MotoHawk:CAN Overview - Revision history

Michael.Vogeli: Added a paragraph to describe the conversion from classic byte position to CAN FD byte position.

2024-01-03T22:31:15Z

Added a paragraph to describe the conversion from classic byte position to CAN FD byte position.

Michael.Vogeli: Added support of CAN FD. Added note to use MotoTune Protocol Definition block.

2024-01-03T17:16:41Z

Added support of CAN FD. Added note to use MotoTune Protocol Definition block.

Wendy.Bolakowski: /* CAN Read and CAN Send Blocks */

2012-09-19T19:26:02Z

‎CAN Read and CAN Send Blocks

Wendy.Bolakowski: /* CAN Read and CAN Send Blocks */

2012-09-19T19:23:43Z

‎CAN Read and CAN Send Blocks

Wendy.Bolakowski: /* CAN Read and CAN Send Blocks */

2012-09-19T19:23:09Z

‎CAN Read and CAN Send Blocks

Wendy.Bolakowski: /* CAN Read and CAN Send Blocks */

2012-09-19T19:22:40Z

‎CAN Read and CAN Send Blocks

Wendy.Bolakowski: /* CAN Read and CAN Send Blocks */

2012-09-19T19:21:48Z

‎CAN Read and CAN Send Blocks

Wendy.Bolakowski: /* CAN Read and CAN Send Blocks */

2012-09-19T19:20:29Z

‎CAN Read and CAN Send Blocks

Wendy.Bolakowski: /* CAN Read and CAN Send Blocks */

2012-09-19T19:19:54Z

‎CAN Read and CAN Send Blocks

Wendy.Bolakowski: /* CAN Read and CAN Send Blocks */

2012-09-19T19:19:09Z

‎CAN Read and CAN Send Blocks

@@ Line 47: / Line 47: @@
 ==CAN Recive Slot Properties and CAN Recive Slot Trigger==
-  The [http://mcs.woodward.com/content/motohawk/Documentation/CurrentVersion/HTML/MotoHawk_lib_Blocks/CANReceiveSlotProperties.html CAN Recieve Slot Properties Block] can be used to set the filtering of the recieved message at runtime.  The '''[http://mcs.woodward.com/content/motohawk/Documentation/CurrentVersion/HTML/MotoHawk_lib_Blocks/CANReceiveSlotTrigger.html CAN Slot Trigger Block]''' is used to function call a subystem when a CAN message is recieved in the slot.
+The [http://mcs.woodward.com/content/motohawk/Documentation/CurrentVersion/HTML/MotoHawk_lib_Blocks/CANReceiveSlotProperties.html CAN Recieve Slot Properties Block] can be used to set the filtering of the recieved message at runtime.  The '''[http://mcs.woodward.com/content/motohawk/Documentation/CurrentVersion/HTML/MotoHawk_lib_Blocks/CANReceiveSlotTrigger.html CAN Slot Trigger Block]''' is used to function call a subystem when a CAN message is recieved in the slot.
 The CAN message can be associated with a particular 'SLOT'.  The Slot is defined by the MotoHawk CAN Recieve Slot Properties Block.
@@ Line 63: / Line 63: @@
   [http://mcs.woodward.com/content/motohawk/Documentation/CurrentVersion/HTML/MotoHawk_lib_Blocks/SendCANMessages.html CAN SEND] and
   MotoHawk [http://mcs.woodward.com/content/motohawk/Documentation/CurrentVersion/HTML/MotoHawk_lib_Blocks/ReadCANMessage.html CAN READ] <br />
-  blocks allow the user to set up more complex message struture using an .m file for the message definition.  Examples of the message definition
+  blocks allow the user to set up more complex message struture using an .m file for the message definition.
- can be found in '''motohawk_can_example.m''' and '''motohawk_can_fd_example.m'''.
+Examples for the message definition format can be found in '''motohawk_can_example.m''' and '''motohawk_can_fd_example.m'''.
@@ Line 125: / Line 125: @@
 [[Image:canfd_bit_order.png‎]]

