class CAN – controller area network communication bus

CAN implements the standard CAN communications protocol. At the physical level it consists of 2 lines: RX and TX. Note that to connect the pyboard or the OpenMV Cam to a CAN bus you must use a CAN transceiver to convert the CAN logic signals from the pyboard or the OpenMV Cam to the correct voltage levels on the bus.

Example usage (works without anything connected):

.. only:: port_pyboard
from pyb import CAN can = CAN(1, CAN.LOOPBACK) can.setfilter(0, CAN.LIST16, 0, (123, 124, 125, 126)) # set a filter to receive messages with id=123, 124, 125 and 126 can.send(‘message!’, 123) # send a message with id 123 can.recv(0) # receive message on FIFO 0

from pyb import CAN can = CAN(2, CAN.LOOPBACK) can.setfilter(0, CAN.LIST16, 0, (123, 124, 125, 126)) # set a filter to receive messages with id=123, 124, 125 and 126 can.send(‘message!’, 123) # send a message with id 123 can.recv(0) # receive message on FIFO 0

Constructors

class pyb.CAN(bus, ...)

Construct a CAN object on the given bus. bus can be 2. With no additional parameters, the CAN object is created but not initialized (it has the settings from the last initialization of the bus, if any). If extra arguments are given, the bus is initialized. See init for parameters of initialization.

The physical pins of the CAN buses are:

  • CAN(2): (RX, TX) = (P3, P2) = (PB12, PB13)

Class Methods

Methods

can.init(mode, extframe=False, prescaler=100, *, sjw=1, bs1=6, bs2=8)

Initialize the CAN bus with the given parameters:

  • mode is one of: NORMAL, LOOPBACK, SILENT, SILENT_LOOPBACK
  • if extframe is True then the bus uses extended identifiers in the frames (29 bits); otherwise it uses standard 11 bit identifiers
  • prescaler is used to set the duration of 1 time quanta; the time quanta will be the input clock (PCLK1, see pyb.freq()) divided by the prescaler
  • sjw is the resynchronisation jump width in units of the time quanta; it can be 1, 2, 3, 4
  • bs1 defines the location of the sample point in units of the time quanta; it can be between 1 and 1024 inclusive
  • bs2 defines the location of the transmit point in units of the time quanta; it can be between 1 and 16 inclusive

The time quanta tq is the basic unit of time for the CAN bus. tq is the CAN prescaler value divided by PCLK1 (the frequency of internal peripheral bus 1); see pyb.freq() to determine PCLK1.

A single bit is made up of the synchronization segment, which is always 1 tq. Then follows bit segment 1, then bit segment 2. The sample point is after bit segment 1 finishes. The transmit point is after bit segment 2 finishes. The baud rate will be 1/bittime, where the bittime is 1 + BS1 + BS2 multiplied by the time quanta tq.

For example, with PCLK1=42MHz, prescaler=100, sjw=1, bs1=6, bs2=8, the value of tq is 2.38 microseconds. The bittime is 35.7 microseconds, and the baudrate is 28kHz.

See the datasheet for more details.
can.deinit()

Turn off the CAN bus.

can.setfilter(bank, mode, fifo, params, *, rtr)

Configure a filter bank:

  • bank is the filter bank that is to be configured.
  • mode is the mode the filter should operate in.
  • fifo is which fifo (0 or 1) a message should be stored in, if it is accepted by this filter.
  • params is an array of values the defines the filter. The contents of the array depends on the mode argument.
mode contents of parameter array
CAN.LIST16 Four 16 bit ids that will be accepted
CAN.LIST32 Two 32 bit ids that will be accepted
CAN.MASK16
Two 16 bit id/mask pairs. E.g. (1, 3, 4, 4)
The first pair, 1 and 3 will accept all ids
that have bit 0 = 1 and bit 1 = 0.
The second pair, 4 and 4, will accept all ids
that have bit 2 = 1.
CAN.MASK32 As with CAN.MASK16 but with only one 32 bit id/mask pair.
  • rtr is an array of booleans that states if a filter should accept a remote transmission request message. If this argument is not given then it defaults to False for all entries. The length of the array depends on the mode argument.
mode length of rtr array
CAN.LIST16 4
CAN.LIST32 2
CAN.MASK16 2
CAN.MASK32 1
can.clearfilter(bank)

Clear and disables a filter bank:

  • bank is the filter bank that is to be cleared.
can.any(fifo)

Return True if any message waiting on the FIFO, else False.

can.recv(fifo, *, timeout=5000)

Receive data on the bus:

  • fifo is an integer, which is the FIFO to receive on
  • timeout is the timeout in milliseconds to wait for the receive.

Return value: A tuple containing four values.

  • The id of the message.
  • A boolean that indicates if the message is an RTR message.
  • The FMI (Filter Match Index) value.
  • An array containing the data.
can.send(data, id, *, timeout=0, rtr=False)

Send a message on the bus:

  • data is the data to send (an integer to send, or a buffer object).
  • id is the id of the message to be sent.
  • timeout is the timeout in milliseconds to wait for the send.
  • rtr is a boolean that specifies if the message shall be sent as a remote transmission request. If rtr is True then only the length of data is used to fill in the DLC slot of the frame; the actual bytes in data are unused.

If timeout is 0 the message is placed in a buffer in one of three hardware buffers and the method returns immediately. If all three buffers are in use an exception is thrown. If timeout is not 0, the method waits until the message is transmitted. If the message can’t be transmitted within the specified time an exception is thrown.

Return value: None.

can.rxcallback(fifo, fun)

Register a function to be called when a message is accepted into a empty fifo:

  • fifo is the receiving fifo.
  • fun is the function to be called when the fifo becomes non empty.

The callback function takes two arguments the first is the can object it self the second is a integer that indicates the reason for the callback.

Reason  
0 A message has been accepted into a empty FIFO.
1 The FIFO is full
2 A message has been lost due to a full FIFO

Example use of rxcallback:

def cb0(bus, reason):
  print('cb0')
  if reason == 0:
      print('pending')
  if reason == 1:
      print('full')
  if reason == 2:
      print('overflow')

can = CAN(2, CAN.LOOPBACK)
can.rxcallback(0, cb0)

Constants

CAN.NORMAL
CAN.LOOPBACK
CAN.SILENT
CAN.SILENT_LOOPBACK

the mode of the CAN bus

CAN.LIST16
CAN.MASK16
CAN.LIST32
CAN.MASK32

the operation mode of a filter