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Andrew Beal
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Change default bitrate to 500K.Fix bus to handle proper channel pass in. Add interface option to logger tool.
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‎.hgflow‎

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[branchname]
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master = default
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develop = develop
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feature = feature/
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release = release/
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hotfix = hotfix/
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support = support/
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‎.hgignore‎

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syntax: glob
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build/
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dist/
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.idea/
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pycanlib.egg-info/
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version.txt
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*.pyc

‎CONTRIBUTORS.txt‎

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Ben Powell
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Brian Thorne <bthorne@dynamiccontrols.com>
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Geert Linders <glinders@dynamiccontrols.com>
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Mark Catley <mcatley@dynamiccontrols.com>
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Phillip Dixon <pdixon@dynamiccontrols.com>
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Rose Lu <rlu@dynamiccontrols.com>
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Albert Bloomfield <albert.bloomfield@ampeletricvehicles.com>

‎LICENSE.txt‎

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GNU LESSER GENERAL PUBLIC LICENSE
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Version 3, 29 June 2007
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Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
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Everyone is permitted to copy and distribute verbatim copies
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of this license document, but changing it is not allowed.
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This version of the GNU Lesser General Public License incorporates
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the terms and conditions of version 3 of the GNU General Public
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License, supplemented by the additional permissions listed below.
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0. Additional Definitions.
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As used herein, "this License" refers to version 3 of the GNU Lesser
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General Public License, and the "GNU GPL" refers to version 3 of the GNU
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recombine or relink the Application with a modified version of
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manner specified by section 6 of the GNU GPL for conveying
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e) Provide Installation Information, but only if you would otherwise
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GNU GPL, and only to the extent that such information is
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necessary to install and execute a modified version of the
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Combined Work produced by recombining or relinking the
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Application with a modified version of the Linked Version. (If
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you use option 4d0, the Installation Information must accompany
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the Minimal Corresponding Source and Corresponding Application
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Code. If you use option 4d1, you must provide the Installation
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Information in the manner specified by section 6 of the GNU GPL
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for conveying Corresponding Source.)
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5. Combined Libraries.
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You may place library facilities that are a work based on the
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Library side by side in a single library together with other library
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facilities that are not Applications and are not covered by this
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License, and convey such a combined library under terms of your
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choice, if you do both of the following:
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a) Accompany the combined library with a copy of the same work based
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on the Library, uncombined with any other library facilities,
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conveyed under the terms of this License.
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b) Give prominent notice with the combined library that part of it
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is a work based on the Library, and explaining where to find the
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accompanying uncombined form of the same work.
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6. Revised Versions of the GNU Lesser General Public License.
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The Free Software Foundation may publish revised and/or new versions
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of the GNU Lesser General Public License from time to time. Such new
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versions will be similar in spirit to the present version, but may
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differ in detail to address new problems or concerns.
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Each version is given a distinguishing version number. If the
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Library as you received it specifies that a certain numbered version
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of the GNU Lesser General Public License "or any later version"
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applies to it, you have the option of following the terms and
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conditions either of that published version or of any later version
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published by the Free Software Foundation. If the Library as you
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received it does not specify a version number of the GNU Lesser
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General Public License, you may choose any version of the GNU Lesser
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If the Library as you received it specifies that a proxy can decide
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‎README.md‎

