can-telemetry

A Particle library that allows for basic telemetry through the CAN network.

Get started

To get started, either clone this repo and add it as a private library in your Particle account, or add the files to your source directory.

For the first option, run the commands particle library upload, and add it to a project by running particle library add can-telemetry.

Usage

Add the library as a dependency to your particle project (particle library add can-telemetry), or add the source files directly to your project source. Then make sure you include the header #include "can-telemetry.h"

See the examples folder for more details.

Documentation

CANTelemetry(CANChannel &channel, int node_id, int timeout, bool debug)

• channel - the CAN channel object
• node_id - the ID of this telemetry module on the bus
• timeout - the desired timeout before we stop listening for a response (optional, default 1000 ms)
• debug - will print messages to serial if specified (optional, defaul false)

init()

• Sets a mask to filter out all messages. Call this immediately following begin() on the CAN object.

poll(uint32_t filter, CANMessage msg)

• filter - the response ID desired
• msg - CANMessage to broadcast onto the network. Essentially, it is our query packet. (Optional)

If a msg is not specified, the polling method will default to passive polling (useful for if there's already a constant stream of a particular message)

CANMessage createMsg(uint32_t id, bool rtr, uint8_t len, std::initializer_list<uint8_t> nums)

• id - ID to set the message to
• rtr - RTR bit option
• len - length of the data (optional, default 0)
• nums - initializer list of the data (optional, default empty)

Note on initializer_list: it allows you to pass in parameters using curly braces, without declaring it elsewhere. Therefore, createMsg(msg, 5, true, 8, {0, 1, 2, 3, 4, 5, 6, 7}); is perfectly valid.

heartbeat()

• Sends a heartbeat packet to the bus and returns 1 if no error is returned. 0 otherwise.

change_timeout(int timeout)

• timeout - timeout to change to (optional, default 1000 ms)

interpret<type>(uint64_t data, int start, int end)

• type - the desired return type
• data - the 8 byte data to interpret
• start - the starting byte
• end - the ending byte NOTE: if start > end, interpret assumes big-endian.