`CanBus`

Description

The CanBus object represents the CAN bus attached to the device and allows communication with other devices on the bus.

This object was introduced in InCore 2.0.

› Inherits: Object <object_Object>

Overview

Properties

bitRate <property_CanBus_bitRate>
busStatus <property_CanBus_busStatus>
currentFrame <property_CanBus_currentFrame>
error <property_CanBus_error>
errorFilter <property_CanBus_errorFilter>
errorString <property_CanBus_errorString>
loopback <property_CanBus_loopback>
pipes <property_CanBus_pipes>
rawFilters <property_CanBus_rawFilters>
receiveOwnKey <property_CanBus_receiveOwnKey>
resetDelay <property_CanBus_resetDelay>
state <property_CanBus_state>
Object.objectId <property_Object_objectId>
Object.parent <property_Object_parent>

Methods

clear() <method_CanBus_clear>
pollBusStatus() <method_CanBus_pollBusStatus>
reset() <method_CanBus_reset>
writeFrame() <method_CanBus_writeFrame>
Object.deserializeProperties() <method_Object_deserializeProperties>
Object.fromJson() <method_Object_fromJson>
Object.serializeProperties() <method_Object_serializeProperties>
Object.toJson() <method_Object_toJson>

Signals

errorOccurred() <signal_CanBus_errorOccurred>
frameReceived() <signal_CanBus_frameReceived>
pipesDataChanged() <signal_CanBus_pipesDataChanged>
rawFiltersDataChanged() <signal_CanBus_rawFiltersDataChanged>
Object.completed() <signal_Object_completed>

Enumerations

BusStatus <enum_CanBus_BusStatus>
Error <enum_CanBus_Error>
State <enum_CanBus_State>

Properties

single: bitRate

bitRate

This property holds the CAN bitrate in bits per second.

› Type: SignedInteger
› Default: 250000
› Attributes: Writable

single: busStatus

busStatus

This property holds the current CAN bus status.

This property was introduced in InCore 2.2.

› Type: BusStatus <enum_CanBus_BusStatus>
› Signal: busStatusChanged()
› Attributes: Readonly, Requires Polling <object_Polling>

single: currentFrame

currentFrame

This property holds the CAN frame which has been received most recently. This property is updated automatically whenever new frames are received. Every frame should therefore be processsed in a handler for the frameReceived() <signal_CanBus_frameReceived> or currentFrameChanged() <signal_CanBus_currentFrameChanged> signals immediately.

› Type: CanFrame <object_CanFrame>
› Signal: currentFrameChanged()
› Attributes: Readonly

single: error

error

This property holds the most recently occurred error or CanBus.NoError <enumitem_CanBus_NoError> if no error occurred. If the same error occurs multiple times this property does not change. Use the errorOccurred() <signal_CanBus_errorOccurred> signal to detect multiple occurrences of the same error.

› Type: Error <enum_CanBus_Error>
› Signal: errorChanged()
› Attributes: Readonly

single: errorFilter

errorFilter

This property holds the type of error that should be forwarded via the current connection.

› Type: CanFrame.Errors <enum_CanFrame_Errors>
› Signal: errorFilterChanged()
› Attributes: Writable

single: errorString

errorString

This property holds the current human readable error string corresponding to the current value in the error <property_CanBus_error> property. It may include additional information such as failure reasons or locations.

› Type: String
› Signal: errorStringChanged()
› Attributes: Readonly

single: loopback

loopback

This property holds whether the CAN bus should operate in loopback mode. Loopback means, whenever a CAN frame is transmitted on the CAN bus, a local echo of this frame is sent to all applications connected to this CAN device.

› Type: Boolean
› Signal: loopbackChanged()
› Attributes: Writable

single: pipes

pipes

This property holds a list of CAN communication pipes to operate on the bus. Any incoming CAN frames processed by one or multiple attached pipes will not be available through the currentFrame <property_CanBus_currentFrame> property. See CanPipe <object_CanPipe> for details.

