Class: Tinkerforge::BrickletCAN

Inherits:
Device
  • Object
show all
Defined in:
lib/tinkerforge/bricklet_can.rb

Overview

Communicates with CAN bus devices

Constant Summary collapse

DEVICE_IDENTIFIER =

:nodoc:

270
DEVICE_DISPLAY_NAME =

:nodoc:

'CAN Bricklet'
CALLBACK_FRAME_READ =

This callback is triggered if a data or remote frame was received by the CAN transceiver.

The “identifier“ return value follows the identifier format described for BrickletCAN#write_frame.

For remote frames the “data“ return value always contains invalid values.

A configurable read filter can be used to define which frames should be received by the CAN transceiver at all (see BrickletCAN#set_read_filter).

To enable this callback, use BrickletCAN#enable_frame_read_callback.

11
CALLBACK_FRAME_READABLE =

This callback is triggered if a data or remote frame was received by the CAN transceiver. The received frame can be read with BrickletCAN#read_frame. If additional frames are received, but BrickletCAN#read_frame was not called yet, the callback will not trigger again.

A configurable read filter can be used to define which frames should be received by the CAN transceiver and put into the read queue (see BrickletCAN#set_read_filter).

To enable this callback, use BrickletCAN#set_frame_readable_callback_configuration.

.. versionadded

2.0.1$nbsp;(Plugin)

14
FUNCTION_WRITE_FRAME =

:nodoc:

1
FUNCTION_READ_FRAME =

:nodoc:

2
FUNCTION_ENABLE_FRAME_READ_CALLBACK =

:nodoc:

3
FUNCTION_DISABLE_FRAME_READ_CALLBACK =

:nodoc:

4
FUNCTION_IS_FRAME_READ_CALLBACK_ENABLED =

:nodoc:

5
FUNCTION_SET_CONFIGURATION =

:nodoc:

6
FUNCTION_GET_CONFIGURATION =

:nodoc:

7
FUNCTION_SET_READ_FILTER =

:nodoc:

8
FUNCTION_GET_READ_FILTER =

:nodoc:

9
FUNCTION_GET_ERROR_LOG =

:nodoc:

10
FUNCTION_SET_FRAME_READABLE_CALLBACK_CONFIGURATION =

:nodoc:

12
FUNCTION_GET_FRAME_READABLE_CALLBACK_CONFIGURATION =

:nodoc:

13
FUNCTION_GET_IDENTITY =

:nodoc:

255
FRAME_TYPE_STANDARD_DATA =

:nodoc:

0
FRAME_TYPE_STANDARD_REMOTE =

:nodoc:

1
FRAME_TYPE_EXTENDED_DATA =

:nodoc:

2
FRAME_TYPE_EXTENDED_REMOTE =

:nodoc:

3
BAUD_RATE_10KBPS =

:nodoc:

0
BAUD_RATE_20KBPS =

:nodoc:

1
BAUD_RATE_50KBPS =

:nodoc:

2
BAUD_RATE_125KBPS =

:nodoc:

3
BAUD_RATE_250KBPS =

:nodoc:

4
BAUD_RATE_500KBPS =

:nodoc:

5
BAUD_RATE_800KBPS =

:nodoc:

6
BAUD_RATE_1000KBPS =

:nodoc:

7
TRANSCEIVER_MODE_NORMAL =

:nodoc:

0
TRANSCEIVER_MODE_LOOPBACK =

:nodoc:

1
TRANSCEIVER_MODE_READ_ONLY =

:nodoc:

2
FILTER_MODE_DISABLED =

:nodoc:

0
FILTER_MODE_ACCEPT_ALL =

:nodoc:

1
FILTER_MODE_MATCH_STANDARD =

:nodoc:

2
FILTER_MODE_MATCH_STANDARD_AND_DATA =

:nodoc:

3
FILTER_MODE_MATCH_EXTENDED =

:nodoc:

4

Constants inherited from Device

Device::DEVICE_IDENTIFIER_CHECK_MATCH, Device::DEVICE_IDENTIFIER_CHECK_MISMATCH, Device::DEVICE_IDENTIFIER_CHECK_PENDING, Device::RESPONSE_EXPECTED_ALWAYS_TRUE, Device::RESPONSE_EXPECTED_FALSE, Device::RESPONSE_EXPECTED_INVALID_FUNCTION_ID, Device::RESPONSE_EXPECTED_TRUE

Instance Attribute Summary

Attributes inherited from Device

#callback_formats, #expected_response_function_id, #expected_response_sequence_number, #high_level_callbacks, #registered_callbacks, #replaced, #uid

Instance Method Summary collapse

Methods inherited from Device

#check_validity, #dequeue_response, #enqueue_response, #get_api_version, #get_response_expected, #send_request, #set_response_expected, #set_response_expected_all

Constructor Details

#initialize(uid, ipcon) ⇒ BrickletCAN

Creates an object with the unique device ID uid and adds it to the IP Connection ipcon.



