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
|
Notice The current fullmo USB2Drive firmware for CAN bus does not support extended 29 bit IDs. Remote Frame requests are supported. |
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
