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