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| <main role="main" class="ml-sm-auto px-4 col-sm-pull col-md-9 col-lg-10 h-100"> |
| <div class="sect1"> |
| <h2 id="generic_can">Generic CAN</h2> |
| <div class="sectionbody"> |
| <div class="sect2"> |
| <h3 id="can_bus_semantics">CAN Bus semantics</h3> |
| <div class="paragraph"> |
| <p>This driver is a generic purpose driver. |
| It allows implementing a basic CAN bus listening or writing scenarios.</p> |
| </div> |
| <div class="paragraph"> |
| <p>CAN bus open is a specific protocol built on top of CAN bus.</p> |
| </div> |
| <table class="tableblock frame-all grid-all stretch"> |
| <colgroup> |
| <col style="width: 22.2222%;"/> |
| <col style="width: 22.2222%;"/> |
| <col style="width: 55.5556%;"/> |
| </colgroup> |
| <thead> |
| <tr> |
| <th class="tableblock halign-left valign-top">Name</th> |
| <th class="tableblock halign-left valign-top">Value</th> |
| <th class="tableblock halign-left valign-top">Description</th> |
| </tr> |
| </thead> |
| <tbody> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">Code</p></td> |
| <td class="tableblock halign-left valign-top" colspan="2"><div class="content"><div class="paragraph"> |
| <p><code>genericcan</code></p> |
| </div></div></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">Name</p></td> |
| <td class="tableblock halign-left valign-top" colspan="2"><div class="content"><div class="paragraph"> |
| <p>Generic CAN</p> |
| </div></div></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">Maven Dependency</p></td> |
| <td class="tableblock halign-left valign-top" colspan="2"><div class="content"><div class="listingblock"> |
| <div class="content"> |
| <pre><dependency> |
| <groupId>org.apache.plc4x</groupId> |
| <artifactId>plc4j-driver-can</artifactId> |
| <version>{current-last-released-version}</version> |
| </dependency></pre> |
| </div> |
| </div></div></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">Default Transport:</p></td> |
| <td class="tableblock halign-left valign-top" colspan="2"><div class="content"><div class="paragraph"> |
| <p><code>socketcan</code></p> |
| </div></div></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">Compatible Transports:</p></td> |
| <td class="tableblock halign-left valign-top" colspan="2"><div class="content"><div class="paragraph"> |
| <p>Any <code>can</code> transport, see <a href="../transports/can.html">CAN transport</a></p> |
| </div></div></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top" colspan="3"><p class="tableblock">Supported Operations</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">publish</p></td> |
| <td class="tableblock halign-left valign-top"><div class="content"><div class="paragraph"> |
| <p><code>write</code></p> |
| </div></div></td> |
| <td class="tableblock halign-left valign-top"><div class="content"><div class="paragraph"> |
| <p>Allows to publish a CAN frame via CAN transport.</p> |
| </div></div></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">receive</p></td> |
| <td class="tableblock halign-left valign-top"><div class="content"><div class="paragraph"> |
| <p><code>subscribe</code></p> |
| </div></div></td> |
| <td class="tableblock halign-left valign-top"><div class="content"><div class="paragraph"> |
| <p>This operation allows listening for incoming data or requests.</p> |
| </div></div></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top" colspan="3"><p class="tableblock">Options</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-center valign-top" colspan="3"><p class="tableblock">none</p></td> |
| </tr> |
| </tbody> |
| </table> |
| </div> |
| <div class="sect2"> |
| <h3 id="more_details_on_the_driver">More details on the driver</h3> |
| <div class="paragraph"> |
| <p>Given popularity of CAN in multiple market segments there is variety of protocols which can’t be published. |
| Also, for many cases which are data acquisition oriented it is necessary to tap only parts of communications.</p> |
| </div> |
| <div class="paragraph"> |
| <p>This driver allows to model incoming and outgoing communication using plain Apache PLC4X api. |
| The written CAN data is constructed from fields submitted via write request builder. |
| The receiving data is transformed in similar fashion, based on subscribed fields.</p> |
| </div> |
| <div class="sect3"> |
| <h4 id="address_format">Address format</h4> |
| <table class="tableblock frame-all grid-all stretch"> |
| <colgroup> |
| <col style="width: 20%;"/> |
| <col style="width: 20%;"/> |
| <col style="width: 20%;"/> |
| <col style="width: 40%;"/> |
| </colgroup> |
| <thead> |
| <tr> |
| <th class="tableblock halign-left valign-top">Service</th> |
| <th class="tableblock halign-left valign-top">Format</th> |
| <th class="tableblock halign-left valign-top">Supported operations</th> |
| <th class="tableblock halign-left valign-top">Description</th> |
| </tr> |
| </thead> |
| <tbody> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">n/a</p></td> |
| <td class="tableblock halign-left valign-top"><div class="content"><div class="paragraph"> |
| <p>nodeId:type[arraySize]</p> |
| </div></div></td> |
| <td class="tableblock halign-left valign-top"><div class="content"><div class="ulist"> |
| <ul> |
| <li> |
| <p><code>write</code></p> |
| </li> |
| <li> |
| <p><code>subscribe</code></p> |
| </li> |
| </ul> |
| </div></div></td> |
| <td class="tableblock halign-left valign-top"><div class="content"><div class="paragraph"> |
| <p>There is only one syntax which is currently supported by this driver.</p> |
| </div></div></td> |
| </tr> |
| </tbody> |
| </table> |
| <div class="paragraph"> |
| <p>Pay attention. |
| You can use multiple fields to write and subscribe actual data. |
| All fields must sum to up to 64 bits. |
| If you subscribe less, then remaining data is discarded and not available via PLC4X api.</p> |
| </div> |
| <div class="paragraph"> |
| <p>The data will be sent in the same order as fields.</p> |
| </div> |
| <div class="paragraph"> |
| <p>Below table contains type mapping defined in Generic CAN driver.</p> |
| </div> |
| <table class="tableblock frame-all grid-all stretch"> |
| <colgroup> |
| <col style="width: 33.3333%;"/> |
| <col style="width: 33.3333%;"/> |
| <col style="width: 33.3334%;"/> |
| </colgroup> |
| <tbody> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">CANopen Type</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">Length (in bits)</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">PLC4X Type</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">BOOLEAN</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">1</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">BOOL</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">UNSIGNED8</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">8</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">USINT</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">UNSIGNED16</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">16</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">UINT</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">UNSIGNED24</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">24</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">UDINT</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">UNSIGNED32</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">32</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">UDINT</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">UNSIGNED40</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">40</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">ULINT</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">UNSIGNED48</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">48</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">ULINT</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">UNSIGNED56</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">56</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">ULINT</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">UNSIGNED64</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">64</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">ULINT</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">INTEGER8</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">8</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">SINT</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">INTEGER16</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">16</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">INT</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">INTEGER24</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">24</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">DINT</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">INTEGER32</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">32</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">DINT</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">INTEGER40</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">40</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">LINT</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">INTEGER48</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">48</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">LINT</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">INTEGER56</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">56</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">LINT</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">INTEGER64</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">64</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">LINT</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">REAL32</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">32</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">REAL</p></td> |
| </tr> |
| <tr> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">REAL64</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">64</p></td> |
| <td class="tableblock halign-left valign-top"><p class="tableblock">LREAL</p></td> |
| </tr> |
| </tbody> |
| </table> |
| <div class="paragraph"> |
| <p>The type table is similar to CANopen. |
| Main difference is lack of support for string types.</p> |
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| </div> |
| </div> |
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