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Waijung 2 User Guide

How do these blocks appear in a Simulink model?

can_bus_block1

What can be configured?

CAN BUS Setup

can_bus_block2

Configuration Parameter

Selectable Option/Value

Description

Tx pin

 

Enter CAN bus Tx pin

Rx pin

 

Enter CAN bus Rx pin

Operation mode

TWAI_MODE_NORMAL--TWAI_MODE_NO_ACK--TWAI_MODE_LISTEN_ONLY

TWAI Controller operating modes

TWAI_MODE_NORMAL - Normal operating mode

TWAI_MODE_NO_ACK - Transmission does not require acknowledgment

TWAI_MODE_LISTEN_ONLY - The TWAI controller will only receive messages

Enable filter

Check--Uncheck

Check to filter messages

Acceptance code

 

Specifies the bit sequence which a message’s ID, RTR, and data bytes must match in order for the message to be received by the TWAI controller

Acceptance mask

 

Specifies the bit sequence which bits of the acceptance code can be ignored

Single filter

true--false

Select single filter or dual filter. Look for more details in the expressif documentation

Bit timing

25K--50K--100K--125K--250K--500K--800K--1M

Operating bit rate

CAN BUS Tx

canbus-tx

 

Configuration Parameter

Selectable Option/Value

Description

Input as bus signal

Check--Uncheck

Iutput as Matlab CAN bus signal

Identifier

 

Enter identifier

Data length code

 

Enter dlc

Advance config

Check--Uncheck

Input as bus signal should be unchecked, This will allows user to choose bellow params

Reserved bits--DLC non comp--Self Reception Request--Single Shot transmission--Remote Frame--Extended Frame

Check--Uncheck

Check to output each data from the CAN message.

Sample time

-1 (inherited) or specify

Specify the sample time.

INPUT/ OUTPUT Port

Port Name

Port Type

Date Type

Description

data

Scalar

uint8

Input data to data

reserved

Scalar

uint32

Input data to reserved

dlc_non_comp

Scalar

uint32

Input data to dlc_non_comp

self

Scalar

uint32

Input data to self

ss

Scalar

uint32

Input data to ss

rtr

Scalar

uint32

Input data to rtr

extd

Scalar

uint32

Input data to extd

can_msg_bus

BUS

CAN_MESSAGE_BUS

Input data as can msg bus

CAN BUS Rx

canbus-rx

Configuration Parameter

Selectable Option/Value

Description

Identifier

 

Enter identifier to filter out from the received message

Data length code

 

Enter DLC for the received message

Output as bus signal

Check--Uncheck

Output as Matlab CAN bus signal

Advance config

Check--Uncheck

Output as bus signal should be unchecked, This will allows user to choose bellow params

Reserved bits--DLC non comp--Self Reception Request--Single Shot transmission--Remote Frame--Extended Frame

Check--Uncheck

Check to output each data from the CAN message.

Sample time

-1 (inherited) or specify

Specify the sample time.

INPUT/ OUTPUT Port

Port Name

Port Type

Date Type

Description

identifier

Scalar

uint32

Output data to identifier

dlc

Scalar

uint8

Output data to dlc

data

Scalar

uint8

Output data to data

reserved

Scalar

uint32

Output data to reserved

dlc_non_comp

Scalar

uint32

Output data to dlc_non_comp

self

Scalar

uint32

Output data to self

ss

Scalar

uint32

Output data to ss

rtr

Scalar

uint32

Output data to rtr

extd

Scalar

uint32

Output data to extd

can_msg_bus

BUS

CAN_MESSAGE_BUS

Output data as can msg bus

When to use these blocks?

1.CAN BUS Setup - The block must be placed into a Simulink model to enable/configure the CAN bus when the application needs to send or receive data from an external device using the CAN message.

2.CAN BUS Tx - Use this block to transmit data.

3.CAN BUS Rx - Use this block to receive data.

 

Note: External CAN transceiver required to transmit data.

How do these blocks work?

CAN BUS Setup : In the setup block Configuration & Installation of the drivers to support the CAN communication is be done.

CAN BUS Tx : The block will transmit CAN data.

CAN BUS Rx : The block will receive CAN data.

Demo

Tx Demo file : esp32_canbus_tx_demo.slx

can_bus_block5

Description

This demo shows how the CAN Tx block can be used to transmit data to the can bus module. As in the example, there will be three messages transmitted every sample time. One use matlab can bus signal as an input, other two uses normal standard messages. Byte Pack block from matlab can be used to pack data bytes.

 

Rx Demo file : esp32_canbus_rx_demo.slx

can_bus_block6

Description

This demo shows how CAN Rx block works. This will receive all 3 messages which sent from the previous example. RX counter will incremented every time if any value is received. Output will be given by every sample time.

Hardware Setup

1.2 x ESP32 module

2.SN65HVD23x transceivers

 

can_bus_block7

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