canChannel

Connection to CAN channel connected to a specified device

Since R2020a

Add-On Required: This feature requires the MATLAB Support Package for Arduino Hardware add-on.

Description

This object represents a connection to the CAN channel through the specified device connected to the Arduino^® hardware. To transmit and receive data from Arduino hardware through the CAN bus use Object Functions.

Creation

Syntax

ch = canChannel(arduinoObj,device)

ch = canChannel(arduinoObj,'MCP2515',ChipSelectPin,InterruptPin)

ch = canChannel(arduinoObj,device,Name,Value)

ch = canChannel(arduinoObj,'MCP2515',ChipSelectPin,InterruptPin,Name,Value)

Description

ch = canChannel(arduinoObj,device) creates a CAN channel connected to the specified device.

example

ch = canChannel(arduinoObj,'MCP2515',ChipSelectPin,InterruptPin) creates a CAN channel connected to the MCP2515 chip with specified ChipSelectPin and InterruptPin.

example

ch = canChannel(arduinoObj,device,Name,Value) creates a CAN channel connected to the specified device with the specified additional options.

example

ch = canChannel(arduinoObj,'MCP2515',ChipSelectPin,InterruptPin,Name,Value) creates a CAN channel connected to the MCP2515 chip with specified ChipSelectPin and InterruptPin and the additional options.

example

Input Arguments

expand all

`arduinoObj` — Arduino hardware connection
`arduino` object

Arduino hardware connection created using arduino, specified as an arduino object.

`device` — Name of CAN device
`Sparkfun CAN-Bus Shield` | `Seeed Studio CAN-Bus Shield V2` | `MKR CAN Shield` | `MCP2515`

Name of the CAN device to which the channel is connected, specified as a string. See Supported CAN Shields for all the supported devices.

`ChipSelectPin` — Chip select pin number for SPI communication
string

Chip select pin of MCP2515, specified as a string or character vector. This is mandatory when you create a connection to the CAN channel with a MCP2515.

`InterruptPin` — Interrupt pin number
string

Interrupt pin of MCP2515, specified as a string or character vector. This is mandatory when you create a connection to the CAN channel with MCP2515.

Name-Value Arguments

Specify comma-separated pair of Name,Value arguments. Name is the argument name and Value is the corresponding value. Name must appear inside quotes. You can specify several name and value pair arguments in any order as Name1,Value1,...,NameN,ValueN

Example: ch = canChannel(arduinoObj,"MCP2515", "D10", "D2", "OscillatorFrequency", 16e6);

Example: ch = canChannel(arduinoObj,"Sparkfun CAN-Bus Shield", "D10", "D2", "BusSpeed", 500e3);

`BusSpeed` — Frequency at which the CAN bus runs
500000 Hz (default) | 1000000 Hz | 250000 Hz | 200000 Hz | 125000 Hz | 100000 Hz | 62500 Hz | 50000 Hz | 40000 Hz | 31250 Hz | 25000 Hz | 20000 Hz | 12500 Hz | 10000 Hz | 8000 Hz | 5000 Hz

The frequency at which the CAN bus runs, specified as a number.

`OscillatorFrequency` — Frequency of the oscillator
16000000 Hz (default) | 10000000 Hz | 8000000 Hz

Frequency of the oscillator specified in Hertz.

Properties

expand all

`Device` — Name of CAN device
`Sparkfun CAN-Bus Shield` | `Seeed Studio CAN-Bus Shield V2` | `MKR CAN Shield` | `MCP2515`

This property is read-only.

CAN device to which the channel is connected specified as a string. See Supported CAN Shields for all the supported devices.

Example:

>> ch.Device

ans = 
    "MCP2515"

Data Types: string

`ProtocolMode` — Communication protocol
CAN (default)

This property is read-only.

Specifies the protocol used for communication.

Example:

>> ch.ProtocolMode

ans =
    "CAN"

Data Types: string

`BusSpeed` — Frequency at which the CAN bus runs
500000 Hz (default) | 1000000 Hz | 250000 Hz | 200000 Hz | 125000 Hz | 100000 Hz | 62500 Hz | 50000 Hz | 40000 Hz | 31250 Hz | 25000 Hz | 20000 Hz | 12500 Hz | 10000 Hz | 8000 Hz | 5000 Hz

This property is read-only.

The frequency at which the CAN bus runs, specified in Hertz.

Example:

>> ch.BusSpeed

ans = 
     500000

`Database` — CAN database information
`can.Database`

Displays database object of type can.Database if used. This property displays an empty structure, [ ], if not used.

Example:

>> db = canDatabase(exp.dbc);
>> ch.Database = db;

Dependencies

You can use this property only with Vehicle Network Toolbox™.

`OscillatorFrequency` — Frequency of the oscillator
16000000 Hz (default) | 10000000 Hz | 8000000 Hz

This property is read-only.

Frequency of the oscillator specified in Hertz.

Example:

>> ch.OscillatorFrequency

ans =
    '10000000'

`ChipSelectPin` — Chip select pin number for SPI communication
string

Chip select pin of MCP2515, specified as a string or character vector.

