CAN Read

Read message from CAN network

Since R2020b

Add-On Required: This feature requires the Simulink Coder Support Package for STMicroelectronics Nucleo Boards add-on.

• 

Libraries:
Simulink Coder Support Package for STMicroelectronics Nucleo Boards / STM32H7

Description

The CAN Read block reads messages from a Controller Area Network (CAN) network connected to the hardware.

Click View pin map to open the Nucleo Pin Mapping table.

Specify the Data Format and its properties using the block parameters dialog box. Configure the properties of CAN module in the Configuration Parameters.

Note

• CAN Read block is currently supported only for STM32 Nucleo H743ZI2.

• Each instance of CAN Read block configures a CAN filter to accept messages with the specified identifier.

• The configured filter accepts and saves the CAN message in a one-element buffer which, needs to be read before accepting the new message.

Ports

Output

Data — Message data

vector | scalar

The block outputs messages in uint8 or CAN Msg format.

• uint8 – To output the message as a uint8 vector array, select Data Format as Raw data.

• CAN Msg – To output the message in CAN message format, select Data Format as CAN Msg.

This port outputs 0 if the received CAN message is a remote frame.

Data Types: uint8 | CAN Msg

Status — Status of received message

scalar

The port outputs message read status.

• The status is 1, if the block reads new message.

• The status is 0, if the block reads no new message.

Dependencies

This port appears only when you select the Output Status parameter.

Data Types: uint8

Remote — Enable remote message

scalar

The port outputs 1 if the received CAN message is a remote frame.

Dependencies

This port appears only when you select Output Remote parameter.

Parameters

Module — Module used for communication

0 (default) | Any integer value

Module to which the CAN device is connected.

Note

• CAN 0 Module on block represents CAN 1 peripheral on hardware.

• CAN 1 Module on block represents CAN 2 peripheral on hardware.

Data Format — Data output type

Raw data (default) | CAN Msg

Select a type to read message.

• Raw data – To read message as a 1-by-N uint8 array, select Data Format as Raw data.

• CAN Msg – To read message in CAN message format, select Data Format as CAN Msg and then perform these steps:

  1. Add a CAN Unpack block from the Vehicle Network Toolbox™ to your model.

  2. Connect the output of the CAN Read block to the input of the CAN Unpack block.

  3. Using the options in the Data to be output as list of the CAN Unpack block, specify if you want to create your messages or you want to upload a CAN database file. If you choose to upload a CAN database file, the CAN Unpack inherits the message properties from the uploaded file.

  Note

  To use the CAN Unpack block, you must have a Vehicle Network Toolbox license.

Identifier Type — Message identifier type

Standard (11-bit identifier) (default) | Extended (29-bit identifier)

The type of message identifier.

Dependencies

This parameter appears only when you select Data Format as Raw data.

Identifier — Message identifier

100 (default) | numeric identifier of length 11 or 29 bits

Identifier, which is 11 bits long for the standard frame size or 29 bits long for the extended frame size, specified in decimal, binary, or hex. For binary and hex formats, use bin2dec(' ') and hex2dec(' '), respectively, to convert the entry. The identifier is coded into a message that is sent to the CAN bus.

Dependencies

This parameter appears only when you select Data Format as Raw data. To output the identifier of the CAN Msg, select Output identifier of the CAN Unpack block.

Length (bytes) — Length of message

8 (default) | positive integer less than or equal to 8

The length of the message in bytes.

Dependencies

This parameter appears only when you select Data Format as Raw data. To output the length of the CAN Msg, select Output length of the CAN Unpack block.

Sample Time — Time interval to read message

-1 (default) | 0.1 | non-negative real value

Specify how often the block receives message, in seconds. When you specify this parameter as -1, Simulink^® determines the best sample time for the block based on the block context within the model.

Output Remote — Enable remote messages

off (default) | on

When you select the Output Remote parameter, the block configures an output port, Remote. The port outputs the message remote frame status.

Dependencies

This parameter appears only when you select Data Format as Raw data.

Output Status — Enable output status

off (default) | on

When you select the Output Status parameter, the block configures an output port, Status. The port outputs the status message.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Version History

Introduced in R2020b