Canimal CAN-USB User Guide

Introduction

The Canimal CAN-USB adapter enables seamless communication between your computer and CAN networks. This guide provides step-by-step instructions for setting up and using the device on Windows, Linux, and macOS.

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1. Setting Up CAN Interfaces

Linux

1. Verify Device Recognition:
   • Plug in the CAN-USB adapter and check using:

     lsusb
     dmesg | grep can
     

   • It should appear as /dev/ttyUSBX or canX.
2. Install CAN Utilities (if needed):

   sudo apt install can-utils
   

3. Bring up the interface:

   sudo ip link set can0 up type can bitrate 500000
   

macOS

1. Check Device Detection:
   • Run:

     ioreg -p IOUSB
     

   • The Canimal CAN-USB should be listed.
2. Install Necessary Tools:

   brew install can-utils
   

3. Enable Interface:

   sudo ifconfig can0 up
   

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2. Setting Bit Rates for CAN Interfaces

Linux/macOS:

Set the bitrate to 500kbit/s (example):

sudo ip link set can0 up type can bitrate 500000

3. Setting Termination for Individual Interfaces

Some CAN networks require termination. You can enable or disable termination using:

sudo ip link set can0 down
sudo ip link set can0 up type can bitrate 500000 termination on

For Windows, enable termination via GUI settings or use:

canimal_can_config.exe --interface can0 --termination on

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4. Sending CAN Data Over the Interfaces

Linux/macOS:

Use cansend:

cansend can0 123#DEADBEEF

5. Receiving Data Over the Interfaces

Linux/macOS:

Use candump:

candump can0

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6. Using Python Jupyter Notebook to Read and Log Data

Install Dependencies

pip install python-can jupyter

Start Jupyter Notebook

jupyter notebook

Example Python Code for Logging Data

import can
import time

bus = can.interface.Bus(channel='can0', bustype='socketcan')

# Logging CAN data
with open("log.txt", "w") as log_file:
    for msg in bus:
        log_entry = f"{msg.timestamp}: ID={msg.arbitration_id} DATA={msg.data.hex()}\n"
        print(log_entry)
        log_file.write(log_entry)

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