This interface adds support for CAN controllers by Vector.
By default this library uses the channel configuration for CANalyzer.
To use a different application, open Vector Hardware Config program and create
a new application and assign the channels you may want to use.
Specify the application name as
app_name='Your app name' when constructing
the bus or in a config file.
Channel should be given as a list of channels starting at 0.
Here is an example configuration file connecting to CAN 1 and CAN 2 for an application named “python-can”:
[default] interface = vector channel = 0, 1 app_name = python-can
If you are using Python 2.7 it is recommended to install pywin32, otherwise a slow and CPU intensive polling will be used when waiting for new messages.
VectorBus(channel, can_filters=None, poll_interval=0.01, receive_own_messages=False, bitrate=None, rx_queue_size=16384, app_name='CANalyzer', serial=None, fd=False, data_bitrate=None, sjwAbr=2, tseg1Abr=6, tseg2Abr=3, sjwDbr=2, tseg1Dbr=6, tseg2Dbr=3, **kwargs)¶
The CAN Bus implemented for the Vector interface.
- channel (list) – The channel indexes to create this bus with. Can also be a single integer or a comma separated string.
- poll_interval (float) – Poll interval in seconds.
- bitrate (int) – Bitrate in bits/s.
- rx_queue_size (int) – Number of messages in receive queue (power of 2). CAN: range 16…32768 CAN-FD: range 8192…524288
- app_name (str) – Name of application in Hardware Config. If set to None, the channel should be a global channel index.
- serial (int) – Serial number of the hardware to be used. If set, the channel parameter refers to the channels ONLY on the specified hardware. If set, the app_name is unused.
- fd (bool) – If CAN-FD frames should be supported.
- data_bitrate (int) – Which bitrate to use for data phase in CAN FD. Defaults to arbitration bitrate.
Discard every message that may be queued in the output buffer(s).
Transmit a message to the CAN bus.
Override this method to enable the transmit path.
- msg (can.Message) – A message object.
- timeout (float or None) – If > 0, wait up to this many seconds for message to be ACK’ed or for transmit queue to be ready depending on driver implementation. If timeout is exceeded, an exception will be raised. Might not be supported by all interfaces. None blocks indefinitely.
can.CanError – if the message could not be sent
Called to carry out any interface specific cleanup required in shutting down a bus.