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The **C**ontroller **A**rea **N**etwork is a bus standard designed to
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allow microcontrollers and devices to communicate with each other. It
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has priority based bus arbitration, reliable deterministic
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communication. It is used in cars, trucks, wheelchairs and more. See
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[wikipedia][1] for more info.
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# python-can
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This module provides controller area network support for [Python][4].
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## Configuration File
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In order to use this library a CAN interface needs to be specified.
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A method to do this is to create a configuration file called `can.conf`,
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`~/.canrc` or `can.ini`.
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The configuration file sets the default interface and channel:
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[default]
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interface = <the name of the interface to use>
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channel = <the channel to use by default>
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## Interfaces
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The interface available are:
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### kvaser
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[Kvaser][2]'s CANLib SDK for Windows (also available on Linux)
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### socketcan
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On linux the socketcan interface is exposed via either:
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- socketcan_ctypes
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- socketcan_native
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### serial
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A text based interface. For example use over bluetooth with `/dev/rfcomm0`
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### pcan
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[Peak-System][8]'s PCAN-Basic API.
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## Installation
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## GNU/Linux dependencies
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Reasonably modern Linux Kernels (2.6.25 or newer) have an implementation of
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``socketcan``. This version of python-can will directly use socketcan
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if called with Python 3.3 or greater, otherwise that interface is
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used via ctypes.
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## Windows dependencies
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### Kvaser
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To install `python-can` using the Kvaser CANLib SDK as the backend:
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1. Install the [latest stable release of Python][4].
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2. Install [Kvaser's latest Windows CANLib drivers][5].
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3. Test that Kvaser's own tools work to ensure the driver is properly
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installed and that the hardware is working.
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### PCAN
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To use the PCAN-Basic API as the backend (which has only been tested with
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Python 2.7):
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1. Download the latest version of the [PCAN-Basic API][9].
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2. Extract `PCANBasic.dll` from the Win32 subfolder of the archive or the x64
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subfolder depending on whether you have a 32-bit or 64-bit installation of
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Python.
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3. Copy `PCANBasic.dll` into the working directory where you will be running
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your python script. There is probably a way to install the dll properly,
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but I'm not certain how to do that.
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Note that PCANBasic API timestamps count seconds from system startup. To
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convert these to epoch times, the uptime library is used. If it is not
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available, the times are returned as number of seconds from system startup.
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To install the uptime library, run `pip install uptime`.
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## Install python-can
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You may need to install [pip][7] and [setuptools][10] first.
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Two options, install normally with:
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python setup.py install
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Or to do a "development" install of this package to your machine (this allows
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you to make changes locally or pull updates from the Mercurial repository and
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use them without having to reinstall):
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python setup.py develop
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On linux you will need `sudo` rights.
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## Documentation
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The documentation for python-can has been generated with Sphinx they can be viewed online at
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[python-can.readthedocs.org][6]
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### Generation
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With sphinx installed the documentation can be generated locally with:
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python setup.py build_sphinx
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[1]: http://en.wikipedia.org/wiki/CAN_bus
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[2]: http://www.kvaser.com
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[3]: http://www.brownhat.org/docs/socketcan/llcf-api.html
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[4]: http://python.org/download/
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[5]: http://www.kvaser.com/en/downloads.html
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[6]: https://python-can.readthedocs.org/en/latest/
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[7]: http://www.pip-installer.org/en/latest/installing.html
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[8]: http://www.peak-system.com/
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[9]: http://www.peak-system.com/Downloads.76.0.html?
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[10]: https://pypi.python.org/pypi/setuptools

‎bin/can_logger.py‎

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#!/usr/bin/env python
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"""
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can_logger.py logs CAN traffic to the terminal and to a file on disk.
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can_logger.py can0
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See candump in the can-utils package for a C implementation.
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Efficient filtering has been implemented for the socketcan backend.
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For example the command
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can_logger.py can0 F03000:FFF000
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Will filter for can frames with a can_id containing XXF03XXX.
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Dynamic Controls 2010
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"""
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from __future__ import print_function
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import datetime
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import argparse
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import time
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import can
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if __name__ == "__main__":
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parser = argparse.ArgumentParser(description="Log CAN traffic, printing messages to stdout or to a given file")
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parser.add_argument("-f", "--file_name", dest="log_file",
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help="""Path and base log filename, extension can be .txt, .csv, .db, .npz""",
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default=None)
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parser.add_argument("-v", action="count", dest="verbosity",
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help='''How much information do you want to see at the command line?
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You can add several of these e.g., -vv is DEBUG''', default=2)
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parser.add_argument('-c', '--channel', help='''Most backend interfaces require some sort of channel.
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For example with the serial interface the channel might be a rfcomm device: /dev/rfcomm0
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Other channel examples are: can0, vcan0''', default=can.rc['channel'])
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parser.add_argument('-i', '--interface', dest="interface",help='''Which backend do you want to use?''',default='kvaser',choices=('kvaser','socketscan','pcan','serial'))
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parser.add_argument('--filter', help='''Comma separated filters can be specified for the given CAN interface:
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<can_id>:<can_mask> (matches when <received_can_id> & mask == can_id & mask)
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<can_id>~<can_mask> (matches when <received_can_id> & mask != can_id & mask)
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''', nargs=argparse.REMAINDER, default='')
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results = parser.parse_args()
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verbosity = results.verbosity
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logging_level_name = ['critical', 'error', 'warning', 'info', 'debug', 'subdebug'][min(5, verbosity)]
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can.set_logging_level(logging_level_name)
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can_filters = []
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if len(results.filter) > 0:
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print('we have filter/s', results.filter)
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for filt in results.filter:
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if ':' in filt:
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_ = filt.split(":")
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can_id, can_mask = int(_[0], base=16), int(_[1], base=16)
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elif "~" in filt:
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can_id, can_mask = filt.split("~")
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can_id = int(can_id, base=16) | 0x20000000 # CAN_INV_FILTER
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can_mask = int(can_mask, base=16) & socket.CAN_ERR_FLAG
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can_filters.append({"can_id": can_id, "can_mask": can_mask})
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bus = can.interface.Bus(results.channel, bustype=results.interface, can_filters=can_filters)
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print('Can Logger (Started on {})\n'.format(datetime.datetime.now()))
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notifier = can.Notifier(bus, [can.Printer(results.log_file)])
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try:
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while True:
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time.sleep(1)
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except KeyboardInterrupt:
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bus.shutdown()

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