› Type: List <object_List><CanPipe <object_CanPipe>>
› Signal: pipesChanged()
› Attributes: Readonly

single: rawFilters

rawFilters

This property holds a list of CAN filters used for filtering CAN frames received on the bus. See CanFilter <object_CanFilter> for details.

› Type: List <object_List><CanFilter <object_CanFilter>>
› Signal: rawFiltersChanged()
› Attributes: Readonly

single: receiveOwnKey

receiveOwnKey

This property holds whether the CAN device receives its own send frames. This can be used to check if the transmission was successful.

› Type: Boolean
› Signal: receiveOwnKeyChanged()
› Attributes: Writable

single: resetDelay

resetDelay

This property holds the number of milliseconds after which to reset the bus in case of a bus-off condition.

› Type: SignedInteger
› Default: 1000
› Attributes: Writable

single: state

state

This property holds the current state of the CAN bus.

› Type: State <enum_CanBus_State>
› Signal: stateChanged()
› Attributes: Readonly

Methods

single: clear

clear()

This method Clears the devices input and output buffers. This function only operates on CanBus <object_CanBus> buffers. Frames that are already written to the CAN driver or CAN hardware layer, or that are not yet read from these layers, are not cleared by this function.

single: pollBusStatus

pollBusStatus()

This method polls the busStatus <property_CanBus_busStatus> property. It is called automatically when using a Polling <object_Polling> property modifier on this property and usually does not have to be called manually.

single: reset

reset()

This method performs a CAN controller reset to release the CAN controller from bus off state, if possible.

Note: CAN controller resets disturb the running communication and may take up to one second to complete. Only call this function to recover from bus errors.

This method was introduced in InCore 2.2.

single: writeFrame

writeFrame(Variant frame)

This method Writes frame to the CAN bus and returns true on success; otherwise false. If an error occurs the errorOccurred() <signal_CanBus_errorOccurred> signal is emitted.

As per CAN bus specification, frames of type remote transfer request (RTR) do not have a payload, but a length from 0 to 8 (including). This length indicates the expected response payload length from the remote party. Therefore when sending a RTR frame using this function it may still be required to set an arbitrary payload on frame. The length of the arbitrary payload is what is set as size expectation for the RTR frame.

› Returns: Boolean

Signals

single: errorOccurred

errorOccurred()

This signal is emitted whenever an error has occurred, regardless of whether the error <property_CanBus_error> property has changed or not. In contrast to the change notification signal of the error <property_CanBus_error> property this signal is also emitted several times if a certain error occurs several times in succession.

single: frameReceived

frameReceived()

This signal is emitted whenever a CAN frame has been received and is available in the currentFrame <property_CanBus_currentFrame> property. React to this signal or currentFrameChanged() <signal_CanBus_currentFrameChanged> immediately in order to handle the received data since currentFrame <property_CanBus_currentFrame> can be updated again at any time.

single: pipesDataChanged

pipesDataChanged(SignedInteger index)

This signal is emitted whenever the List.dataChanged() <signal_List_dataChanged> signal is emitted, i.e. the item at index in the pipes <property_CanBus_pipes> list itself emitted the dataChanged() signal.

single: rawFiltersDataChanged

rawFiltersDataChanged(SignedInteger index)

This signal is emitted whenever the List.dataChanged() <signal_List_dataChanged> signal is emitted, i.e. the item at index in the rawFilters <property_CanBus_rawFilters> list itself emitted the dataChanged() signal.

Enumerations

single: BusStatus

BusStatus

This enumeration describes all possible states of the CAN bus.

