I'm trying to use a Raspberry Pi Pico and MCP 2515 to transmit frames over CAN. For this I'm using CAN bus Module (B) for Raspberry Pi Pico () and demo code for micropython from the same page (code below).
#!/usr/bin/env python # -*- coding: utf-8 -*- from machine import Pin,SPI,PWM import time ## Configuration Registers */ CANSTAT = 0x0E CANCTRL = 0x0F BFPCTRL = 0x0C TEC = 0x1C REC = 0x1D CNF3 = 0x28 CNF2 = 0x29 CNF1 = 0x2A CANINTE = 0x2B CANINTF = 0x2C EFLG = 0x2D TXRTSCTRL = 0x0D ## Recieve Filters */ RXF0SIDH = 0x00 RXF0SIDL = 0x01 RXF0EID8 = 0x02 RXF0EID0 = 0x03 RXF1SIDH = 0x04 RXF1SIDL = 0x05 RXF1EID8 = 0x06 RXF1EID0 = 0x07 RXF2SIDH = 0x08 RXF2SIDL = 0x09 RXF2EID8 = 0x0A RXF2EID0 = 0x0B RXF3SIDH = 0x10 RXF3SIDL = 0x11 RXF3EID8 = 0x12 RXF3EID0 = 0x13 RXF4SIDH = 0x14 RXF4SIDL = 0x15 RXF4EID8 = 0x16 RXF4EID0 = 0x17 RXF5SIDH = 0x18 RXF5SIDL = 0x19 RXF5EID8 = 0x1A RXF5EID0 = 0x1B ## Receive Masks */ RXM0SIDH = 0x20 RXM0SIDL = 0x21 RXM0EID8 = 0x22 RXM0EID0 = 0x23 RXM1SIDH = 0x24 RXM1SIDL = 0x25 RXM1EID8 = 0x26 RXM1EID0 = 0x27 ## Tx Buffer 0 */ TXB0CTRL = 0x30 TXB0SIDH = 0x31 TXB0SIDL = 0x32 TXB0EID8 = 0x33 TXB0EID0 = 0x34 TXB0DLC = 0x35 TXB0D0 = 0x36 TXB0D1 = 0x37 TXB0D2 = 0x38 TXB0D3 = 0x39 TXB0D4 = 0x3A TXB0D5 = 0x3B TXB0D6 = 0x3C TXB0D7 = 0x3D ## Tx Buffer 1 */ TXB1CTRL = 0x40 TXB1SIDH = 0x41 TXB1SIDL = 0x42 TXB1EID8 = 0x43 TXB1EID0 = 0x44 TXB1DLC = 0x45 TXB1D0 = 0x46 TXB1D1 = 0x47 TXB1D2 = 0x48 TXB1D3 = 0x49 TXB1D4 = 0x4A TXB1D5 = 0x4B TXB1D6 = 0x4C TXB1D7 = 0x4D ## Tx Buffer 2 */ TXB2CTRL = 0x50 TXB2SIDH = 0x51 TXB2SIDL = 0x52 TXB2EID8 = 0x53 TXB2EID0 = 0x54 TXB2DLC = 0x55 TXB2D0 = 0x56 TXB2D1 = 0x57 TXB2D2 = 0x58 TXB2D3 = 0x59 TXB2D4 = 0x5A TXB2D5 = 0x5B TXB2D6 = 0x5C TXB2D7 = 0x5D # ## Rx Buffer 0 */ RXB0CTRL = 0x60 RXB0SIDH = 0x61 RXB0SIDL = 0x62 RXB0EID8 = 0x63 RXB0EID0 = 0x64 RXB0DLC = 0x65 RXB0D0 = 0x66 RXB0D1 = 0x67 RXB0D2 = 0x68 RXB0D3 = 0x69 RXB0D4 = 0x6A RXB0D5 = 0x6B RXB0D6 = 0x6C RXB0D7 = 0x6D # ## Rx Buffer 1 */ RXB1CTRL = 0x70 RXB1SIDH = 0x71 RXB1SIDL = 0x72 RXB1EID8 = 0x73 RXB1EID0 = 0x74 RXB1DLC = 0x75 RXB1D0 = 0x76 RXB1D1 = 0x77 RXB1D2 = 0x78 RXB1D3 = 0x79 RXB1D4 = 0x7A RXB1D5 = 0x7B RXB1D6 = 0x7C RXB1D7 = 0x7D # ##****************************************************************** # * Bit register masks * # *******************************************************************/ # ## TXBnCTRL */ TXREQ = 0x08 TXP = 0x03 # ## RXBnCTRL */ RXM = 0x60 BUKT = 0x04 # ## CANCTRL */ REQOP = 0xE0 ABAT = 0x10 #define OSM = 0x08 CLKEN = 0x04 CLKPRE = 0x03 # ## CANSTAT */ REQOP = 0xE0 ICOD = 0x0E ## CANINTE */ RX0IE = 0x01 RX1IE = 0x02 TX0IE = 0x04 TX1IE = 0x80 TX2IE = 0x10 ERRIE = 0x20 WAKIE = 0x40 MERRE = 0x80 # ## CANINTF */ RX0IF = 0x01 RX1IF = 