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Frames

In CANBus.jl, send/receive messages are represented in CANBus.Frames module. For CAN frame, Frame is used, or for CAN FD frame, FDFrame is used.

Base type

Frame

CANBus.Frames.Frame — Type
CANBus.Frame(id::Integer, data::AbstractVector, is_extended:Bool)

Frame struct represents classic (8bytes) CAN frame.

  • id: arbitration id
  • data: Vector of Integer with length <= 8. If input has element > 255, throws error.
  • is_extended: Flag which arbitration id is extended.
frame = CANBus.Frame(0x5, [1, 2, 3, 4, 5, 6, 7, 8], true)
source

FDFrame

CANBus.Frames.FDFrame — Type
CANBus.FDFrame(id::Integer, data::AbstractVector, is_extended::Bool,
    bitrate_switch::Bool, error_state::Bool)

FDFrame struct represents CAN FD (64bytes) frame.

  • id: arbitration id
  • data: Vector of Integer. Length must be in CAN FD DLC standard. Elements must not be > 255.
  • is_extended: Flag which arbitration id is extended.
  • bitrate_switch: Flag to use bitrate_switch.
  • error_state: Flag corresponds to error_state_indicator. This is used in receiving, so that it is ignore in transmitting (always treat as =false).
source

Compatibility with CANalyze package

Frame and FDFrame has intercompatibility with CANalyze.CANFrame and CANAlyze.CANFdFrame respectively.

For instance, Frame constructor has a converter from CANalyze.CANFrame struct, you can use it like below:

using CANBus
using CANalyze

vector1 = VectorInterface(0, 500000, "NewApp")

frm = CANalyze.CANFrame(1, [1, 2, 3, 4, 5, 6, 7, 8])
msg = Frame(frm)
send(vector1, msg)

In the opposite direction, CANalyze.CANFrame and CANalyze.CANFdFrame constructors are overridden, so that you can feed Frame and FDFrame structs to CANalyze.Decode.decode function with conversion.

frm = CANBus.Frame(0x0e, [1, 2, 3, 4], false)

signal = CANalyze.Signals.NamedSignal("myfloat", nothing, nothing,
    CANalyze.Signals.Float32Signal(start=0; byte_order=:little_endian))
msg = CANalyze.Messages.Message(0x0e, 4, "msg1", signal)

d = CANalyze.Decode.decode(msg, CANalyze.Frames.CANFrame(frm))