File content as of revision 0:df0aeb0c8f2c:

#include "cmsis_os.h"
#include "mbed.h"
#include "CAN.h"


DigitalOut led1(LED1, 1); //LED R OFF
DigitalOut led2(LED2, 1); //LED G OFF
DigitalOut led3(LED3, 1); //LED B OFF

#define CAN_TX_MODE_TEST            0
#define CAN_RX_MODE_TEST            1
#define CAN_RX_IRQ_EN               1
#define LED_ALL_OFF                 led1=led2=led3=1

#define MSG_NUM_INDEX           5   // 0 ~ 31   
#define CAN_DEV_ID              0x1AC

#if defined(TARGET_NUMAKER_PFM_NUC472)
CAN canObj(PA_0, PA_1);
#elif defined(TARGET_NUMAKER_PFM_M453)
CAN canObj(PA_13,PA_12);
#endif

CANMessage canMsg;

osThreadId mainThreadID;

static int read_MsgObj()
{
int i=0;

    i = canObj.read(canMsg, MSG_NUM_INDEX);
    
        switch (canMsg.data[0])
        {
            case 0:
                LED_ALL_OFF;
                led1=0;
                break;
            
            case 1:
                LED_ALL_OFF;
                led2=0;
                break;
            
            case 2:
                LED_ALL_OFF;
                led3=0;
                break;
            
            default:
                LED_ALL_OFF;
                break;
        }

   return i; 
}

void irq_callback(void)
{
    if(read_MsgObj() )
        osSignalSet(mainThreadID, 0x06);
}

int main() {
    int i=0;
    char data[8]={0};

    mainThreadID = osThreadGetId();

    /* Set Frequency 1khz~1000khz */
    canObj.frequency(1000000);
    
#if CAN_RX_MODE_TEST
    
#if CAN_RX_IRQ_EN
    /* Attach irq function */
    canObj.attach(irq_callback, CAN::RxIrq);
#endif
    
    canObj.filter(CAN_DEV_ID, 0, CANStandard, MSG_NUM_INDEX);
    
#endif
    
    while (true)
    {

        
#if CAN_TX_MODE_TEST
        
        canObj.write(CANMessage(CAN_DEV_ID, data));
        
        if(data[0] == 2)
            data[0]=0;
        else
            data[0]++;
        
        memset(&data[1], data[0], 7);
        wait(1);
        
#endif
        
#if CAN_RX_MODE_TEST
        
#if (CAN_RX_IRQ_EN)        // interrupt mode
        /* Wait for receive task to wakeup */
    osSignalWait(0x06, osWaitForever);      
#else                                           // pooling mode
        if( !read_MsgObj() ) continue;
#endif
    
        printf("Read ID=%8X, Type=%s, DLC=%d,Data=",canMsg.id,canMsg.format?"EXT":"STD",canMsg.len);
        for(i=0; i<canMsg.len; i++)
            printf("%02X,",canMsg.data[i]);
        printf("\r\n");     
#endif
    }
    
}