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https://github.com/nopnop2002/robotell-usb-can-python
Python program for USB-CAN Adapter
https://github.com/nopnop2002/robotell-usb-can-python
linux python robotell usb-can windows
Last synced: 16 days ago
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Python program for USB-CAN Adapter
- Host: GitHub
- URL: https://github.com/nopnop2002/robotell-usb-can-python
- Owner: nopnop2002
- Created: 2020-07-07T09:00:44.000Z (over 4 years ago)
- Default Branch: master
- Last Pushed: 2024-03-03T12:30:10.000Z (8 months ago)
- Last Synced: 2024-10-11T13:43:55.196Z (about 1 month ago)
- Topics: linux, python, robotell, usb-can, windows
- Language: Python
- Homepage:
- Size: 33.2 KB
- Stars: 25
- Watchers: 6
- Forks: 10
- Open Issues: 2
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# Robotell-USB-CAN-Python
Python program for Robotell USB-CAN Adapter
# Background
I've bought a Robotell USB-CAN Adapter from AliExpress.
The Windows application is published [here](https://www.amobbs.com/thread-4651667-1-1.html).
The link described as "ourdev_627692IXWNNX.rar" in the page is the Windows application.
But I can't understand Chinese.
So, I analyzed the communication message that flows through USB and created a new application with Python.
# Software Requiment
- pyserial
```
$ sudo apt install python3-pip python3-setuptools
$ python3 -m pip install pyserial
```
- socat
```
$ sudo apt install socat
```
# How to use
```
$ git clone https://github.com/nopnop2002/Robotell-USB-CAN-Python
$ cd Robotell-USB-CAN-Python
$ python ./usb-can.py --help
usage: usb-can.py [-h] [-p PORT] [-s SPEED] [-u UDP]
[-l {DEBUG,INFO,WARNING,ERROR,CRITICAL}]
optional arguments:
-h, --help show this help message and exit
-p PORT, --port PORT open port
-s SPEED, --speed SPEED
can bit rate
-u UDP, --udp UDP UDP receive port
-l {DEBUG,INFO,WARNING,ERROR,CRITICAL}, --log {DEBUG,INFO,WARNING,ERROR,CRITICAL}
Set the logging level
```
- port
Communication port.
Default is /dev/ttyUSB0.
__Be sure to specify the correct port in Windows 10.__
- speed
CAN bit rate.
Default is 500Kbps.
Supporting speed is 1M/800K/500K/400K/250K/125K/100K.
- udp
UDP port number for receiving commands from the outside.
Default is 8200
- log
Log level.
Default is WARNING.
# Information of the USB-CAN Adapter
These displays are internal information of the USB-CAN Adapter, not CAN FRAME.
- BAUDRATE is the current speed.
0x20-0xA1-0x07-0x00 is 0x0007A120(=500,000)
- VERSION is firmware version.
- FILTERxx is the current receive filter setting.
The initial value enables reception of all CAN FRAMEs.
