File content as of revision 1:dbc44582f2f8:

//#define PROTOPLATFORM
#define MBEDPLATFORM
// Flip an LED every time we see the rising edge interrupt on a pin
#include "mbed.h"
#include "CAN3.h"
#include "mcp2515.h"
#include "mcp2515_can.h"
#include <Includes/Platform.h>



DigitalOut led_can(LED1);
DigitalOut led_serial(LED2);
DigitalOut led_analog(LED3);
DigitalOut led_status(LED4);
Serial console(CONSOLETX, CONSOLERX); // tx, rx
//Serial console(USBTX, USBRX); // tx, rx


SPI spi1(CAN_SPI_MOSI, CAN_SPI_MISO, CAN_SPI_SCK);
//SPI spi1(p5,p6,p7);
CAN3 can1(spi1, CAN1_CS, CAN1_NT);
CAN3 can2(spi1, CAN2_CS, CAN2_NT);
CAN3 can3(spi1, CAN3_CS, CAN3_NT);
CAN3 can4(spi1, CAN4_CS, CAN4_NT);

//CAN3 can1(spi1, p19, p11);
//CAN3 can2(spi1, p20, p12);
//CAN3 can5(spi1, p21, p23);
//CAN can5(p30, p29);

//CAN can5(CAN5_L, CAN5_H);


Ticker mbed_can_ticker;
Ticker mcp2515_s1_can_ticker;
Ticker mcp2515_s2_can_ticker;
Ticker mcp2515_s3_can_ticker;
Ticker mcp2515_s4_can_ticker;

char testbytes[] = { 0xA1, 0xA2, 0xAA, 0xAA, 0x00, 0x00, 0x00, 0xF0 };

void showMessage(CAN3 can) {
    CANMessage msg;


    while ( can.read(&msg) == CAN_OK ) {
        console.printf(" \n \r CAN[]: rx -> id 0x%02x dlc %d  ",msg.id,msg.len);
        for (int i=0;i<msg.len;i++) {
            console.printf("%02x", msg.data[i]);
            console.printf(" ");
            led_serial=!led_serial;
        }

    }
}

void send() {
   static char counter = 0;
   //can5.write(CANMessage(0x200, &counter, 1));
   counter++;

}

void sendSPICAN1() {


    CANMessage test(0x100, testbytes, 8);
    can1.write(&test);

}

void sendSPICAN2() {


    CANMessage test(0x200, testbytes, 8);
    can2.write(&test);

}


void sendSPICAN3() {


    CANMessage test(0x300, testbytes, 8);
  //  can5.write(test);

}


void sendSPICAN4() {


    CANMessage test(0x400, testbytes, 8);
    //can4.write(&test);

}


///////


void getCANMessages() {

showMessage(can1);
showMessage(can2);
//showMessage(can3);
//showMessage(can4);

}

int main() {



led_can=1;
led_status=1;

     console.baud(57600);
    console.printf("\nStarting\n\n");

   // freopen("/console", "w", stdout);
  //  spi1.format(8,0);
 //  spi1.frequency(5000000); // anything above 5000000 5MHZ works
      //spi1.format(16,0);
     spi1.frequency(10000000);
    
//   can5.frequency(125000);//(500000); 50KBPS 1250000

    console.printf("\n\r\rCAN1 \n\r");
   // can1.frequency(50000);
   can1.frequency(50000);
   
    console.printf("\n\r\rCAN2 \n\r");
 //   can2.frequency(5000);
can1.frequency(125000);
   
    console.printf("\n\r\rCAN3 \n\r");
    can1.frequency(250000);

    console.printf("\n\r\rCAN4 \n\r");
  can1.frequency(500000);

    
    wait(.1);
    led_can=0;
    led_serial=0;
    led_analog=0;
    led_status=1;


    //can3._spi.frequency(5000000); // anything above 5000000 5MHZ works

    can1.fall(&getCANMessages);
    can2.fall(&getCANMessages);
    //can5.fall(&canmsg2);


    printf("\n\r\n\r\n\r\n\r\n\r");
    wait(.1);
    mbed_can_ticker.attach(&send, 3);
    mcp2515_s1_can_ticker.attach(&sendSPICAN1, 2);
    mcp2515_s2_can_ticker.attach(&sendSPICAN2, 3);
    mcp2515_s3_can_ticker.attach(&sendSPICAN3, 2);
    mcp2515_s4_can_ticker.attach(&sendSPICAN4, 5);
    //mcp2515_s3_can_ticker.attach(&sendSPICAN5, 1);
     console.printf("here");
    while (1) {

    console.printf("here2");
        wait(1);

        // canmsg1();
        /*
                //MODE_NORMAL
                if ( ( can3.can_checkReceive() == CAN_MSGAVAIL ) ) {
                    can3.process_CANMessages();
                }
                //MODE_NORMAL
                if ( ( can4.can_checkReceive() == CAN_MSGAVAIL ) ) {
                    can4.process_CANMessages();
                }
        */
        //can3.dumpExtendedStatus();

    }


}