85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
 
# File 'lib/tinkerforge/bricklet_can.rb', line 85

def initialize(uid, ipcon)
  super uid, ipcon, DEVICE_IDENTIFIER, DEVICE_DISPLAY_NAME

  @api_version = [2, 0, 1]

  @response_expected[FUNCTION_WRITE_FRAME] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_READ_FRAME] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_ENABLE_FRAME_READ_CALLBACK] = RESPONSE_EXPECTED_TRUE
  @response_expected[FUNCTION_DISABLE_FRAME_READ_CALLBACK] = RESPONSE_EXPECTED_TRUE
  @response_expected[FUNCTION_IS_FRAME_READ_CALLBACK_ENABLED] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_CONFIGURATION] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_READ_FILTER] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_READ_FILTER] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_ERROR_LOG] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_FRAME_READABLE_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_TRUE
  @response_expected[FUNCTION_GET_FRAME_READABLE_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_IDENTITY] = RESPONSE_EXPECTED_ALWAYS_TRUE

  @callback_formats[CALLBACK_FRAME_READ] = [22, 'C L C8 C']
  @callback_formats[CALLBACK_FRAME_READABLE] = [8, '']

  @ipcon.add_device self
end

Instance Method Details

#disable_frame_read_callback ⇒ Object

Disables the CALLBACK_FRAME_READ callback.

By default the callback is disabled.



172
173
174
175
176
 
# File 'lib/tinkerforge/bricklet_can.rb', line 172

def disable_frame_read_callback
  check_validity

  send_request FUNCTION_DISABLE_FRAME_READ_CALLBACK, [], '', 8, ''
end

#enable_frame_read_callback ⇒ Object

Enables the CALLBACK_FRAME_READ callback.

By default the callback is disabled. Enabling this callback will disable the CALLBACK_FRAME_READABLE callback.



163
164
165
166
167
 
# File 'lib/tinkerforge/bricklet_can.rb', line 163

def enable_frame_read_callback
  check_validity

  send_request FUNCTION_ENABLE_FRAME_READ_CALLBACK, [], '', 8, ''
end

#get_configuration ⇒ Object

Returns the configuration as set by BrickletCAN#set_configuration.



216
217
218
219
220
 
# File 'lib/tinkerforge/bricklet_can.rb', line 216

def get_configuration
  check_validity

  send_request FUNCTION_GET_CONFIGURATION, [], '', 14, 'C C l'
end

#get_error_log ⇒ Object

Returns information about different kinds of errors.

The write and read error levels indicate the current level of checksum, acknowledgement, form, bit and stuffing errors during CAN bus write and read operations.

When the write error level exceeds 255 then the CAN transceiver gets disabled and no frames can be transmitted or received anymore. The CAN transceiver will automatically be activated again after the CAN bus is idle for a while.

The write and read error levels are not available in read-only transceiver mode (see BrickletCAN#set_configuration) and are reset to 0 as a side effect of changing the configuration or the read filter.

The write timeout, read register and buffer overflow counts represents the number of these errors:

  • A write timeout occurs if a frame could not be transmitted before the configured write timeout expired (see BrickletCAN#set_configuration).

  • A read register overflow occurs if the read register of the CAN transceiver still contains the last received frame when the next frame arrives. In this case the newly arrived frame is lost. This happens if the CAN transceiver receives more frames than the Bricklet can handle. Using the read filter (see BrickletCAN#set_read_filter) can help to reduce the amount of received frames. This count is not exact, but a lower bound, because the Bricklet might not able detect all overflows if they occur in rapid succession.

  • A read buffer overflow occurs if the read buffer of the Bricklet is already full when the next frame should be read from the read register of the CAN transceiver. In this case the frame in the read register is lost. This happens if the CAN transceiver receives more frames to be added to the read buffer than are removed from the read buffer using the BrickletCAN#read_frame function. Using the CALLBACK_FRAME_READ callback ensures that the read buffer can not overflow.



318
319
320
321
322
 
# File 'lib/tinkerforge/bricklet_can.rb', line 318

def get_error_log
  check_validity

  send_request FUNCTION_GET_ERROR_LOG, [], '', 23, 'C C ? L L L'
end

#get_frame_readable_callback_configuration ⇒ Object

Returns true if the CALLBACK_FRAME_READABLE callback is enabled, false otherwise.

