Tx Test”);

Serial.println("=====================================");

Rak_Can.init();

Serial.print ("sizeof (RAK_CAN_Settings): ") ;

Serial.print (sizeof (RAK_CAN_Settings)) ;

Serial.println (" bytes") ;

Serial.println (“Configure ACAN2518”) ;

RAK_CAN_Settings settings (RAK_CAN_Settings::OSC_40MHz, 500 * 1000) ; // CAN bit rate 500 kb/s

settings.mRequestedMode = RAK_CAN_Settings::Normal20B ;

const uint32_t errorCode = Rak_Can.begin (settings, [] { Rak_Can.isr () ; }) ;

if (errorCode == 0) {

Serial.print ("Bit Rate prescaler: ") ;

Serial.println (settings.mBitRatePrescaler) ;

Serial.print ("Phase segment 1: ") ;

Serial.println (settings.mPhaseSegment1) ;

Serial.print ("Phase segment 2: ") ;

Serial.println (settings.mPhaseSegment2) ;

Serial.print ("SJW:") ;

Serial.println (settings.mSJW) ;

Serial.print ("Actual bit rate: ") ;

Serial.print (settings.actualBitRate ()) ;

Serial.println (" bit/s") ;

Serial.print ("Exact bit rate ? ") ;

Serial.println (settings.exactBitRate () ? "yes" : "no") ;

Serial.print ("Sample point: ") ;

Serial.print (settings.samplePointFromBitStart ()) ;

Serial.println ("%") ;

} else {

Serial.print ("Configuration error 0x") ;

Serial.println (errorCode, HEX) ;

}

// Initialize the Radio callbacks

RadioEvents.TxDone = OnTxDone;

RadioEvents.RxDone = NULL;

RadioEvents.TxTimeout = OnTxTimeout;

RadioEvents.RxTimeout = NULL;

RadioEvents.RxError = NULL;

RadioEvents.CadDone = NULL;

// Initialize the Radio

Radio.Init(&RadioEvents);

// Set Radio channel

Radio.SetChannel(RF_FREQUENCY);

// Set Radio TX configuration

Radio.SetTxConfig(MODEM_LORA, TX_OUTPUT_POWER, 0, LORA_BANDWIDTH,

        LORA_SPREADING_FACTOR, LORA_CODINGRATE,

        LORA_PREAMBLE_LENGTH, LORA_FIX_LENGTH_PAYLOAD_ON,

        true, 0, 0, LORA_IQ_INVERSION_ON, TX_TIMEOUT_VALUE);

// send();

}

static uint32_t gBlinkLedDate = 0 ;

static uint32_t gReceivedFrameCount = 0 ;

void loop()

{

// Handle Radio events

Radio.IrqProcess();

// We are on FreeRTOS, give other tasks a chance to run

delay(1000);

// BatteryPercentage = analogRead(WB_IO4); // read the input pin

// BatteryPercentage = map(BatteryPercentage, 0, 798, 0, 100);

// chargeSum+=BatteryPercentage;

// countOfChargesAdded++;

// if(countOfChargesAdded==200){

// countOfChargesAdded = 0;

// BatteryPercentageAverage = chargeSum/200;

// chargeSum = 0;

// Serial.println(BatteryPercentageAverage);

// firstDisplaySet = true;

// }

CANMessage frame ;

#if BOARDFLAG

if (Rak_Can.IntrruptFlag == 1)

#endif

{

Rak_Can.isr_core();

Serial.println("hell00");

if (Rak_Can.receive (frame)) {

      Serial.println("hell001");

  // if (!frame.rtr && (!frame.ext) && (frame.id == 0x05)) {

  if (frame.id == 0x6B0) {

    Serial.println("hell002");

    gReceivedFrameCount ++ ;

    batteryPercentage = map(frame.data[7]/2, 0, 95, 0, 100);

  }

}

#if BOARDFLAG

Rak_Can.IntrruptFlag = 0;

#endif

}

// Serial.println(BatteryPercentage);

send();

yield();

}

/**@brief Function to be executed on Radio Tx Done event

*/

void OnTxDone(void)

{

Serial.println(“OnTxDone”);

delay(5000);

send();

}

/**@brief Function to be executed on Radio Tx Timeout event

*/

void OnTxTimeout(void)

{

Serial.println(“OnTxTimeout”);

}

void send()

{

if(batteryPercentage != oldBatteryPercentage){

  // Convert BatteryPercentage to byte array and store in TxdBuffer

  snprintf((char *)TxdBuffer, sizeof(TxdBuffer), "Remaining Charge: %d%%", batteryPercentage);

 

  // Send the message, remember to change the length in Radio.Send()

  // to be the length of the message. In this example, I'm assuming

  // the message length is less than 64, but you should probably add checks for that.

  Radio.Send(TxdBuffer, strlen((char *)TxdBuffer));  

  oldBatteryPercentage = batteryPercentage;

}

}

2

Keep in mind that you can only send about 10-13 bytes of data per LoRa packet.