CAN Bus Toolbox

This toolbox contains datatypes and classes, which are necessary to access a CAN bus interface.

Access to the CAN bus

To access the CAN bus, you first have to open the device using the CANManager. This manager allows different modules (in one process) to get all CAN message. To open the CAN bus, the driver name, the device name and the requested baud rate is necessary:

CANInterfacePtr can = CANManager::requestBus("mira::can::CANDriverPCAN",
                                             "/dev/pcan32",
                                             CAN_BAUDRATE_500K);

The class CANInterface provides method for sending and receiving CAN messages:

• sendMessage
• addMessageRecvListener

Supported CAN bus drivers

The following driver are implemented in this toolbox:

• Linux:
  • Peak-Systems driver (only chardev mode): DriverPCAN
• Windows:
  • Peak-Systems driver: DriverPCAN

CANopen support

This toolbox supports the following CANopen operations:

• Process Data Objects (PDO): See addPDOListener and removePDOListener
• Service Data Objects (SDO) up- and downloads: See CANOpenSDOClient
• Network Master operations: See CANOpenNMTMaster

GUI tools for CAN

This toolbox also provides some graphical CAN tools (for monitoring and setting up CANopen modules) for usage within miracenter MIRACenter.