CAN over Serial / SLCAN¶
A text based interface: compatible to slcan-interfaces (slcan ASCII protocol) should also support LAWICEL direct. These interfaces can also be used with socketcan and slcand with Linux. This driver directly uses either the local or remote serial port, it makes slcan-compatible interfaces usable with Windows also. Remote serial ports will be specified via special URL. Both raw TCP sockets as also RFC2217 ports are supported.
Usage: use port or URL[@baurate]
to open the device.
For example use /dev/ttyUSB0@115200
or COM4@9600
for local serial ports and
socket://192.168.254.254:5000
or rfc2217://192.168.254.254:5000
for remote ports.
Supported devices¶
Todo
Document this.
Bus¶
- class can.interfaces.slcan.slcanBus(channel, ttyBaudrate=115200, bitrate=None, btr=None, sleep_after_open=2, rtscts=False, **kwargs)[source]¶
slcan interface
- Raises
ValueError – if both bitrate and btr are set
- Parameters
channel (str) – port of underlying serial or usb device (e.g. /dev/ttyUSB0, COM8, …) Must not be empty.
ttyBaudrate (int) – baudrate of underlying serial or usb device
bitrate (int) – Bitrate in bit/s
btr (str) – BTR register value to set custom can speed
poll_interval (float) – Poll interval in seconds when reading messages
sleep_after_open (float) – Time to wait in seconds after opening serial connection
rtscts (bool) – turn hardware handshake (RTS/CTS) on and off
- send(msg, timeout=None)[source]¶
Transmit a message to the CAN bus.
Override this method to enable the transmit path.
- Parameters
msg (can.Message) – A message object.
timeout (float or None) – If > 0, wait up to this many seconds for message to be ACK’ed or for transmit queue to be ready depending on driver implementation. If timeout is exceeded, an exception will be raised. Might not be supported by all interfaces. None blocks indefinitely.
- Raises
can.CanError – if the message could not be sent
Internals¶
Todo
Document the internals of slcan interface.