Twai Nodes
The TWAI (CAN) driver enables communication over the CAN bus, supporting message transmission, reception, filtering, and error handling.
Config Nodes
Can twai config
Config for can twai tx, rx pins
Inputs
- Transmit pin : TWAI transmit (TX) pin is used to send CAN messages. It must be connected to the TX line of the CAN transceiver.
- Receive pin : TWAI receive (RX) pin is used to receive CAN messages. It must be connected to the RX line of the CAN transceiver.
- Can bus channel no. : Identifier for the CAN bus controller. Used to distinguish multiple CAN controllers in a system.
- Operating mode : Sets the TWAI (CAN) operating mode. 'Normal' allows full communication, 'No Ack Require' sends messages without expecting an acknowledgment, and 'Listen Only' monitors the bus without sending data.
Proc Nodes
can twai driver install
Install TWAI driver.
Inputs
- Can twai config : Defines the TWAI (CAN) driver configuration, including filter settings, timing parameters, and mode selection.
- Clkout io : Specifies the GPIO pin used for the TWAI clock output signal.
- Bus off io : Defines the GPIO pin to indicate a bus-off condition in the TWAI module.
- Tx queue len : Specifies the length of the TX message queue in the TWAI driver.
- Rx queue len : Specifies the length of the RX message queue in the TWAI driver.
- Alerts enabled : Enables specific TWAI alerts. 'TWAI_ALERT_ALL' activates all alert conditions.
- Clkout divider : Sets the clock output divider to control the frequency of the TWAI clock output.
can twai start
Start the TWAI driver.
Inputs
- Can twai config : Defines the TWAI (CAN) driver configuration, including settings for filters, timing parameters, and operating mode.
can twai stop
Stop the TWAI driverr.
Inputs
- Can twai config : Defines the TWAI (CAN) driver configuration, including settings for filters, timing parameters, and operating mode.
can twai driver uninstall
Uninstall the TWAI driver.
Inputs
- Can twai config : Defines the TWAI (CAN) driver configuration, including settings for filters, timing parameters, and operating mode.
can twai transmit
To transmit the sensor data.
Inputs
- Can twai config : Defines the TWAI (CAN) driver configuration, including settings for filters, timing parameters, and operating mode.
- Identifier : CAN message identifier (Standard: 11-bit, Extended: 29-bit).
- Tx buff : Data buffer for the CAN message payload (0-8 bytes for Classic CAN, 0-64 bytes for CAN FD).
- Frame format : Data buffer for the CAN message payload (0-8 bytes for Classic CAN, 0-64 bytes for CAN FD).
- Remote frame : Data buffer for the CAN message payload (0-8 bytes for Classic CAN, 0-64 bytes for CAN FD).
- Single shot transmission : Determines whether the CAN frame should be retransmitted on error (Normal Transmission) or sent only once (Single Shot Transmission).
- Self reception request : Allows the device to receive its own transmitted CAN frames (Self Reception) or disables this feature (Normal Transmission).
- Dlc non comp : Defines whether the Data Length Code (DLC) follows ISO CAN specifications (≤ 8 bytes) or allows non-ISO compliant messages (> 8 bytes).
can twai receive
To receive the data of the twai device.
Inputs
- Can twai config : Defines the TWAI (CAN) driver configuration, including settings for filters, timing parameters, and operating mode.
can twai read alerts
Read TWAI driver alerts.
Inputs
- Can twai config : Defines the TWAI (CAN) driver configuration, including settings for filters, timing parameters, and operating mode.
- Ticks to wait : Defines the number of RTOS ticks to wait before the function times out. A value of 0 means no waiting, while a nonzero value allows the function to block for the specified number of ticks.
can twai reconfigure alerts
Reconfigure which alerts are enabled.
Inputs
- Can twai config : Defines the TWAI (CAN) driver configuration, including settings for filters, timing parameters, and operating mode.
- Alerts enabled : Bitwise OR of alert flags that should be enabled. Example: 0x800 (BUS_OFF) | 0x400 (RX_QUEUE_FULL).
can twai get status
Get current status information.
Inputs
- Can twai config : Defines the TWAI (CAN) driver configuration, including settings for filters, timing parameters, and operating mode.
can twai initiate recovery
Start the bus recovery process.
Inputs
- Can twai config : Defines the TWAI (CAN) driver configuration, including settings for filters, timing parameters, and operating mode.
can twai clear transmit queue
Clear the transmit queue.
Inputs
- Can twai config : Defines the TWAI (CAN) driver configuration, including settings for filters, timing parameters, and operating mode.
can twai clear receive queue
Clear the receive queue.
Inputs
- Can twai config : Defines the TWAI (CAN) driver configuration, including settings for filters, timing parameters, and operating mode.
Event Nodes
on can twai receive
An Event Producer Node when receive the data on twai device. It will receive the indetifier, frame format(which contain a 29-bit ID and an 11-bit ID) and remote frame.
Inputs
- Can twai config : Defines the TWAI (CAN) driver configuration, including settings for filters, timing parameters, and operating mode.