CAN Sender

The CAN Sender module can be used for simple CAN testing applications which require sending one or several fixed CAN frames.

It is not a full scripting engine (for that, use the Automation module) but a simple macro sequence for quick and easy testing.

Available commands:

send <ID>,<data Size>,<data Hex>

delay <milliseconds>

wait <ID>,<data size>,<data Hex>[,<timeoutMillisec>]

ID and data size can be provided as hex expressions:

send 0x7e5,2,04 01 

or

send 7e5h,0x2,04 01

wait supports string wildcards * and ? for the <data hex> parts. An additional timeout can be specified.

Example:

wait 581h,8,4b 41 60 00 ?? ?4 *,1000

(waits for a status word where the highest four bits are "4". gives up after one second)

Extended 29 bit CAN ID support: Use the "ext" specifier before the ID value.

Example:

send ext 432635,8,06 01 00 00 00 00 00 00  

or with the CAN ID in HEX format:

send ext 699FBh,8,06 01 00 00 00 00 00 00  

Remote Frames support: Use the "R" specifier before the ID

Example:

send R 701h,1,00 

The following macros can be used inside the send and wait commands:

canid(<expression>) - calculates the expression and returns a CAN ID in hex format

canunsigned32(<expression>) or caninteger32(<expression>) 

- calculates the expression and returns a 4-byte CAN data block

canunsigned16(<expression>) or caninteger16(<expression>) 

- as above, but 2 byte

canunsigned8(<expression>) or caninteger8(<expression>) 

- as above, but 1 byte

Example:

nodeId = 1

velocity = 1000

send canid(0x600 + nodeId),8,23 ff 60 00 canunsigned32(velocity)

A simple do...loop syntax can be used for endless loops. Or use do...loop until found in combination with a wait macro.

Example:

do

   do 

      ; request status 

      send canid(0x600 + nodeId),8,40 41 60 00 00 00 00 00

      ; wait for target reached (status word upper four bits = 4)

      ; using 0.5 seconds timeout

      wait canid(0x580 + nodeId),8,4b 41 60 00 ?? ?4 ?? ??,500

   loop until found

   ; target has been reached. wait until drive moves again

   do 

      send canid(0x600 + nodeId),8,40 41 60 00 00 00 00 00

      wait canid(0x580 + nodeId),8,4b 41 60 00 ?? ?0 ?? ??,500

   loop until found

loop