CAN Unit

Exanoke

from m5stack import *
from m5ui import *
from uiflow import *
import time
import unit

setScreenColor(0x5c0000)
can_0 = unit.get(unit.CAN, unit.PORTC)

def buttonB_wasPressed():
  # global params
  can_0.send([10, 20, 30], 0X710)
  pass
btnB.wasPressed(buttonB_wasPressed)

can_0.can_init(0, extframe=True, mode=can_0.NORMAL, baudrate=can_0.BAUDRATE_250K, tx_io=17, rx_io=16, auto_restart=False)
label3.setText(str(can_0.state()))
while True:
  if can_0.any():
    print((str('message:') + str(can_0.recv())))
    print((str('ID:') + str(can_0.remote_id())))
  wait_ms(25)
  wait_ms(2)

API

can_0.deinit()

• Close the CAN bus

can_0.can_init(0, extframe=True, mode=can_0.NORMAL, baudrate=can_0.BAUDRATE_250K, tx_io=17, rx_io=16, auto_restart=False)

• Construct a CAN object on a given bus
  • mode: NORMAL, NO_ACKNOWLEDGE, LISTEN_ONLY
  • tx: pin used for transmitting data
  • rx: pin used for receiving data
  • baudrate: baud rate
  • extframe: extended frame enabled

print(can_0.any())

• Check if there is a message waiting on the FIFO Queue

can_0.clear_filter()

• Clear data

can_0.clear_rx_queue()

• Reset all pending messages in the Receive Queue (RX Queue)

can_0.clear_tx_queue()

• Reset all pending messages in the Transmit Queue (TX Queue)

print(can_0.remote_id())

• Get the Remote ID

print(can_0.recv())

• Retrieve received data

can_0.restart()

• Force a software reset of the CAN controller

can_0.send('uiflow2', 0)

• Send data

can_0.set_filter(0, can_0.FILTER_RAW_SINGLE, 'uiflow2')

• Send data
  • bank:number
  • mode:filter raw single/filter raw dual/filter address
  • Message:string

print(can_0.state())

• Return the status of the controller