forked from robovero/python
-
Notifications
You must be signed in to change notification settings - Fork 0
/
can_recv.py
32 lines (24 loc) · 722 Bytes
/
can_recv.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
"""Receive some data on CAN bus.
"""
from robovero.lpc17xx_can import CAN_MSG_Type, CAN_SetAFMode, CAN_AFMODE_Type, \
CAN_ReceiveMsg, CAN_Init
from robovero.LPC17xx import LPC_CAN1, LPC_CANAF
from robovero.extras import roboveroConfig
import time
__author__ = "Neil MacMunn"
__email__ = "neil@gumstix.com"
__copyright__ = "Copyright 2010, Gumstix Inc."
__license__ = "BSD 2-Clause"
__version__ = "0.1"
roboveroConfig()
RXMsg = CAN_MSG_Type()
RXMsg.format = 0x00
RXMsg.id = 0x00
RXMsg.len = 0x00
RXMsg.type = 0x00
CAN_Init(LPC_CAN1, 100000)
CAN_SetAFMode(LPC_CANAF, CAN_AFMODE_Type.CAN_AccBP)
while True:
if CAN_ReceiveMsg(LPC_CAN1, RXMsg.ptr):
print RXMsg.dataA, RXMsg.dataB
time.sleep(0.1)