CAN Protocol With MPU6050 || Drivers Behavior Analysis Reading Data||#CA...

MASTER:-

#include <SPI.h>

#include <mcp2515.h>

#include <Wire.h>

#include <LiquidCrystal_I2C.h>

//LiquidCrystal_I2C LCD(0x27,16,2);//Default address is 0x27

LiquidCrystal_I2C LCD(0x3F,16,2);//Default address is 0x27

struct can_frame canMsg;

MCP2515 mcp2515(10);

int FAN = A0;

void setup() {

  Serial.begin(115200);

  LCD.init();

  LCD.backlight();

  

  SPI.begin();

  mcp2515.reset();

  mcp2515.setBitrate(CAN_500KBPS, MCP_8MHZ);

  mcp2515.setNormalMode();

  pinMode(FAN, OUTPUT);

}

void loop() 

{

  if (mcp2515.readMessage(&canMsg) == MCP2515::ERROR_OK) 

  {   

    if(canMsg.can_id == 0x0F6)

    {

      const int X_AXIS = canMsg.data[0];

      const int Y_AXIS = canMsg.data[1];

      const int Z_AXIS = canMsg.data[2];

      const int TEMPERATURE = canMsg.data[3];

//      Serial.print("******************************");

//      Serial.print("X-AXIS:");Serial.println(X_AXIS);

//      Serial.print("Y-AXIS:");Serial.println(Y_AXIS);

//      Serial.print("Z-AXIS:");Serial.println(Z_AXIS);

//      Serial.print("TEMPERATURE:");Serial.println(TEMPERATURE);

//      delay(100);

      if(X_AXIS == 3 || X_AXIS == 4 || X_AXIS == 5 || X_AXIS == 6 || X_AXIS == 7 || X_AXIS == 8 || X_AXIS == 9){ 

        Serial.print("VEHICLE IS LEANING RIGHT:");Serial.println(X_AXIS);

         LCD.setCursor(0,0);

         LCD.print("   VEHICLE IS   ");

         LCD.setCursor(0,1);

         LCD.print(" LEANING RIGHT ");

        }

      else if(X_AXIS == 253 || X_AXIS == 252 || X_AXIS == 251 || X_AXIS == 250 || X_AXIS == 249 || X_AXIS == 248){ 

        Serial.print("VEHICLE IS LEANING LEFT:");Serial.println(X_AXIS);

         LCD.setCursor(0,0);

         LCD.print("   VEHICLE IS   ");

         LCD.setCursor(0,1);

         LCD.print("  LEANING LEFT  ");

         }

      else if(Z_AXIS > 10){ 

        Serial.print("VEHICLE MOTION DETECTED:");Serial.println(Z_AXIS);

         LCD.setCursor(0,0);

         LCD.print("    VEHICLE    ");

         LCD.setCursor(0,1);

         LCD.print("    MOTION     ");

         }

         

      else if(TEMPERATURE > 33){ 

        Serial.print("TEMPERATURE IS HIGH:");Serial.println(TEMPERATURE);

        digitalWrite(FAN, HIGH);

         LCD.setCursor(0,0);

         LCD.print("TEMPERATURE  IS");

         LCD.setCursor(0,1);

         LCD.print("     HIGH      ");

         }   

      else{

        Serial.println("******************************"); 

        Serial.print("VEHICLE IS STABLE: ");Serial.println(X_AXIS);

        Serial.print("TEMPERATURE IS :");Serial.println(TEMPERATURE);

        digitalWrite(FAN, LOW);

         

         LCD.setCursor(0,0);

//         LCD.print(" X:");LCD.print(X_AXIS);LCD.print("  Y:");LCD.print(Y_AXIS);

         LCD.print(" TEMP = ");LCD.print(TEMPERATURE);LCD.print(" degC"); 

         LCD.setCursor(0,1);

         LCD.print(" VEHICLE STABLE");

        }  

    }    

  }

}

SLAVE:-

#include <Adafruit_MPU6050.h>

#include <Adafruit_Sensor.h>

#include <Wire.h>

#include <SPI.h>

#include <mcp2515.h>

struct can_frame canMsg;

MCP2515 mcp2515(10);

Adafruit_MPU6050 mpu;

void setup() {

  Serial.begin(115200);

  SPI.begin();

  mcp2515.reset();

  mcp2515.setBitrate(CAN_500KBPS, MCP_8MHZ);

  mcp2515.setNormalMode();

  

  canMsg.can_id  = 0x0F6;

  canMsg.can_dlc = 8;

  // Try to initialize!

  if (!mpu.begin()) {

    Serial.println("Failed to find MPU6050 chip");

    while (1) {

      delay(10);

    }

  }

  Serial.println("MPU6050 Found!");

  mpu.setAccelerometerRange(MPU6050_RANGE_8_G); 

  mpu.setGyroRange(MPU6050_RANGE_500_DEG);

  mpu.setFilterBandwidth(MPU6050_BAND_5_HZ);

  Serial.println("");

  delay(100); 

}

void loop() {

  sensors_event_t a, g, temp;

  mpu.getEvent(&a, &g, &temp);

  canMsg.data[0] = a.acceleration.x;

  canMsg.data[1] = a.acceleration.y;

  canMsg.data[2] = a.acceleration.z;

  canMsg.data[3] = temp.temperature;

  Serial.println("*****Acceleration*****");

  Serial.print("X axis: ");Serial.println(a.acceleration.x);

  Serial.print("Y axis: ");Serial.println(a.acceleration.y);

  Serial.print("Z axis: ");Serial.println(a.acceleration.z);

  Serial.print("TEMP  : ");Serial.println(temp.temperature);

 

  mcp2515.sendMessage(&canMsg);

  delay(100);

}