PCAN Basic API#
Interface to Peak-System’s PCAN-Basic API.
Configuration#
Here is an example configuration file for using PCAN-USB:
[default]
interface = pcan
channel = PCAN_USBBUS1
state = can.bus.BusState.PASSIVE
bitrate = 500000
channel
(default"PCAN_USBBUS1"
)CAN interface name. Valid
channel
values:PCAN_ISABUSx PCAN_DNGBUSx PCAN_PCIBUSx PCAN_USBBUSx PCAN_PCCBUSx PCAN_LANBUSx
Where
x
should be replaced with the desired channel number starting at1
.state
(defaultcan.bus.BusState.ACTIVE
)BusState of the channel
bitrate
(default500000
)Channel bitrate
Linux installation#
Beginning with version 3.4, Linux kernels support the PCAN adapters natively via SocketCAN, refer to: PCAN.
Bus#
- class can.interfaces.pcan.PcanBus(channel='PCAN_USBBUS1', device_id=None, state=BusState.ACTIVE, timing=None, bitrate=500000, **kwargs)[source]#
A PCAN USB interface to CAN.
On top of the usual
Bus
methods provided, the PCAN interface includes theflash()
andstatus()
methods.- Parameters:
channel (str) – The can interface name. An example would be ‘PCAN_USBBUS1’. Alternatively the value can be an int with the numerical value. Default is ‘PCAN_USBBUS1’
device_id (int) – Select the PCAN interface based on its ID. The device ID is a 8/32bit value that can be configured for each PCAN device. If you set the device_id parameter, it takes precedence over the channel parameter. The constructor searches all connected interfaces and initializes the first one that matches the parameter value. If no device is found, an exception is raised.
state (can.bus.BusState) – BusState of the channel. Default is ACTIVE
timing (BitTiming | BitTimingFd | None) – An instance of
BitTiming
orBitTimingFd
to specify the bit timing parameters for the PCAN interface. If this parameter is provided, it takes precedence over all other timing-related parameters. If this parameter is not provided, the bit timing parameters can be specified using the bitrate parameter for standard CAN or the fd, f_clock, f_clock_mhz, nom_brp, nom_tseg1, nom_tseg2, nom_sjw, data_brp, data_tseg1, data_tseg2, and data_sjw parameters for CAN FD. Note that the f_clock value of the timing instance must be 8_000_000 for standard CAN or any of the following values for CAN FD: 20_000_000, 24_000_000, 30_000_000, 40_000_000, 60_000_000, 80_000_000.bitrate (int) – Bitrate of channel in bit/s. Default is 500 kbit/s. Ignored if using CanFD.
fd (bool) – Should the Bus be initialized in CAN-FD mode.
f_clock (int) – Clock rate in Hz. Any of the following: 20000000, 24000000, 30000000, 40000000, 60000000, 80000000. Ignored if not using CAN-FD. Pass either f_clock or f_clock_mhz.
f_clock_mhz (int) – Clock rate in MHz. Any of the following: 20, 24, 30, 40, 60, 80. Ignored if not using CAN-FD. Pass either f_clock or f_clock_mhz.
nom_brp (int) – Clock prescaler for nominal time quantum. In the range (1..1024) Ignored if not using CAN-FD.
nom_tseg1 (int) – Time segment 1 for nominal bit rate, that is, the number of quanta from (but not including) the Sync Segment to the sampling point. In the range (1..256). Ignored if not using CAN-FD.
nom_tseg2 (int) – Time segment 2 for nominal bit rate, that is, the number of quanta from the sampling point to the end of the bit. In the range (1..128). Ignored if not using CAN-FD.
nom_sjw (int) – Synchronization Jump Width for nominal bit rate. Decides the maximum number of time quanta that the controller can resynchronize every bit. In the range (1..128). Ignored if not using CAN-FD.
data_brp (int) – Clock prescaler for fast data time quantum. In the range (1..1024) Ignored if not using CAN-FD.
data_tseg1 (int) – Time segment 1 for fast data bit rate, that is, the number of quanta from (but not including) the Sync Segment to the sampling point. In the range (1..32). Ignored if not using CAN-FD.
data_tseg2 (int) – Time segment 2 for fast data bit rate, that is, the number of quanta from the sampling point to the end of the bit. In the range (1..16). Ignored if not using CAN-FD.
data_sjw (int) – Synchronization Jump Width for fast data bit rate. Decides the maximum number of time quanta that the controller can resynchronize every bit. In the range (1..16). Ignored if not using CAN-FD.
auto_reset (bool) – Enable automatic recovery in bus off scenario. Resetting the driver takes ~500ms during which it will not be responsive.
kwargs (Any) –
- flash(flash)[source]#
Turn on or off flashing of the device’s LED for physical identification purposes.
- get_device_number()[source]#
Return the PCAN device number.
- Return type:
- Returns:
PCAN device number
- send(msg, timeout=None)[source]#
Transmit a message to the CAN bus.
Override this method to enable the transmit path.
- Parameters:
msg (Message) – A message object.
timeout – 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.
- Raises:
CanOperationError – If an error occurred while sending
- set_device_number(device_number)[source]#
Set the PCAN device number.
- Parameters:
device_number – new PCAN device number
- Return type:
- Returns:
True if device number set successfully
- shutdown()[source]#
Called to carry out any interface specific cleanup required in shutting down a bus.
This method can be safely called multiple times.
- property state#
Return the current state of the hardware