.. versionadded

2.0.1$nbsp;(Plugin)



338
339
340
341
342
 
# File 'lib/tinkerforge/bricklet_can.rb', line 338

def get_frame_readable_callback_configuration
  check_validity

  send_request FUNCTION_GET_FRAME_READABLE_CALLBACK_CONFIGURATION, [], '', 9, '?'
end

#get_identity ⇒ Object

Returns the UID, the UID where the Bricklet is connected to, the position, the hardware and firmware version as well as the device identifier.

The position can be ‘a’, ‘b’, ‘c’, ‘d’, ‘e’, ‘f’, ‘g’ or ‘h’ (Bricklet Port). A Bricklet connected to an :ref:‘Isolator Bricklet <isolator_bricklet>` is always at position ’z’.

The device identifier numbers can be found :ref:‘here <device_identifier>`. |device_identifier_constant|



354
355
356
 
# File 'lib/tinkerforge/bricklet_can.rb', line 354

def get_identity
  send_request FUNCTION_GET_IDENTITY, [], '', 33, 'Z8 Z8 k C3 C3 S'
end

#get_read_filter ⇒ Object

Returns the read filter as set by BrickletCAN#set_read_filter.



279
280
281
282
283
 
# File 'lib/tinkerforge/bricklet_can.rb', line 279

def get_read_filter
  check_validity

  send_request FUNCTION_GET_READ_FILTER, [], '', 21, 'C L L L'
end

#is_frame_read_callback_enabled ⇒ Object

Returns true if the CALLBACK_FRAME_READ callback is enabled, false otherwise.



179
180
181
182
183
 
# File 'lib/tinkerforge/bricklet_can.rb', line 179

def is_frame_read_callback_enabled
  check_validity

  send_request FUNCTION_IS_FRAME_READ_CALLBACK_ENABLED, [], '', 9, '?'
end

#read_frame ⇒ Object

Tries to read the next data or remote frame from the read buffer and return it. If a frame was successfully read, then the “success“ return value is set to true and the other return values contain the frame. If the read buffer is empty and no frame could be read, then the “success“ return value is set to false and the other return values contain invalid data.

The “identifier“ return value follows the identifier format described for BrickletCAN#write_frame.

For remote frames the “data“ return value always contains invalid data.

A configurable read filter can be used to define which frames should be received by the CAN transceiver and put into the read buffer (see BrickletCAN#set_read_filter).

Instead of polling with this function, you can also use callbacks. See the BrickletCAN#enable_frame_read_callback function and the CALLBACK_FRAME_READ callback.



154
155
156
157
158
 
# File 'lib/tinkerforge/bricklet_can.rb', line 154

def read_frame
  check_validity

  send_request FUNCTION_READ_FRAME, [], '', 23, '? C L C8 C'
end

#register_callback(id, &block) ⇒ Object

Registers a callback with ID id to the block block.



359
360
361
362
 
# File 'lib/tinkerforge/bricklet_can.rb', line 359

def register_callback(id, &block)
  callback = block
  @registered_callbacks[id] = callback
end

#set_configuration(baud_rate, transceiver_mode, write_timeout) ⇒ Object

Sets the configuration for the CAN bus communication.

The baud rate can be configured in steps between 10 and 1000 kbit/s.

The CAN transceiver has three different modes:

  • Normal: Reads from and writes to the CAN bus and performs active bus error detection and acknowledgement.

  • Loopback: All reads and writes are performed internally. The transceiver is disconnected from the actual CAN bus.

  • Read-Only: Only reads from the CAN bus, but does neither active bus error detection nor acknowledgement. Only the receiving part of the transceiver is connected to the CAN bus.

The write timeout has three different modes that define how a failed frame transmission should be handled:

  • One-Shot (= -1): Only one transmission attempt will be made. If the transmission fails then the frame is discarded.

  • Infinite (= 0): Infinite transmission attempts will be made. The frame will never be discarded.

  • Milliseconds (> 0): A limited number of transmission attempts will be made. If the frame could not be transmitted successfully after the configured number of milliseconds then the frame is discarded.



209
210
211
212
213
 
# File 'lib/tinkerforge/bricklet_can.rb', line 209

def set_configuration(baud_rate, transceiver_mode, write_timeout)
  check_validity

  send_request FUNCTION_SET_CONFIGURATION, [baud_rate, transceiver_mode, write_timeout], 'C C l', 8, ''
end

#set_frame_readable_callback_configuration(enabled) ⇒ Object

Enables/disables the CALLBACK_FRAME_READABLE callback.