```
BAUDRATE ID: 0x01FFFED0 DLC: 4 Data: 0x20 0xA1 0x07 0x00
VERSION ID: 0x01FFFFE0 DLC: 8 Data: 0x01 0x00 0x00 0x00 0xC5 0x24 0x00 0x08
CPUINFO0 ID: 0x01FFFFF0 DLC: 8 Data: 0x57 0xFF 0x73 0x06 0x67 0x75 0x54 0x55
CPUINFO1 ID: 0x01FFFFF1 DLC: 8 Data: 0x11 0x30 0x17 0x67 0x00 0x00 0x00 0x00
ABOM ID: 0x01FFFEB0 DLC: 8 Data: 0x00 0x00 0x00 0x00 0xC5 0x24 0x00 0x08
ART ID: 0x01FFFEA0 DLC: 8 Data: 0x00 0x00 0x00 0x00 0xC5 0x24 0x00 0x08
FILTER00 ID: 0x01FFFEE0 DLC: 8 Data: 0x00 0x00 0x00 0x80 0x00 0x00 0x00 0x00
FILTER01 ID: 0x01FFFEE1 DLC: 8 Data: 0x00 0x00 0x00 0xC0 0x00 0x00 0x00 0x00
FILTER02 ID: 0x01FFFEE2 DLC: 8 Data: 0xFF 0xFF 0xFF 0x5F 0xFF 0xFF 0xFF 0x1F
FILTER03 ID: 0x01FFFEE3 DLC: 8 Data: 0xFF 0xFF 0xFF 0x5F 0xFF 0xFF 0xFF 0x1F
FILTER04 ID: 0x01FFFEE4 DLC: 8 Data: 0xFF 0xFF 0xFF 0x5F 0xFF 0xFF 0xFF 0x1F
FILTER05 ID: 0x01FFFEE5 DLC: 8 Data: 0xFF 0xFF 0xFF 0x5F 0xFF 0xFF 0xFF 0x1F
FILTER06 ID: 0x01FFFEE6 DLC: 8 Data: 0xFF 0xFF 0xFF 0x5F 0xFF 0xFF 0xFF 0x1F
FILTER07 ID: 0x01FFFEE7 DLC: 8 Data: 0xFF 0xFF 0xFF 0x5F 0xFF 0xFF 0xFF 0x1F
FILTER08 ID: 0x01FFFEE8 DLC: 8 Data: 0xFF 0xFF 0xFF 0x5F 0xFF 0xFF 0xFF 0x1F
FILTER09 ID: 0x01FFFEE9 DLC: 8 Data: 0xFF 0xFF 0xFF 0x5F 0xFF 0xFF 0xFF 0x1F
FILTER10 ID: 0x01FFFEEA DLC: 8 Data: 0xFF 0xFF 0xFF 0x5F 0xFF 0xFF 0xFF 0x1F
FILTER11 ID: 0x01FFFEEB DLC: 8 Data: 0xFF 0xFF 0xFF 0x5F 0xFF 0xFF 0xFF 0x1F
FILTER12 ID: 0x01FFFEEC DLC: 8 Data: 0xFF 0xFF 0xFF 0x5F 0xFF 0xFF 0xFF 0x1F
FILTER13 ID: 0x01FFFEED DLC: 8 Data: 0xFF 0xFF 0xFF 0x5F 0xFF 0xFF 0xFF 0x1F
FILTER14 ID: 0x01FFFEEE DLC: 8 Data: 0x00 0x00 0x00 0x00 0x01 0x00 0x00 0x00
FILTER15 ID: 0x01FFFEEF DLC: 8 Data: 0xFF 0xFF 0xFF 0xBF 0xFF 0xFF 0xFF 0xFF
```
# CAN transmission data
This tool accepts data to send via UDP Broadcast.
Open a new terminal and execute the following command:
```
$ chmod 777 transmit.sh
$ vi transmit.sh
Please change if necessary.
$ ./transmit.sh
```
# CAN receive filter settings(Standard Frame)
This tool accepts filter to set via UDP Broadcast.
Open a new terminal and execute the following command:
```
$ chmod 777 stdmask.sh
$ vi stdmask.sh
Please change if necessary.
$ ./stdmask.sh
```
# CAN receive filter settings(Extended Frame)
This tool accepts filter to set via UDP Broadcast.
Open a new terminal and execute the following command:
```
$ chmod 777 extmask.sh
$ vi extmask.sh
Please change if necessary.
$ ./extmask.sh
```
# Running on Ubuntu 18.04.4
# Running on Windows10
# Trouble shooting
Change the log level when the program starts.
You can see receive & transmit packet.
# Using ESP32
The ESP32 includes a CAN controller that supports the CAN 2.0B specification standard frame format (11-bit ID) and extended frame format (29-bit ID).
With the ESP32, you can use Windows applications.
https://github.com/nopnop2002/esp-idf-CANBus-Monitor