@@ Line 5: / Line 5: @@
 MotoHawk doesn't define a protocol, but provides a set of blocks to access the CAN hardware of the module to implement a protocol.
-MotoHawk CAN blocks support CAN 2.0B messages, with both standard (11 bit) and extended (29 bit) IDs.
+MotoHawk CAN blocks support CAN 2.0B messages and CAN FD (ISO 16845), with both standard (11 bit) and extended (29 bit) IDs.
 == Blockset Overview ==
@@ Line 14: / Line 14: @@
 First the Bus must be Initialized for Use.
-  The [http://mcs.woodward.com/content/motohawk/Documentation/CurrentVersion/HTML/MotoHawk_lib_Blocks/CANDefinition.html CAN DEFINITION BLOCK] is used to initialize the CAN hardware, set the baud rate, and configure the transmit queue size.
+  The [http://mcs.woodward.com/content/motohawk/Documentation/CurrentVersion/HTML/MotoHawk_lib_Blocks/CANDefinition.html CAN DEFINITION BLOCK] is used to initialize the CAN hardware, set the baud rate, enable the use of CAN FD, and configure the transmit queue size.
 Key parameters that can be set on the block include:
@@ Line 21: / Line 21: @@
 * Bit Timing - User can select a preset baud rate, or 'Custom' to set Prescalar, Propagation Segment, and RJW
 * Transmit Queue Size
-* Install MotoTune Protocol Checkbox -  User selects whether to initialize MotoTune protocol on this CAN bus.  If 'None' is selected for all Buses, the module cannot communicate with MotoTune, or be Reflashed via MotoTune.  A bootkey would be needed to recover the module
+* Enable use of CAN FD
-* City ID - this is the "address" used by MotoServer port to communicate with the module
+* CAN FD Maximum payload length to support
 There must be one CAN definition block for each CAN bus used in the applicaiton.  It is only needed to enable MotoTune protocol on one CAN channel. Most modules can program on any CAN bus, the ECM-565-128 can only program on CAN-1.
 ==CAN Raw Blocks==
@@ Line 35: / Line 36: @@
 Some terminology:
 * ID:  The address of the message
-* Payload: The message content
+* Payload: The message content (Up to '''8''' bytes in Classic CAN, up to '''64''' bytes in CAN FD)
 * Masks: Which parts of the message to care about, or which to ignore
@@ Line 62: / Line 63: @@
   [http://mcs.woodward.com/content/motohawk/Documentation/CurrentVersion/HTML/MotoHawk_lib_Blocks/SendCANMessages.html CAN SEND] and
   MotoHawk [http://mcs.woodward.com/content/motohawk/Documentation/CurrentVersion/HTML/MotoHawk_lib_Blocks/ReadCANMessage.html CAN READ] <br />
-  blocks allow the user to set up more complex message struture using an .m file for the message definition.
+  blocks allow the user to set up more complex message struture using an .m file for the message definition.  Examples of the message definition
@@ Line 74: / Line 76: @@
 :'''module'''         - name of the source module   <br />
 :'''bus_name'''       - name of the source CAN channel  <br />
@@ Line 85: / Line 89: @@
 <big>'''Transmit interval, message size, and contents'''</big> <br />
 :'''Interval''' - period in milliseconds, or -1 if sent asynchronously (default: -1) <br />
-:'''Payload Size''' - size of the message from 0 to 8 bytes.   <br />
+:'''Payload Size''' - size of the message from 0 to 8 bytes, or 0 to 64 when '''use_fd''' was true.   <br />
 ::'''transmit''':   exact number of bytes to send. <br />
 ::'''receive''':  minimum number of bytes required. <br />
@@ Line 113: / Line 117: @@
 <big>'''Bit Notation'''</big> <br />
 Bit notation is as follows, regardless of the actual length of the message payload.  This notation somewhat favors BIG_ENDIAN-format fields, but LITTLE_ENDIAN fields may be represented without any problem.  The rule is, always set the start_bit to the LSB of the FIELD.  Using this notation, the LSB of a LITTLE_ENDIAN field will appear to be in the 'middle' of the field.
 [[Image:bit_order.png‎]]

@@ Line 60: / Line 60: @@
   The CAN Read and Send Raw blocks are nice, but often more advanced data parsing is required.  The MotoHawk <br />
-  :[http://mcs.woodward.com/content/motohawk/Documentation/CurrentVersion/HTML/MotoHawk_lib_Blocks/SendCANMessages.html CAN SEND] and
+  [http://mcs.woodward.com/content/motohawk/Documentation/CurrentVersion/HTML/MotoHawk_lib_Blocks/SendCANMessages.html CAN SEND] and
-  :MotoHawk [http://mcs.woodward.com/content/motohawk/Documentation/CurrentVersion/HTML/MotoHawk_lib_Blocks/ReadCANMessage.html CAN READ]
+  MotoHawk [http://mcs.woodward.com/content/motohawk/Documentation/CurrentVersion/HTML/MotoHawk_lib_Blocks/ReadCANMessage.html CAN READ] <br />
   blocks allow the user to set up more complex message struture using an .m file for the message definition.