0x02 TX0IF = 0x04 TX1IF = 0x80 TX2IF = 0x10 ERRIF = 0x20 WAKIF = 0x40 MERRF = 0x80 # ## BFPCTRL */ B1BFS = 0x20 B0BFS = 0x10 B1BFE = 0x08 B0BFE = 0x04 B1BFM = 0x02 B0BFM = 0x01 # ## CNF1 Masks */ SJW = 0xC0 BRP = 0x3F # ## CNF2 Masks */ BTLMODE = 0x80 SAM = 0x40 PHSEG1 = 0x38 PRSEG = 0x07 # ## CNF3 Masks */ WAKFIL = 0x40 PHSEG2 = 0x07 # ## TXRTSCTRL Masks */ TXB2RTS = 0x04 TXB1RTS = 0x02 TXB0RTS = 0x01 # ##****************************************************************** # * Bit Timing Configuration * # *******************************************************************/ # ## CNF1 */ SJW_1TQ = 0x40 SJW_2TQ = 0x80 SJW_3TQ = 0x90 SJW_4TQ = 0xC0 # ## CNF2 */ BTLMODE_CNF3 = 0x80 BTLMODE_PH1_IPT = 0x00 SMPL_3X = 0x40 SMPL_1X = 0x00 PHSEG1_8TQ = 0x38 PHSEG1_7TQ = 0x30 PHSEG1_6TQ = 0x28 PHSEG1_5TQ = 0x20 PHSEG1_4TQ = 0x18 PHSEG1_3TQ = 0x10 PHSEG1_2TQ = 0x08 PHSEG1_1TQ = 0x00 PRSEG_8TQ = 0x07 PRSEG_7TQ = 0x06 PRSEG_6TQ = 0x05 PRSEG_5TQ = 0x04 PRSEG_4TQ = 0x03 PRSEG_3TQ = 0x02 PRSEG_2TQ = 0x01 PRSEG_1TQ = 0x00 # ## CNF3 */ PHSEG2_8TQ = 0x07 PHSEG2_7TQ = 0x06 PHSEG2_6TQ = 0x05 PHSEG2_5TQ = 0x04 PHSEG2_4TQ = 0x03 PHSEG2_3TQ = 0x02 PHSEG2_2TQ = 0x01 PHSEG2_1TQ = 0x00 SOF_ENABLED = 0x80 WAKFIL_ENABLED =0x40 WAKFIL_DISABLED =0x00 # ##****************************************************************** # * Control/Configuration Registers * # *******************************************************************/ # ## CANINTE */ RX0IE_ENABLED= 0x01 RX0IE_DISABLED =0x00 RX1IE_ENABLED =0x02 RX1IE_DISABLED =0x00 G_RXIE_ENABLED =0x03 G_RXIE_DISABLED =0x00 TX0IE_ENABLED= 0x04 TX0IE_DISABLED =0x00 TX1IE_ENABLED =0x08 TX2IE_DISABLED =0x00 TX2IE_ENABLED =0x10 TX2IE_DISABLED =0x00 G_TXIE_ENABLED =0x1C G_TXIE_DISABLED =0x00 ERRIE_ENABLED= 0x20 ERRIE_DISABLED =0x00 WAKIE_ENABLED= 0x40 WAKIE_DISABLED =0x00 IVRE_ENABLED = 0x80 IVRE_DISABLED= 0x00 # ## CANINTF */ RX0IF_SET = 0x01 RX0IF_RESET = 0x00 RX1IF_SET = 0x02 RX1IF_RESET = 0x00 TX0IF_SET = 0x04 TX0IF_RESET = 0x00 TX1IF_SET = 0x08 TX2IF_RESET = 0x00 TX2IF_SET = 0x10 TX2IF_RESET = 0x00 ERRIF_SET = 0x20 ERRIF_RESET = 0x00 WAKIF_SET = 0x40 WAKIF_RESET = 0x00 IVRF_SET = 0x80 IVRF_RESET = 0x00 # ## CANCTRL */ REQOP_CONFIG = 0x80 REQOP_LISTEN = 0x60 REQOP_LOOPBACK =0x40 REQOP_SLEEP = 0x20 REQOP_NORMAL = 0x00 ABORT = 0x10 OSM_ENABLED = 0x08 CLKOUT_ENABLED =0x04 CLKOUT_DISABLED =0x00 CLKOUT_PRE_8 = 0x03 CLKOUT_PRE_4 = 0x02 CLKOUT_PRE_2 = 0x01 CLKOUT_PRE_1 = 0x00 # ## CANSTAT */ OPMODE_CONFIG= 0x80 OPMODE_LISTEN= 0x60 OPMODE_LOOPBACK =0x40 OPMODE_SLEEP = 0x20 OPMODE_NORMAL= 0x00 # ## RXBnCTRL */ RXM_RCV_ALL = 0x60 RXM_VALID_EXT= 0x40 RXM_VALID_STD= 0x20 RXM_VALID_ALL= 0x00 RXRTR_REMOTE = 0x08 RXRTR_NO_REMOTE =0x00 BUKT_ROLLOVER = 0x04 BUKT_NO_ROLLOVER =0x00 FILHIT0_FLTR_1 =0x01 FILHIT0_FLTR_0 =0x00 FILHIT1_FLTR_5 =0x05 FILHIT1_FLTR_4 =0x04 FILHIT1_FLTR_3 =0x03 FILHIT1_FLTR_2 =0x02 FILHIT1_FLTR_1 =0x01 FILHIT1_FLTR_0 =0x00 # ## TXBnCTRL */ TXREQ_SET = 0x08 TXREQ_CLEAR = 0x00 TXP_HIGHEST = 0x03 TXP_INTER_HIGH =0x02 TXP_INTER_LOW= 0x01 TXP_LOWEST = 0x00 # ##****************************************************************** # * Register Bit Masks * # *******************************************************************/ DLC_0 = 0x00 DLC_1 = 0x01 DLC_2 = 0x02 DLC_3 = 0x03 DLC_4 = 0x04 DLC_5 = 0x05 DLC_6 = 0x06 DLC_7 = 0x07 DLC_8 = 0x08 # ##****************************************************************** # * CAN spi commands * # *******************************************************************/ CAN_RESET = 0xC0 CAN_READ = 0x03 CAN_WRITE = 0x02 CAN_RTS = 0x80 CAN_RTS_TXB0 = 0x81 CAN_RTS_TXB1 = 0x82 CAN_RTS_TXB2 = 0x84 CAN_RD_STATUS= 0xA0 CAN_BIT_MODIFY =0x05 CAN_RX_STATUS= 0xB0 CAN_RD_RX_BUFF =0x90 CAN_LOAD_TX = 0x40 # ##****************************************************************** # * Miscellaneous * # *******************************************************************/ DUMMY_BYTE = 0x00 TXB0 = 0x31 TXB1 = 0x41 TXB2 = 0x51 RXB0 = 0x61 RXB1 = 0x71 EXIDE_SET = 0x08 EXIDE_RESET = 0x00 # #CS PORTAbits.RA2 CAN_RATE = { "5KBPS" : [0xA7, 0XBF, 0x07], "10KBPS" : [0x31, 0XA4, 0X04], "20KBPS" : [0x18, 0XA4, 0x04], "50KBPS" : [0x09, 0XA4, 0x04], "100KBPS" : [0x04, 0x9E, 0x03], "125KBPS" : [0x03, 0x9E, 0x03], "250KBPS" : [0x01, 0x1E, 0x03], "500KBPS" : [0x00, 0x9E, 0x03], "800KBPS" : [0x00, 0x92, 0x02], "1000KBPS": [0x00, 0x82, 0x02], } gRXFlag=0 sRXFlag=0 yRXFlag=0 Com_RecBuff = [0, 0, 0, 0, 0, 0, 0, 0] #8 # data = 0 SPI0_CS1 = 1 SPI0_CS0 = 5 debug = False # debug = True class MCP2515(): def __init__(self): self.spi = SPI(0) self.spi = SPI(0,250000,polarity=0, phase=0,sck=Pin(6),mosi=Pin(7),miso=Pin(4)) self.cs = Pin(SPI0_CS0,Pin.OUT) def ReadByte(self, addr): self.cs(0) self.spi.write(bytearray([CAN_READ])) self.spi.write(bytearray([addr])) res = self.spi.read(1) self.cs(1) return int.from_bytes(res,'big') def WriteByte(self, addr): self.cs(0) self.spi.write(bytearray([addr])) self.cs(1) def WriteBytes(self, addr, data): self.cs(0) self.spi.write(bytearray([CAN_WRITE])) self.spi.write(bytearray([addr])) self.spi.write(bytearray([data])) self.cs(1) def Reset(self): self.cs(0) self.spi.write(bytearray([CAN_RESET])) #Reset 0XC0 self.cs(1) def Init(self, speed="125KBPS"): print("Reset") self.Reset() time.sleep(0.1) #set baud rate 125Kbps #<7:6>SJW=00(1TQ) #<5:0>BRP=0x03 (TQ=[2*(BRP+1)]/Fsoc=2*4/8M=1us) #<5:0>BRP=0x03 (TQ=[2*(BRP+1)]/Fsoc=2*8/16M=1us) # self.WriteBytes(CNF1, 