enableCAN

Enable CAN interface

Since R2021b

Syntax

enableCAN(raspiObj)

enableCAN(raspiObj,devicename)

enableCAN(raspiObj,devicename,interfacename)

enableCAN(raspiObj,devicename,interfacename, oscillatorFrequency)

enableCAN(raspiObj,devicename,interfacename, oscillatorFrequency,interruptPin)

Description

enableCAN(raspiObj) enables the can0 interface for MCP2515 CAN controller.

enableCAN(raspiObj,devicename)enables CAN interface for the specified device. The CAN controller can only be set to MCP2515. To disable CAN, use the disableCAN function.

enableCAN(raspiObj,devicename,interfacename) enables the CAN object for the specified interface and device. To disable CAN, use the disableCAN function.

enableCAN(raspiObj,devicename,interfacename, oscillatorFrequency) enables the CAN object when the interface name, device name, and oscillator frequency is set. To disable CAN, use the disableCAN function.

enableCAN(raspiObj,devicename,interfacename, oscillatorFrequency,interruptPin) enables the CAN object for the specified interrupt pin, interface, device, and oscillator frequency. To disable CAN, use the disableCAN function.

Note

To generate C/C++ code for this function, you must have an Embedded Coder^® license.

Examples

Enable CAN Object

Create a Raspberry Pi^® object. The available CAN interfaces do not show until you enable the CAN object.

raspiObj = raspi("192.168.1.101","pi","raspberry")

raspiObj = 
raspi with properties:

         DeviceAddress: '192.168.1.101'                
                  Port: 18734                         
             BoardName: 'Raspberry Pi 3 Model B+'     
         AvailableLEDs: {'led0'}                      
  AvailableDigitalPins: [4,5,6,12,13,14,15,16,17,18,19,
                                        20,21,22,23,24,25,26,27]
  AvailableSPIChannels: {'CE0','CE1'}                 
     AvailableI2CBuses: {'i2c-0','i2c-1'}             
      AvailableWebcams: {}                            
           I2CBusSpeed: 100000                        
AvailableCANInterfaces: {}    
supported peripherals

Enable the CAN interface with default properties.

enableCAN(raspiObj)

SPI channels are inaccessible if you enable the CAN interface for MCP2515 controllers. Reboot the Raspberry Pi to apply the changes.

 system(raspiObj, 'sudo reboot').

Connection to SSH server at 192.168.1.101 is terminated. Clear the hardware communication object and re-create it to establish the connection.

clear raspiObj
raspiObj = raspi("192.168.1.101","pi","raspberry")

A CAN object is enabled.

raspiObj = 

  raspi with properties:

         DeviceAddress: '192.168.1.101'                
                  Port: 18734                         
             BoardName: 'Raspberry Pi 3 Model B+'     
         AvailableLEDs: {'led0'}                      
  AvailableDigitalPins: [4,5,6,10,12,13,14,15,16,17,18,19,
                                        20,21,22,23,24,25,26,27]
  AvailableSPIChannels: {'CE1'}                       
     AvailableI2CBuses: {'i2c-0','i2c-1'}             
      AvailableWebcams: {}                            
           I2CBusSpeed: 100000                        
AvailableCANInterfaces: {"can0"}                      

  Supported peripherals

Input Arguments

raspiObj — Connection to Raspberry Pi hardware board

raspi

Connection to a Raspberry Pi hardware board, specified as a raspi object.

Data Types: object

devicename — CAN Controller

MCP2515 (default)

The default CAN controller available is MCP2515.

Example: MCP2515

Data Types: string

interfacename — CAN interface

can0 (default) | can1

CAN interface, specified as either can0 or can1.

Example: can0

Data Types: string

Note

Enabling can1 interface will also enable can0 if it is not enabled before.

oscillatorFrequency — Frequency of oscillator

16 (default) | 12 | 8

Frequency of the oscillator crystal in the shield, specified as 8 or 12 or 16 MHz.

Example: 16

Data Types: double

interruptPin — interruptPin of the Raspberry Pi that connect with CAN shield

25 (default) | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 22 | 23 | 24 | 26 | 27

The interrupt pin of the Raspberry Pi that connect with CAN shield, specified as a number between 4 and 25, included.

Example: 25

Data Types: double

Extended Capabilities

C/C++ Code Generation

Generate C and C++ code using MATLAB® Coder™.

To generate C/C++ code for this function, you must have an Embedded Coder license. For more information on selecting the right product stack according to your development goals, see Product Stack for Raspberry Pi Blockset.

Version History

Introduced in R2021b