@@ Line 59: / Line 59: @@
 == CAN Read and CAN Send Blocks ==
-  The CAN Read and Send Raw blocks are nice, but often more advanced data parsing is required. <br />  The MotoHawk
+  The CAN Read and Send Raw blocks are nice, but often more advanced data parsing is required.  The MotoHawk <br />
   :[http://mcs.woodward.com/content/motohawk/Documentation/CurrentVersion/HTML/MotoHawk_lib_Blocks/SendCANMessages.html CAN SEND] and
   :MotoHawk [http://mcs.woodward.com/content/motohawk/Documentation/CurrentVersion/HTML/MotoHawk_lib_Blocks/ReadCANMessage.html CAN READ]

@@ Line 60: / Line 60: @@
   The CAN Read and Send Raw blocks are nice, but often more advanced data parsing is required. <br />  The MotoHawk
-:[http://mcs.woodward.com/content/motohawk/Documentation/CurrentVersion/HTML/MotoHawk_lib_Blocks/SendCANMessages.html CAN SEND] and
+ :[http://mcs.woodward.com/content/motohawk/Documentation/CurrentVersion/HTML/MotoHawk_lib_Blocks/SendCANMessages.html CAN SEND] and
-:MotoHawk [http://mcs.woodward.com/content/motohawk/Documentation/CurrentVersion/HTML/MotoHawk_lib_Blocks/ReadCANMessage.html CAN READ]
+ :MotoHawk [http://mcs.woodward.com/content/motohawk/Documentation/CurrentVersion/HTML/MotoHawk_lib_Blocks/ReadCANMessage.html CAN READ]
-blocks allow the user to set up more complex message struture using an .m file for the message definition.
+ blocks allow the user to set up more complex message struture using an .m file for the message definition.

← Older revision		Revision as of 19:21, 19 September 2012
Line 59:		Line 59:
	== CAN Read and CAN Send Blocks ==		== CAN Read and CAN Send Blocks ==

−	The CAN Read and Send Raw blocks are nice, but often more advanced data parsing is required. <br /> The MotoHawk [http://mcs.woodward.com/content/motohawk/Documentation/CurrentVersion/HTML/MotoHawk_lib_Blocks/SendCANMessages.html CAN SEND] <br /> and MotoHawk[http://mcs.woodward.com/content/motohawk/Documentation/CurrentVersion/HTML/MotoHawk_lib_Blocks/ReadCANMessage.html CAN READ] blocks allow the user to set up more complex message struture using an .m file for the message definition.	+	The CAN Read and Send Raw blocks are nice, but often more advanced data parsing is required. <br /> The MotoHawk
		+	:[http://mcs.woodward.com/content/motohawk/Documentation/CurrentVersion/HTML/MotoHawk_lib_Blocks/SendCANMessages.html CAN SEND]
		+	<br />
		+	:and MotoHawk[http://mcs.woodward.com/content/motohawk/Documentation/CurrentVersion/HTML/MotoHawk_lib_Blocks/ReadCANMessage.html CAN READ]
		+	<br /> blocks allow the user to set up more complex message struture using an .m file for the message definition.

← Older revision		Revision as of 19:20, 19 September 2012
Line 59:		Line 59:
	== CAN Read and CAN Send Blocks ==		== CAN Read and CAN Send Blocks ==

−	The CAN Read and Send Raw blocks are nice, but often more advanced data parsing is required. <br /> The MotoHawk [http://mcs.woodward.com/content/motohawk/Documentation/CurrentVersion/HTML/MotoHawk_lib_Blocks/SendCANMessages.html CAN SEND] and MotoHawk[http://mcs.woodward.com/content/motohawk/Documentation/CurrentVersion/HTML/MotoHawk_lib_Blocks/ReadCANMessage.html CAN READ] blocks allow the user to set up more complex message struture using an .m file for the message definition.	+	The CAN Read and Send Raw blocks are nice, but often more advanced data parsing is required. <br /> The MotoHawk [http://mcs.woodward.com/content/motohawk/Documentation/CurrentVersion/HTML/MotoHawk_lib_Blocks/SendCANMessages.html CAN SEND] <br /> and MotoHawk[http://mcs.woodward.com/content/motohawk/Documentation/CurrentVersion/HTML/MotoHawk_lib_Blocks/ReadCANMessage.html CAN READ] blocks allow the user to set up more complex message struture using an .m file for the message definition.

← Older revision		Revision as of 19:19, 19 September 2012
Line 59:		Line 59:
	== CAN Read and CAN Send Blocks ==		== CAN Read and CAN Send Blocks ==

−	The CAN Read and Send Raw blocks are nice, but often more advanced data parsing is required. <br /> The MotoHawk [http://mcs.woodward.com/content/motohawk/Documentation/CurrentVersion/HTML/MotoHawk_lib_Blocks/SendCANMessages.html CAN SEND] and MotoHawk[http://mcs.woodward.com/content/motohawk/Documentation/CurrentVersion/HTML/MotoHawk_lib_Blocks/ReadCANMessage.html CAN READ] blocks allow the user to set up more complex message struture using an .m file for the message definition.	+	The CAN Read and Send Raw blocks are nice, but often more advanced data parsing is required. <br /> The MotoHawk [http://mcs.woodward.com/content/motohawk/Documentation/CurrentVersion/HTML/MotoHawk_lib_Blocks/SendCANMessages.html CAN SEND] and MotoHawk[http://mcs.woodward.com/content/motohawk/Documentation/CurrentVersion/HTML/MotoHawk_lib_Blocks/ReadCANMessage.html CAN READ] blocks allow the user to set up more complex message struture using an .m file for the message definition.