Firmware for a PIC32 based CAN bus monitor.
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Hardware: chipKIT Pro MX7
- any other board based on PIC32 with CAN controller will work provided MCP2551 or equivalent CAN driver is also attached
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Implements CAN ASCII/SLCAN protocol compatible with Lawicel CAN232/CANUSB.
See protocol definition here http://www.can232.com/docs/can232_v3.pdf and here http://www.can232.com/docs/canusb_manual.pdf
Commands not supported/not yet implemented:
- s, W, M, m, U.
Commands modified:
- Z - extra Z2 option enables 4 byte timestamp vs standard 2 byte (60000ms max)
CMD | IMPLEMENTED | SYNTAX | DESCRIPTION
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'S' | YES+ | Sn[CR] Setup with standard CAN bit-rates where n is 0-8.
| | S0 10Kbit S4 125Kbit S8 1Mbit
| | S1 20Kbit S5 250Kbit S9 N/A
| | S2 50Kbit S6 500Kbit
| | S3 100Kbit S7 800Kbit
's' | - | sxxyy[CR] Setup with BTR0/BTR1 CAN bit-rates where xx and yy is a hex value.
'O' | YES | O[CR] Open the CAN channel in normal mode (sending & receiving).
'L' | YES | L[CR] Open the CAN channel in listen only mode (receiving).
'C' | YES | C[CR] Close the CAN channel.
't' | YES | tiiildd...[CR] Transmit a standard (11bit) CAN frame.
'T' | YES | Tiiiiiiiildd...[CR] Transmit an extended (29bit) CAN frame
'r' | YES | riiil[CR] Transmit an standard RTR (11bit) CAN frame.
'R' | YES | Riiiiiiiil[CR] Transmit an extended RTR (29bit) CAN frame.
'P' | YES | P[CR] Poll incomming FIFO for CAN frames (single poll)
'A' | YES | A[CR] Polls incomming FIFO for CAN frames (all pending frames)
'F' | YES+ | F[CR] Read Status Flags.
'X' | YES | Xn[CR] Sets Auto Poll/Send ON/OFF for received frames.
'W' | - | Wn[CR] Filter mode setting. By default CAN232 works in dual filter mode (0) and is backwards compatible with previous CAN232 versions.
'M' | - | Mxxxxxxxx[CR] Sets Acceptance Code Register (ACn Register of SJA1000). // we use MCP2515, not supported
'm' | - | mxxxxxxxx[CR] Sets Acceptance Mask Register (AMn Register of SJA1000). // we use MCP2515, not supported
'U' | YES | Un[CR] Setup UART with a new baud rate where n is 0-6.
'V' | YES | v[CR] Get Version number of both CAN232 hardware and software
'v' | YES | V[CR] Get Version number of both CAN232 hardware and software
'N' | YES | N[CR] Get Serial number of the CAN232.
'Z' | YES+ | Zn[CR] Sets Time Stamp ON/OFF for received frames only. EXTENSION to LAWICEL: Z2 - millis() timestamp w/o standard 60000ms cycle
'Q' | YES todo | Qn[CR] Auto Startup feature (from power on).