7) # self.WriteBytes(CNF2,0x80|PHSEG1_3TQ|PRSEG_1TQ) # self.WriteBytes(CNF3,PHSEG2_3TQ) self.WriteBytes(CNF1, CAN_RATE[speed][0]) self.WriteBytes(CNF2, CAN_RATE[speed][1]) self.WriteBytes(CNF3, CAN_RATE[speed][2]) #set TXB0,TXB1 #<15:5> SID 11bit canid #<BIT3> exide,1:extended 0:standard self.WriteBytes(TXB0SIDH,0xFF) self.WriteBytes(TXB0SIDL,0xE0) self.WriteBytes(TXB0DLC,0x40|DLC_8) # self.WriteBytes(TXB1SIDH,0x50) # self.WriteBytes(TXB1SIDL,0x00) # self.WriteBytes(TXB1DLC,0x40 | DLC_8) #Set DLC = 3 bytes and RTR bit*/ #Set RX self.WriteBytes(RXB0SIDH,0x00) self.WriteBytes(RXB0SIDL,0x60) self.WriteBytes(RXB0CTRL,0x60) self.WriteBytes(RXB0DLC, DLC_8) self.WriteBytes(RXF0SIDH,0xFF) self.WriteBytes(RXF0SIDL,0xE0) self.WriteBytes(RXM0SIDH,0xFF) self.WriteBytes(RXM0SIDL,0xE0) #can int self.WriteBytes(CANINTF,0x00)#clean interrupt flag self.WriteBytes(CANINTE,0x01)#Receive Buffer 0 Full Interrupt Enable Bit self.WriteBytes(CANCTRL, REQOP_NORMAL|CLKOUT_ENABLED)# dummy=self.ReadByte(CANSTAT) if( OPMODE_NORMAL != (dummy and 0xE0)): self.WriteBytes(CANCTRL, REQOP_NORMAL|CLKOUT_ENABLED)#set normal mode def Send(self, CAN_ID, CAN_TX_Buf, length1): tempdata = self.ReadByte(CAN_RD_STATUS) self.WriteBytes(TXB0SIDH, (CAN_ID>>3)&0XFF) self.WriteBytes(TXB0SIDL, (CAN_ID&0x07)<<5) self.WriteBytes(TXB0EID8, 0) self.WriteBytes(TXB0EID0, 0) self.WriteBytes(TXB0DLC, length1) for j in range(0, length1): self.WriteBytes(TXB0D0+j,CAN_TX_Buf[j]) if(tempdata&0x04):# TXREQ time.sleep(0.01) self.WriteBytes(TXB0CTRL, 0)#clean flag while(1):#wite if(self.ReadByte(CAN_RD_STATUS)&0x04 != 1): break self.WriteByte(CAN_RTS_TXB0) def Receive(self, CAN_ID): self.WriteBytes(RXB0SIDH, (CAN_ID>>3)&0XFF) self.WriteBytes(RXB0SIDL, (CAN_ID&0x07)<<5) CAN_RX_Buf = [] while(1): if(self.ReadByte(CANINTF) & 0x01): len = self.ReadByte(RXB0DLC) print(len) for i in range(0, len): CAN_RX_Buf.append(hex(self.ReadByte(RXB0D0+i))) # print(self.ReadByte(RXB0D0+i)) break self.WriteBytes(CANINTF, 0) self.WriteBytes(CANINTE,0x01)#enable self.WriteBytes(RXB0SIDH,0x00)#clean self.WriteBytes(RXB0SIDL,0x60) return CAN_RX_Buf if __name__ == '__main__': print("--------------------------------------------------------") can = MCP2515() print("init...") can.Init() print("send data...") id = 0x123 #max 7ff data = [1, 2, 3, 4, 5, 6, 7, 8] dlc = 8 can.Send(id, data, dlc) readbuf = [] # while(1): while(1): readbuf = can.Receive(id) print(readbuf) time.sleep(0.5) print("--------------------------------------------------------") In this demo code the maximum frame id value is limited to 0x7ff. What is the reason for this and how to remove this restriction? I need to send frames with id 0x18FD6A0A.
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Reset to default
