Add pwrcan support

README.md

@@ -22,6 +22,14 @@ M5 stack library for cybergear
 
 ![image](https://github.com/project-sternbergia/cybergear_m5/assets/147309062/c36d82cf-e91a-45da-ac53-a79e8d8fc730)
 
+## H/W Components (ESP32 + PWRCAN)
+
+* [Xiaomi Cybergear](https://www.mi.com/cyber-gear)
+* [M5Stack Basic V2.7](https://shop.m5stack.com/collections/m5-controllers/products/esp32-basic-core-lot-development-kit-v2-7)
+* [PWRCAN 13.2 Module with Isolated 2-Ch CAN & 1-Ch RS485](https://shop.m5stack.com/products/pwrcan-13-2-module-with-isolated-2-ch-can-1-ch-rs485)
+
+![image](https://github.com/project-sternbergia/cybergear_m5/assets/147309062/c36d82cf-e91a-45da-ac53-a79e8d8fc730)
+
 ## H/W Components (ESP32 + CAN Transceiver Unit)
 
 * [Xiaomi Cybergear](https://www.mi.com/cyber-gear)
@@ -62,7 +70,7 @@ git clone https://github.com/project-sternbergia/cybergear_m5.git
     ![image](https://github.com/project-sternbergia/cybergear_m5/assets/147309062/8a4edd90-241c-4683-a13d-4a26685e8251)
 
     Put this file in the same folder as control_mode_example.ino (for Arduino IDE)
-
+    If you want to use ESP32_CAN library, please comment in [this lines]().
 
 4. Build and write firmware to M5Stack
 

examples/control_mode_example/control_mode_example.ino

@@ -3,6 +3,8 @@
 #include <M5Stack.h>
 #include "cybergear_driver.hh"
 
+// #define USE_ESP32_CAN  // If you want to use ESP32_CAN or PWRCAN, please uncomment this line
+// #define USE_PWRCAN     // If you want to use PWRCAN, please uncomment this line
 #ifdef USE_ESP32_CAN
 #include "cybergear_can_interface_esp32.hh"
 #else
@@ -67,7 +69,12 @@ void setup()
   sprite.createSprite(M5.Lcd.width(), M5.Lcd.height());
 
   // init cybergear driver
+#ifdef USE_PWRCAN
+  interface.init(16, 17);
+#else
   interface.init();
+#endif
+
   driver.init(&interface);
   driver.init_motor(mode);
   driver.set_limit_speed(init_speed);