Example:

>> ch.ChipSelectPin

ans =
    "D9"

Data Types: string

`InterruptPin` — Interrupt pin number
string

Interrupt pin of MCP2515, specified as a string or character vector.

Example:

>> ch.InterrupPin

ans =
    "D2"

Data Types: string

Supported CAN Shields

These device input arguments currently support these shields:

Shield	Chip Select Pin	InterruptPin	Oscillator Frequency	Supported Boards
MKR CAN Shield	D3	D7	16MHz	MKR Form factor boards
Sparkfun CAN-Bus Shield	D10	D2	16MHz	Uno
Seeed Studio CAN-Bus Shield V2	D9	D2	16MHz	Uno, Mega, Due, Leonardo

Note

If you connect a CAN shield to an Arduino board whose form factor is not the same as the Arduino board, ensure the RESET pin on the CAN shield is connected to the RESET pin on the Arduino board.

Object Functions

Use these object functions to transmit and receive messages from the CAN bus.

`read`	Read messages from CAN channel
`write`	Write messages to CAN bus

Examples

Create Connection to CAN Channel on Shield

Create an arduino object

arduinoObj = arduino('COM24', 'Uno', 'Libraries', 'CAN')

arduinoObj = 

  arduino with properties:
 
                  Port: 'COM24'
                 Board: 'Uno'
         AvailablePins: {'D2-D13', 'A0-A5'}
  AvailableDigitalPins: {'D2-D13', 'A0-A5'}
      AvailablePWMPins: {'D3', 'D5-D6', 'D9-D11'}
   AvailableAnalogPins: {'A0-A5'}
    AvailableI2CBusIDs: [0]
             Libraries: {'CAN', 'SPI'}
Show all properties

Create a connection to the CAN channel on Sparkfun CAN-Bus Shield

ch = canChannel(arduinoObj,"Sparkfun CAN-Bus Shield")

ch =
 
  canChannel with properties:
 
               Device: 'Sparkfun CAN-Bus Shield'
         ProtocolMode: 'CAN'
             BusSpeed: 500000
             Database: []
Show all properties
 
               Device: 'Sparkfun CAN-Bus Shield'
         ProtocolMode: 'CAN'
             BusSpeed: 500000
             Database: []

  OscillatorFrequency: 1.600000e+07
        ChipSelectPin: "D9"
         InterruptPin: "D2"

Create Connection to CAN Channel on MCP2515

Create an arduino object

arduinoObj = arduino('COM24', 'Uno', 'Libraries', 'CAN')

arduinoObj = 

  arduino with properties:
 
                  Port: 'COM24'
                 Board: 'Uno'
         AvailablePins: {'D2-D13', 'A0-A5'}
  AvailableDigitalPins: {'D2-D13', 'A0-A5'}
      AvailablePWMPins: {'D3', 'D5-D6', 'D9-D11'}
   AvailableAnalogPins: {'A0-A5'}
    AvailableI2CBusIDs: [0]
             Libraries: {'CAN', 'SPI'}
Show all properties

Create a connection to the CAN channel on MCP2515

ch = canChannel(arduinoObj, "MCP2515", "D10", "D2")

ch =
 
  canChannel with properties:
 
               Device: 'MCP2515'
         ProtocolMode: 'CAN'
             BusSpeed: 500000
             Database: []
Show all properties
 
               Device: 'MCP2515'
         ProtocolMode: 'CAN'
             BusSpeed: 500000
             Database: []

  OscillatorFrequency: 1.600000e+07
        ChipSelectPin: "D10"
         InterruptPin: "D2"

Create Connection to CAN Channel on Shield with Specified Bus Speed

Create an arduino object

arduinoObj = arduino('COM24', 'Uno', 'Libraries', 'CAN')

arduinoObj = 

  arduino with properties:
 
                  Port: 'COM24'
                 Board: 'Uno'
         AvailablePins: {'D2-D13', 'A0-A5'}
  AvailableDigitalPins: {'D2-D13', 'A0-A5'}
      AvailablePWMPins: {'D3', 'D5-D6', 'D9-D11'}
   AvailableAnalogPins: {'A0-A5'}
    AvailableI2CBusIDs: [0]
             Libraries: {'CAN', 'SPI'}
Show all properties

Create a connection to the CAN channel on Sparkfun CAN-Bus Shield

ch = canChannel(arduinoObj,"Sparkfun CAN-Bus Shield", "BusSpeed", 500e3)

ch =
 
  canChannel with properties:
 
               Device: 'Sparkfun CAN-Bus Shield'
         ProtocolMode: 'CAN'
             BusSpeed: 500000
             Database: []
Show all properties
  
               Device: 'Sparkfun CAN-Bus Shield'
         ProtocolMode: 'CAN'
             BusSpeed: 500000
             Database: []

  OscillatorFrequency: 1.600000e+07
        ChipSelectPin: "D9"
         InterruptPin: "D2"

Create Connection to CAN Channel on MCP2515 with Specified Bus Speed

Create an arduino object

arduinoObj = arduino('COM24', 'Uno', 'Libraries', 'CAN')

arduinoObj = 

  arduino with properties:
 
