# CAN Shield Example # # This example demonstrates CAN communications between two cameras. # NOTE: you need two CAN transceiver shields and DB9 cable to run this example. import time, omv from pyb import CAN # NOTE: Set to False on receiving node. TRANSMITTER = True can = CAN(2, CAN.NORMAL) # Set a different baudrate (default is 125Kbps) # NOTE: The following parameters are for the H7 only. # # can.init(CAN.NORMAL, prescaler=32, sjw=1, bs1=8, bs2=3) # 125Kbps # can.init(CAN.NORMAL, prescaler=16, sjw=1, bs1=8, bs2=3) # 250Kbps # can.init(CAN.NORMAL, prescaler=8, sjw=1, bs1=8, bs2=3) # 500Kbps # can.init(CAN.NORMAL, prescaler=4, sjw=1, bs1=8, bs2=3) # 1000Kbps can.restart() if (TRANSMITTER): while (True): # Send message with id 1 can.send('Hello', 1) time.sleep(1000) else: # Runs on the receiving node. if (omv.board_type() == 'H7'): # FDCAN # Set a filter to receive messages with id=1 -> 4 # Filter index, mode (RANGE, DUAL or MASK), FIFO (0 or 1), params can.setfilter(0, CAN.RANGE, 0, (1, 4)) else: # Set a filter to receive messages with id=1, 2, 3 and 4 # Filter index, mode (LIST16, etc..), FIFO (0 or 1), params can.setfilter(0, CAN.LIST16, 0, (1, 2, 3, 4)) while (True): # Receive messages on FIFO 0 print(can.recv(0, timeout=10000))