Controller Area Network

R2026b

Communicate with Raspberry Pi^® hardware using Controller Area Network (CAN) protocol

Leverage the capabilities of Controller Area Network (CAN) to efficiently design and implement robust and reliable CAN-based communication systems.

Blocks

	CAN Transmit	Transmit message to CAN network
	CAN Receive	Receive message from CAN network
	CAN FD Transmit	Transmit CAN FD messages over a CAN interface (Since R2026b)
	CAN FD Receive	Receive CAN FD messages from a CAN interface (Since R2026b)

Objects

canChannel Connection to CAN channel through specified device

Functions

`enableCAN`	Enable CAN interface
`disableCAN`	Disable CAN interface
`read`	Read messages from CAN channel
`write`	Write messages to CAN channel

Model Settings

expand all

CAN Properties

Interface configuration	CAN interface configuration method (Since R2026b)
Number of interfaces	Number of CAN interfaces to configure
CAN Name	SocketCAN interface name
CAN Type	CAN interface type
CAN protocol	CAN communication protocol selection (Since R2026b)
Bus speed (kbps)	CAN bus bit rate for classical CAN communication
Nominal bitrate (kbps)	Arbitration phase bit rate for CAN FD communication (Since R2026b)
Data bitrate (kbps)	Data bit rate for CAN FD communication (Since R2026b)
Transmit queue buffer size	Transmit queue length for SocketCAN interface
Filter configuration (all interfaces)	CAN message filtering mode selection (Since R2026b)
ID type	CAN identifier format for acceptance filter
Acceptance Mask	CAN identifier bit mask for filtering
Acceptance filter	CAN identifier filter value
Inverse filter	Invert acceptance filter behavior

External mode

Communication interface	Exchange data between host computer and target hardware
Host interface	Select host-side interface for XCP external mode communication (Since R2026b)
CAN Vendor	CAN hardware vendor for XCP on CAN external mode communication (Since R2026b)
CAN Device	CAN hardware device for XCP on CAN external mode communication (Since R2026b)
CAN Channel	CAN hardware channel for XCP on CAN external mode communication (Since R2026b)
CAN interface name	SocketCAN interface name on the target for XCP on CAN communication (Since R2026b)
Extended CAN ID	Use extended 29-bit CAN identifiers for XCP external mode communication (Since R2026b)
CAN ID command	Specify the CAN identifier for XCP command messages from host to target (Since R2026b)
CAN ID response	Specify the CAN identifier for XCP response messages from target to host (Since R2026b)
Run external mode in a background	Force background-thread execution of the external mode task in the generated code
Logging buffer size (in bytes)	Number of bytes to preallocate for buffer in hardware
Verbose	View the external mode execution progress and updates
Set logging buffer size automatically	Automatically preallocate buffer size (Since R2026a)
Set XCP target polling time	Set XCP-based polling time automatically or manually (Since R2022a)
Polling time (in seconds)	Set XCP-based polling time (Since R2022a)

XCP on CAN with Raspberry Pi

Set Up, Deploy, and Calibrate Raspberry Pi Application Using XCP on CAN

Set up XCP on CAN communication, deploy a Simulink^® application to Raspberry Pi, and perform real-time monitoring and calibration using Simulink or third-party calibration tools.

STEP 1: Set Up CAN Hardware on Host Computer for XCP on CAN Communication
STEP 2: Configure Model for XCP on CAN External Mode
STEP 3: Generate A2L File for Third-Party Calibration Tools Using XCP on CAN Host Communication

Topics

Model Configuration Raspberry Pi Blockset
This section describes about the model configuration parameters.
Set Up Raspberry Pi CAN Shield on Your Host Computer
Connect Raspberry Pi CAN shield to your computer using the hardware setup screen.
Enable and Configure Raspberry Pi for SPI and CAN Communication Using MCP2515 CAN Controller
This section provides a comprehensive workflow to enable and configure the MCP2515 CAN interface on a Raspberry Pi board.
Enable and Configure Raspberry Pi for SPI and CAN FD Communication Using Waveshare 2-CH CAN FD HAT
Configure CAN FD communication on Raspberry Pi using the Waveshare^® 2‑CH CAN FD HAT and use Simulink CAN FD blocks to transmit and receive messages.
Setup Virtual CAN Interface
Setup virtual CAN interface before configuring CAN Transmit and CAN Receive blocks.

Featured Examples

Monitor Engine RPM Using Raspberry Pi CAN Blocks

Use Raspberry Pi® Blockset to monitor vehicle engine RPM and read the data on a web browser.

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Log CAN Bus Data on Raspberry Pi

Use Raspberry Pi® Blockset to monitor a controller area network (CAN) bus, perform basic CAN conversions, and log CAN FD data in a measurable data format (MDF) file. This example also showcases the interoperability between a model deployed in Simulink® and a Python® program running simultaneously on Raspberry Pi hardware.

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Transmit and Receive Data Using Raspberry Pi CAN Blocks

To use Raspberry Pi® Blockset to transmit and receive data from the CAN network using the specified CAN device.

Open Model