By default the callback is disabled. Enabling this callback will disable the CALLBACK_FRAME_READ callback.

.. versionadded

2.0.1$nbsp;(Plugin)



329
330
331
332
333
 
# File 'lib/tinkerforge/bricklet_can.rb', line 329

def set_frame_readable_callback_configuration(enabled)
  check_validity

  send_request FUNCTION_SET_FRAME_READABLE_CALLBACK_CONFIGURATION, [enabled], '?', 8, ''
end

#set_read_filter(mode, mask, filter1, filter2) ⇒ Object

Set the read filter configuration. This can be used to define which frames should be received by the CAN transceiver and put into the read buffer.

The read filter has five different modes that define if and how the mask and the two filters are applied:

  • Disabled: No filtering is applied at all. All frames are received even incomplete and defective frames. This mode should be used for debugging only.

  • Accept-All: All complete and error-free frames are received.

  • Match-Standard: Only standard frames with a matching identifier are received.

  • Match-Standard-and-Data: Only standard frames with matching identifier and data bytes are received.

  • Match-Extended: Only extended frames with a matching identifier are received.

The mask and filters are used as bit masks. Their usage depends on the mode:

  • Disabled: Mask and filters are ignored.

  • Accept-All: Mask and filters are ignored.

  • Match-Standard: Bit 0 to 10 (11 bits) of mask and filters are used to match the 11-bit identifier of standard frames.

  • Match-Standard-and-Data: Bit 0 to 10 (11 bits) of mask and filters are used to match the 11-bit identifier of standard frames. Bit 11 to 18 (8 bits) and bit 19 to 26 (8 bits) of mask and filters are used to match the first and second data byte (if present) of standard frames.

  • Match-Extended: Bit 0 to 10 (11 bits) of mask and filters are used to match the standard 11-bit identifier part of extended frames. Bit 11 to 28 (18 bits) of mask and filters are used to match the extended 18-bit identifier part of extended frames.

The mask and filters are applied in this way: The mask is used to select the identifier and data bits that should be compared to the corresponding filter bits. All unselected bits are automatically accepted. All selected bits have to match one of the filters to be accepted. If all bits for the selected mode are accepted then the frame is accepted and is added to the read buffer.

"Mask Bit", "Filter Bit", "Identifier/Data Bit", "Result"

0, X, X, Accept
1, 0, 0, Accept
1, 0, 1, Reject
1, 1, 0, Reject
1, 1, 1, Accept

For example, to receive standard frames with identifier 0x123 only the mode can be set to Match-Standard with 0x7FF as mask and 0x123 as filter 1 and filter 2. The mask of 0x7FF selects all 11 identifier bits for matching so that the identifier has to be exactly 0x123 to be accepted.

To accept identifier 0x123 and identifier 0x456 at the same time, just set filter 2 to 0x456 and keep mask and filter 1 unchanged.



272
273
274
275
276
 
# File 'lib/tinkerforge/bricklet_can.rb', line 272

def set_read_filter(mode, mask, filter1, filter2)
  check_validity

  send_request FUNCTION_SET_READ_FILTER, [mode, mask, filter1, filter2], 'C L L L', 8, ''
end

#write_frame(frame_type, identifier, data, length) ⇒ Object

Writes a data or remote frame to the write buffer to be transmitted over the CAN transceiver.

The Bricklet supports the standard 11-bit (CAN 2.0A) and the additional extended 18-bit (CAN 2.0B) identifiers. For standard frames the Bricklet uses bit 0 to 10 from the “identifier“ parameter as standard 11-bit identifier. For extended frames the Bricklet additionally uses bit 11 to 28 from the “identifier“ parameter as extended 18-bit identifier.

For remote frames the “data“ parameter is ignored.

Returns true if the frame was successfully added to the write buffer. Returns false if the frame could not be added because write buffer is already full.

The write buffer can overflow if frames are written to it at a higher rate than the Bricklet can transmitted them over the CAN transceiver. This may happen if the CAN transceiver is configured as read-only or is using a low baud rate (see BrickletCAN#set_configuration). It can also happen if the CAN bus is congested and the frame cannot be transmitted because it constantly loses arbitration or because the CAN transceiver is currently disabled due to a high write error level (see BrickletCAN#get_error_log).



131
132
133
134
135
 
# File 'lib/tinkerforge/bricklet_can.rb', line 131

def write_frame(frame_type, identifier, data, length)
  check_validity

  send_request FUNCTION_WRITE_FRAME, [frame_type, identifier, data, length], 'C L C8 C', 9, '?'
end