                  Port: 'COM24'
                 Board: 'Uno'
         AvailablePins: {'D2-D13', 'A0-A5'}
  AvailableDigitalPins: {'D2-D13', 'A0-A5'}
      AvailablePWMPins: {'D3', 'D5-D6', 'D9-D11'}
   AvailableAnalogPins: {'A0-A5'}
    AvailableI2CBusIDs: [0]
             Libraries: {'CAN', 'SPI'}
Show all properties

Create a connection to the CAN channel on MCP2515

ch = canChannel(arduinoObj, "MCP2515", "D10", "D2", "OscillatorFrequency", 16e6, "BusSpeed", 500e3)

ch =
 
  canChannel with properties:
 
               Device: 'MCP2515'
         ProtocolMode: 'CAN'
             BusSpeed: 500000
             Database: []
Show all properties
  
               Device: "MCP2515"
         ProtocolMode: "CAN"
             BusSpeed: 500000
             Database: []

  OscillatorFrequency: 1.600000e+07
        ChipSelectPin: "D10"
         InterruptPin: "D2"

Version History

Introduced in R2020a

canChannel

Description

Creation

Syntax

Description

Input Arguments

arduinoObj — Arduino hardware connection arduino object

device — Name of CAN device Sparkfun CAN-Bus Shield | Seeed Studio CAN-Bus Shield V2 | MKR CAN Shield | MCP2515

ChipSelectPin — Chip select pin number for SPI communication string

InterruptPin — Interrupt pin number string

BusSpeed — Frequency at which the CAN bus runs 500000 Hz (default) | 1000000 Hz | 250000 Hz | 200000 Hz | 125000 Hz | 100000 Hz | 62500 Hz | 50000 Hz | 40000 Hz | 31250 Hz | 25000 Hz | 20000 Hz | 12500 Hz | 10000 Hz | 8000 Hz | 5000 Hz

OscillatorFrequency — Frequency of the oscillator 16000000 Hz (default) | 10000000 Hz | 8000000 Hz

Properties

Device — Name of CAN device Sparkfun CAN-Bus Shield | Seeed Studio CAN-Bus Shield V2 | MKR CAN Shield | MCP2515

ProtocolMode — Communication protocol CAN (default)

BusSpeed — Frequency at which the CAN bus runs 500000 Hz (default) | 1000000 Hz | 250000 Hz | 200000 Hz | 125000 Hz | 100000 Hz | 62500 Hz | 50000 Hz | 40000 Hz | 31250 Hz | 25000 Hz | 20000 Hz | 12500 Hz | 10000 Hz | 8000 Hz | 5000 Hz

Database — CAN database information can.Database

Dependencies

OscillatorFrequency — Frequency of the oscillator 16000000 Hz (default) | 10000000 Hz | 8000000 Hz

ChipSelectPin — Chip select pin number for SPI communication string

InterruptPin — Interrupt pin number string

Supported CAN Shields

Object Functions

Examples

Create Connection to CAN Channel on Shield

Create Connection to CAN Channel on MCP2515

Create Connection to CAN Channel on Shield with Specified Bus Speed

Create Connection to CAN Channel on MCP2515 with Specified Bus Speed

Version History

See Also

`arduinoObj` — Arduino hardware connection
`arduino` object

`device` — Name of CAN device
`Sparkfun CAN-Bus Shield` | `Seeed Studio CAN-Bus Shield V2` | `MKR CAN Shield` | `MCP2515`

`ChipSelectPin` — Chip select pin number for SPI communication
string

`InterruptPin` — Interrupt pin number
string

`BusSpeed` — Frequency at which the CAN bus runs
500000 Hz (default) | 1000000 Hz | 250000 Hz | 200000 Hz | 125000 Hz | 100000 Hz | 62500 Hz | 50000 Hz | 40000 Hz | 31250 Hz | 25000 Hz | 20000 Hz | 12500 Hz | 10000 Hz | 8000 Hz | 5000 Hz

`OscillatorFrequency` — Frequency of the oscillator
16000000 Hz (default) | 10000000 Hz | 8000000 Hz

`Device` — Name of CAN device
`Sparkfun CAN-Bus Shield` | `Seeed Studio CAN-Bus Shield V2` | `MKR CAN Shield` | `MCP2515`

`ProtocolMode` — Communication protocol
CAN (default)

`BusSpeed` — Frequency at which the CAN bus runs
500000 Hz (default) | 1000000 Hz | 250000 Hz | 200000 Hz | 125000 Hz | 100000 Hz | 62500 Hz | 50000 Hz | 40000 Hz | 31250 Hz | 25000 Hz | 20000 Hz | 12500 Hz | 10000 Hz | 8000 Hz | 5000 Hz

`Database` — CAN database information
`can.Database`

`OscillatorFrequency` — Frequency of the oscillator
16000000 Hz (default) | 10000000 Hz | 8000000 Hz

`ChipSelectPin` — Chip select pin number for SPI communication
string

`InterruptPin` — Interrupt pin number
string