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class CAN – Controller Area Network
The CAN class supports the full CAN 2.0 specification with standard and extended frames,
as well as acceptance filtering.
The ESP32 has a built-in CAN controller, but the transceiver needs to be added externally. A
recommended device is the SN65HVD230.
Quick Usage Example
from machine import CAN
can = CAN(mode=CAN.NORMAL, baudrate= 500000 , pins=( 'P22' , 'P23' ))
can.send(id= 12 , data=bytes([ 1 , 2 , 3 , 4 , 5 , 6 , 7 , 8 ]))
can.recv()
Constructors
class machine.CAN(bus=0, ...)
Create an CAN object. See init for parameters of initialisation.:
# only 1 CAN peripheral is available, so the bus must always be 0
can = CAN( 0 , mode=CAN.NORMAL, baudrate= 500000 , pins=( 'P22' , 'P23' )) # pin order is
Tx, Rx
Methods
can.init(mode=CAN.NORMAL, baudrate=500000, *, frame_format=CAN.FORMAT_STD,
rx_queue_len=128, pins=('P22', 'P23'))
Initialize the CAN controller. The arguments are:
mode
can take either CAN.NORMAL or CAN.SILENT. Silent mode is useful for sniffing
the bus.
baudrate
sets up the bus speed. Acceptable values are between 1 and 1000000.
frame_format
defines the frame format to be accepted by the receiver. Useful for
filtering frames based on the identifier length. Can tale either CAN.FORMAT_STD or
CAN.FORMAT_EXT or CAN.FORMAT_BOTH. If CAN.FORMAT_STD is selected,
extended frames won't be received and vice-versa.
5.2.1.12 CAN
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