CAN

This module loads the Controller Area Network (CAN) driver of the mcp2518.

A Controller Area Network (CAN bus) is a robust vehicle bus standard designed to allow microcontrollers and devices to communicate with each other’s applications without a host computer. It is a message-based protocol, designed originally for multiplex electrical wiring within automobiles to save on copper, but can also be used in many other contexts. For each device the data in a frame is transmitted sequentially but in such a way that if more than one device transmits at the same time the highest priority device is able to continue while the others back off. Frames are received by all devices, including by the transmitting device.

Only CAN2.0 is supported right now.

function init

init(nss, spi=SPI0, spi_clk=15000000)

Initialize the mcp2518 CAN controlled by the SPI peripheral. This function must be called to be able to use other CAN's APIs.

• nss is the chip select pin use to communicate with the CAN device.

• spi is the SPI peripheral connected to the mcp2518. Default SPI0

• spi_clk is the clock speed of the SPI.

function conf

conf(cdiv=3, iso_crc_en=False, tef_en=False, txq_en=False, btime=10, sysclk=0)

Configure main parameter of the CAN communication. This includes clock speed, crcs and if Transmit Event Fifo and Transmit Queue channels are active. Must be called before start is called.

• cdiv is the clock division of the CAN internal clock. Clock division parameter follows the table below.

  cdiv	Clock division
  0	1
  1	2
  2	4
  3	10

  Default value is 3.

• iso_crc_en enables the iso crc check on messages. Default is False.

• tef_en enables Transmit Event Fifo and its APIs. This allows to keep track the completed transmit events. Default is False.

• txq_en enables the Transmit Queue. This will always be on channel 0. Diffrently from the Transmit Fifos, the Queue will transmit messages following ID priority (lower ID -> higher priority). Default is False.

• btime is the data rate of the CAN. btime parameter follows the table below.

  btime	Data rate (kbps)
  0	500
  10	250
  15	1000
  17	125

  Default value is 10.

• sysclk is the CAN internal clock speed. sysclk follows the table below.

  sysclk	Clock speed (MHz)
  0	40
  1	20
  2	10

  Default value is 0.

function tef_conf

tef_conf(queue_size)

Configure the Transmit Event Fifo. Must be called before start is called.

• queue_size is the size of the Transmit Event Fifo. The TEF will keep track of the last queue_size completed transmissions.

function txq_conf

txq_conf(queue_size, prio, tx_attempts=0)

Configure the Transmit Queue. This will be always configured to channel 0, which is reserved for it. Diffrently from the Transmit Fifos, the Queue will transmit messages following ID priority (lower ID -> higher priority).

• queue_size is the size of the Transmit Queue.

• prio is the TXQ channel priority. Lower value -> higher priority.

• tx_attempts is the number of retransmission attempts if transmissions are not successful. This follows the table below.

  tx_attempts	Retransmissions
  0	Disabled
  1	3
  2	Unlimited

  Default value is 0.

function txf_conf

txf_conf(ch, queue_size, prio, rtr_en=False, tx_attempts=0)

Configure a Transmit Fifo Channel. More than one channel can be configured as TXF. Must be called before start is called.

• ch is the channel to configure as TXF. Possible channels go from 1 to 32.

• queue_size is the size of the Transmit Fifo.

• prio is the TXF channel priority. Lower value -> higher priority.

• rtr_en enables the remote request frames. Default is False.

• tx_attempts is the number of retransmission attempts if transmissions are not successful. This follows the table below.

  tx_attempts	Retransmissions
  0	Disabled
  1	3
  2	Unlimited

  Default value is 0.

function rxf_conf

rx_conf(ch, queue_size)

Configure a Receive Fifo Channel. More than one channel can be configured as RXF. Must be called before start is called.

• ch is the channel to configure as RXF. Possible channels go from 1 to 32.

• queue_size is the size of the Receive Fifo.

function start

start()

Starts the configured CAN channels. If configured channels require to much RAM of the CAN, PERIPHERAL_ERROR exception is raised. Try to reduce queue sizes is this case to reduce RAM requirements.

function transmit

transmit(ch, tx, sid, rtr=False, seq=0)

Send a message on a target TXF channel. Tx messages are automatically transmitted by the Fifo.

• ch is the target TXF channel.

• tx is the message to transmit. Max size 8 bytes.

• sid is the message standard 11b ID.

• rtr defines if the message is a RTR. Default is False.

• seq is the sequence number of the message. Default is 0.

If the ch queue is full, PERIPHERAL_ERROR exception is raised.

function stop_transmit

stop_transmit(ch)

Stop transmissions on a target channel.

• ch Target channel.

function add_filter

add_filter(filter, ch, sid, msid)

Add a filter on received messages ID on a specified channel. Each RXF channel requires an active filter.

• filter is the number of the filter. Up to 32 filters.

• ch is the RXF channel to link the filter to.

• sid is the filtered standard ID.

• msid is the mask of ignored bits or the filter.

function rm_filter

rm_filter(filter)

Removes a target filter. This

• filter filter number to remove.

function receive

receive(ch)

Receive a message from a RXF channel if the channel is not empty.

• ch is the channel to receive from.

Returns sid, msg

function stop_receive

stop_receive(ch)

Stop receiving from a RXF channel.

• ch is the channel to stop receiving from.

function tef_get

tef_get()

Get the next messege from the Transmit Event Fifo.

function en_rx_intr

en_rx_intr(ch)

Enables the alert pin for a specific channel RX channel. If the target channel will receive a message, the alert pin will be lowered.

• ch is the channel to activate the alert on.

function dis_rx_intr

dis_rx_intr(ch)

Disable the alert pin for a specific RX channel.

• ch is the channel to deactivate.

Example

from bsp import board
import can

nss_can_pin = D10
tx_ch = 1

can.init(nss_can_pin)
can.conf()
can.txf_conf(tx_ch, 5, 1)

can.start()
tx_buff = bytearray("Test msg")
can.transmit(tx_ch, tx_buff, 0x300)