This example shows you how to use CAN channels to transmit and receive CAN messages. It uses MathWorks Virtual CAN channels connected in a loopback configuration.
Create a CAN channel to receive messages by specifying the vendor name, device name, and device channel index.
rxCh = canChannel('MathWorks', 'Virtual 1', 2);
Use the get
command to obtain more detailed information on all of the channel's properties and their current values.
get(rxCh)
ArbitrationBusSpeed: [] DataBusSpeed: [] ReceiveErrorCount: 0 TransmitErrorCount: 0 InitializationAccess: 1 InitialTimestamp: [0x0 datetime] SilentMode: 0 TransceiverState: 'N/A' BusSpeed: 500000 NumOfSamples: [] SJW: [] TSEG1: [] TSEG2: [] BusStatus: 'N/A' TransceiverName: 'N/A' Database: [] MessageReceivedFcn: [] MessageReceivedFcnCount: 1 UserData: [] FilterHistory: 'Standard ID Filter: Allow All | Extended ID Filter: Allow All' MessagesReceived: 0 MessagesTransmitted: 0 Running: 0 Device: 'Virtual 1' DeviceChannelIndex: 2 DeviceSerialNumber: 0 DeviceVendor: 'MathWorks' ProtocolMode: 'CAN' MessagesAvailable: 0
Use the start
command to set the channel online.
start(rxCh);
The example function generateMsgs
creates CAN messages and transmits them at various periodic rates. It creates traffic on the CAN bus for example purposes and is not part of the Vehicle Network Toolbox™.
type generateMsgs
function generateMsgs() % generateMsgs Creates and transmits CAN messages for demo purposes. % % generateMsgs periodically transmits multiple CAN messages at various % periodic rates with changing message data. % % Copyright 2008-2016 The MathWorks, Inc. % Create the messages to send using the canMessage function. The % identifier, an indication of standard or extended type, and the data % length is given for each message. msgTx100 = canMessage(100, false, 0); msgTx200 = canMessage(200, false, 2); msgTx400 = canMessage(400, false, 4); msgTx600 = canMessage(600, false, 6); msgTx800 = canMessage(800, false, 8); % Create a CAN channel on which to transmit. txCh = canChannel('MathWorks', 'Virtual 1', 1); % Register each message on the channel at a specified periodic rate. transmitPeriodic(txCh, msgTx100, 'On', 0.500); transmitPeriodic(txCh, msgTx200, 'On', 0.250); transmitPeriodic(txCh, msgTx400, 'On', 0.125); transmitPeriodic(txCh, msgTx600, 'On', 0.050); transmitPeriodic(txCh, msgTx800, 'On', 0.025); % Start the CAN channel. start(txCh); % Run for several seconds incrementing the message data regularly. for ii = 1:50 % Increment the message data bytes. msgTx200.Data = msgTx200.Data + 1; msgTx400.Data = msgTx400.Data + 1; msgTx600.Data = msgTx600.Data + 1; msgTx800.Data = msgTx800.Data + 1; % Wait for a time period. pause(0.100); end % Stop the CAN channel. stop(txCh); end
Run the generateMsgs
function to transmit messages for the example.
generateMsgs();
Once generateMsgs
completes, receive all of the available messages from the channel.
rxMsg = receive(rxCh, Inf, 'OutputFormat', 'timetable'); rxMsg(1:25, :)
ans = 25x8 timetable Time ID Extended Name Data Length Signals Error Remote _____________ ___ ________ __________ ___________ ______ ____________ _____ ______ 0.0019373 sec 100 false {0x0 char} {1x0 uint8} 0 {0x0 struct} false false 0.0019488 sec 200 false {0x0 char} {1x2 uint8} 2 {0x0 struct} false false 0.0019744 sec 400 false {0x0 char} {1x4 uint8} 4 {0x0 struct} false false 0.0019827 sec 600 false {0x0 char} {1x6 uint8} 6 {0x0 struct} false false 0.0019863 sec 800 false {0x0 char} {1x8 uint8} 8 {0x0 struct} false false 0.025069 sec 800 false {0x0 char} {1x8 uint8} 8 {0x0 struct} false false 0.051911 sec 600 false {0x0 char} {1x6 uint8} 6 {0x0 struct} false false 0.051914 sec 800 false {0x0 char} {1x8 uint8} 8 {0x0 struct} false false 0.076913 sec 800 false {0x0 char} {1x8 uint8} 8 {0x0 struct} false false 0.10191 sec 600 false {0x0 char} {1x6 uint8} 6 {0x0 struct} false false 0.10191 sec 800 false {0x0 char} {1x8 uint8} 8 {0x0 struct} false false 0.12691 sec 400 false {0x0 char} {1x4 uint8} 4 {0x0 struct} false false 0.12691 sec 800 false {0x0 char} {1x8 uint8} 8 {0x0 struct} false false 0.15191 sec 600 false {0x0 char} {1x6 uint8} 6 {0x0 struct} false false 0.15191 sec 800 false {0x0 char} {1x8 uint8} 8 {0x0 struct} false false 0.17691 sec 800 false {0x0 char} {1x8 uint8} 8 {0x0 struct} false false 0.20191 sec 600 false {0x0 char} {1x6 uint8} 6 {0x0 struct} false false 0.20198 sec 800 false {0x0 char} {1x8 uint8} 8 {0x0 struct} false false 0.22691 sec 800 false {0x0 char} {1x8 uint8} 8 {0x0 struct} false false 0.25192 sec 200 false {0x0 char} {1x2 uint8} 2 {0x0 struct} false false 0.25192 sec 400 false {0x0 char} {1x4 uint8} 4 {0x0 struct} false false 0.25193 sec 600 false {0x0 char} {1x6 uint8} 6 {0x0 struct} false false 0.25193 sec 800 false {0x0 char} {1x8 uint8} 8 {0x0 struct} false false 0.27693 sec 800 false {0x0 char} {1x8 uint8} 8 {0x0 struct} false false 0.30193 sec 600 false {0x0 char} {1x6 uint8} 6 {0x0 struct} false false
Use the stop
command to set the channel offline.
stop(rxCh);
MATLAB® provides a powerful environment for performing analysis on CAN messages. The plot
command can create a scatter plot with message Timestamps and identifiers to provide an overview of when certain messages occurred on the network.
plot(rxMsg.Time, rxMsg.ID, 'x') ylim([0 2047]) xlabel('Timestamp') ylabel('CAN Identifier')