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enableCAN

Enable CAN interface

Since R2021b

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Add-On Required: This feature requires the MATLAB Support Package for Raspberry Pi Hardware add-on.

Syntax

enableCAN(raspiObj)
enableCAN(raspiObj,devicename)
enableCAN(raspiObj,devicename,interfacename)
enableCAN(raspiObj,devicename,interfacename, oscillatorFrequency)
enableCAN(raspiObj,devicename,interfacename, oscillatorFrequency,interruptPin)

Description

enableCAN(raspiObj) enables the can0 interface for MCP2515 CAN controller.

enableCAN(raspiObj,devicename). Enables CAN interface for the specified device. The CAN controller can only be set to MCP2515. To disable CAN, use the disableCAN function.

enableCAN(raspiObj,devicename,interfacename) enables the CAN object for the specified interface and device. To disable CAN, use the disableCAN function.

enableCAN(raspiObj,devicename,interfacename, oscillatorFrequency)enables the CAN object when the interface name, device name, and oscillator frequency is set. To disable CAN, use the disableCAN function.

enableCAN(raspiObj,devicename,interfacename, oscillatorFrequency,interruptPin)enables the CAN object for the specified interrupt pin, interface, device, and oscillator frequency. To disable CAN, use the disableCAN function.

Examples

Enable CAN Object

Create a Raspberry Pi® object. The available CAN interfaces do not show until you enable the CAN object.

raspiObj = raspi("192.168.1.101","pi","raspberry")
raspiObj = 
raspi with properties:

         DeviceAddress: '192.168.1.101'                
                  Port: 18734                         
             BoardName: 'Raspberry Pi 3 Model B+'     
         AvailableLEDs: {'led0'}                      
  AvailableDigitalPins: [4,5,6,12,13,14,15,16,17,18,19,
                                        20,21,22,23,24,25,26,27]
  AvailableSPIChannels: {'CE0','CE1'}                 
     AvailableI2CBuses: {'i2c-0','i2c-1'}             
      AvailableWebcams: {}                            
           I2CBusSpeed: 100000                        
AvailableCANInterfaces: {}    
supported peripherals

Enable the CAN interface with default properties.

enableCAN(raspiObj)

SPI channels are inaccessible if you enable the CAN interface for MCP2515 controllers. Reboot the Raspberry Pi to apply the changes.

 system(raspiObj, 'sudo reboot').

Connection to SSH server at 192.168.1.101 is terminated. Clear the hardware communication object and re-create it to establish the connection. 

clear raspiObj
raspiObj = raspi("192.168.1.101","pi","raspberry")

A CAN object is enabled.

raspiObj = 

  raspi with properties:

         DeviceAddress: '192.168.1.101'                
                  Port: 18734                         
             BoardName: 'Raspberry Pi 3 Model B+'     
         AvailableLEDs: {'led0'}                      
  AvailableDigitalPins: [4,5,6,10,12,13,14,15,16,17,18,19,
                                        20,21,22,23,24,25,26,27]
  AvailableSPIChannels: {'CE1'}                       
     AvailableI2CBuses: {'i2c-0','i2c-1'}             
      AvailableWebcams: {}                            
           I2CBusSpeed: 100000                        
AvailableCANInterfaces: {"can0"}                      

  Supported peripherals

Input Arguments

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Connection to a Raspberry Pi hardware board, specified as a raspi object.

Data Types: object

The default CAN controller available is MCP2515.

Example: MCP2515

Data Types: string

CAN interface, specified as either can0 or can1.

Example: can0

Data Types: string

Note

Enabling can1 interface will also enable can0 if it is not enabled before.

Frequency of the oscillator crystal in the shield, specified as 8 or 12 or 16 MHz.

Example: 16

Data Types: double

The interrupt pin of the Rapsberry Pi that connect with CAN shield, specified as a number between 4 and 25, included.

Example: 25

Data Types: double

Version History

Introduced in R2021b

See Also

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