This enumeration was introduced in InCore 2.2.

single: CanBus.Unknown

single: CanBus.Good

single: CanBus.Warning

single: CanBus.Error

single: CanBus.BusOff

Name	Value	Description
`CanBus.Unknown`	`0`	The CAN bus status is unknown.
`CanBus.Good`	`1`	The CAN controller is fully operational.
`CanBus.Warning`	`2`	The CAN controller is in warning status.
`CanBus.Error`	`3`	The CAN controller is in error status (no longer sending CAN frames).
`CanBus.BusOff`	`4`	The CAN controller is in bus off status (disconnected from the CAN bus).

single: Error

Error

This enumeration describes all errors which can occur in CanBus objects. The most recently occurred error is stored in the error <property_CanBus_error> property.

single: CanBus.NoError

single: CanBus.ReadError

single: CanBus.WriteError

single: CanBus.ConnectionError

single: CanBus.ConfigurationError

single: CanBus.WriteFrameDataError

single: CanBus.UnknownError

Name	Value	Description
`CanBus.NoError`	`0`	No error occurred or was detected.
`CanBus.ReadError`	`1`	An error occurred during a read operation.
`CanBus.WriteError`	`2`	An error occurred during a write operation.
`CanBus.ConnectionError`	`3`	An error occurred while attempting to open the CAN bus.
`CanBus.ConfigurationError`	`4`	An error occurred when attempting to set a configuration parameter.
`CanBus.WriteFrameDataError`	`5`	An invalid frame was passed to writeFrame().
`CanBus.UnknownError`	`6`	An unknown error occurred.

single: State

State

This enumeration describes all possible states of the CAN device connection.

single: CanBus.UnconnectedState

single: CanBus.ConnectingState

single: CanBus.ConnectedState

single: CanBus.ClosingState

Name	Value	Description
`CanBus.UnconnectedState`	`0`	The device is disconnected.
`CanBus.ConnectingState`	`1`	Connecting to the device.
`CanBus.ConnectedState`	`2`	The device is connected.
`CanBus.ClosingState`	`3`	Closing device connection.

Example

import InCore.Foundation 2.5
import InCore.IO 2.5

Application {

    CanBus {
        id: bus
        onFrameReceived: {
            if( currentFrame.frameId === temperatureFrame.frameId )
            {
                console.log("Remote device temperature:", parseFloat(currentFrame.payload.string))
            }
            else
            {
                console.log("Received CAN frame with ID", currentFrame.frameId, "and payload", currentFrame.payload.hex)
            }
        }
    }

    CanFrame {
        id: testFrame
        payload.data: [ 0xde, 0xad, 0xbe, 0xef ]
    }

    CanFrame {
        id: temperatureFrame
        frameId: 1
    }

    System {
        id: system
        Polling on deviceTemperature { }
    }

    Timer {
        onTriggered: {
            testFrame.frameId = 100 + Math.floor(Math.random() * 100)
            bus.writeFrame(testFrame)

            temperatureFrame.payload.string = system.deviceTemperature.toString()
            bus.writeFrame(temperatureFrame)
        }
    }
}

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

CanBus.rst

CanBus.rst

`CanBus`

Description

Overview

Properties

Methods

Signals

Enumerations

Properties

bitRate

busStatus

currentFrame

error

errorFilter

errorString

loopback

pipes

rawFilters

receiveOwnKey

resetDelay

state

Methods

clear()

pollBusStatus()

reset()

writeFrame(Variant frame)

Signals

errorOccurred()

frameReceived()

pipesDataChanged(SignedInteger index)

rawFiltersDataChanged(SignedInteger index)

Enumerations

BusStatus

Error

State

Example

Files

CanBus.rst

Latest commit

History

CanBus.rst

File metadata and controls

CanBus

Description

Overview

Properties

Methods

Signals

Enumerations

Properties

bitRate

busStatus

currentFrame

error

errorFilter

errorString

loopback

pipes

rawFilters

receiveOwnKey

resetDelay

state

Methods

clear()

pollBusStatus()

reset()

writeFrame(Variant frame)

Signals

errorOccurred()

frameReceived()

pipesDataChanged(SignedInteger index)

rawFiltersDataChanged(SignedInteger index)

Enumerations

BusStatus

Error

State

Example

`CanBus`