GitHub

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
Frame(id::Integer, data::AbstractVector;
    timestamp::Float64=0, is_extended::Bool=false, 
    is_remote_frame::Bool=false, is_error_frame::Bool=false)

Frame struct represents classic (MAX 8bytes) CAN frame.

  • id: arbitration id
  • data: Vector of Integer with length <= 8. If input has element > 255, throws error.

kwargs:

  • timestamp: When receive, arrive time stamp is set in this field. When transmission, this field is not cared.
    • The time stamp is unixtime in sedoncs with fractional part.
  • is_extended: Flag which arbitration id is extended. default=false
  • is_remote_frame: Flag which indicates remote frame. default=false
  • is_error_frame : Flag which indicates error frame. Cared in RX only. default=false
frame = CANBus.Frame(0x5, [1, 2, 3, 4, 5, 6, 7, 8]; is_extended=true)
source

FDFrame

CANBus.Frames.FDFrame — Type
FDFrame(id::Integer, data::AbstractVector;
    timestamp::Float64=0, is_extended::Bool=false,
    bitrate_switch::Bool=true, error_state::Bool=false, is_error_frame::Bool=false)

FDFrame struct represents CAN FD (MAX 64bytes) frame.

  • id: arbitration id
  • data: Vector of Integer. Length must be in CAN FD DLC standard. Elements must not be > 255.

kwargs:

  • timestamp: When receive, arrive time stamp is set in this field. When transmission, this field is not cared.
    • The time stamp is unixtime in sedoncs with fractional part.
  • is_extended: Flag which arbitration id is extended. default=false
  • bitrate_switch: Flag to use bitrate_switch. default=true
  • error_state: Flag corresponds to error_state_indicator. Cared in RX only. default=false
  • is_error_frame : Flag which indicates error frame. Cared in RX only. default=false
source

References

Base.:== — Method
Base.:(==)(msg1::T, msg2::T) where {T<:CANBus.Frames.AbstractFrame}

Compare two Frames or FDFrames except timestamp field.

source
Base.length — Method
Base.length(msg::T) where {T<:CANBus.Frames.AbstractFrame}

Return length of data field.

source

Compatibility with CANalyze.jl 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]; is_extended=true)

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))

Converting APIs

CANBus.Frames.Frame — Method
Frame(frm::CANalyze.CANFrame)

This constructor converts CANalyze.CANFrame to CANBus.Frame.

source
CANBus.Frames.FDFrame — Method
FDFrame(frm::CANalyze.CANFdFrame; bitrate_switch::Bool=true)

This constructor converts CANalyze.CANFdFrame to CANBus.FDFrame.

source