CANable 2.0 Firmware

This repository contains sources for the slcan CANable 2.0 firmware. This firmware implements non-standard slcan commands to support CANFD messaging alongside a LAWICEL-style command set.

Supported Commands

• O - Open channel in normal mode

• L - Open channel in silent mode

• C - Close channel

• S0 - Set nominal bitrate to 10k

• S1 - Set nominal bitrate to 20k

• S2 - Set nominal bitrate to 50k

• S3 - Set nominal bitrate to 100k

• S4 - Set nominal bitrate to 125k (default)

• S5 - Set nominal bitrate to 250k

• S6 - Set nominal bitrate to 500k

• S7 - Set nominal bitrate to 800k

• S8 - Set nominal bitrate to 1M

• Y0 - Set data bitrate to 500k

• Y1 - Set data bitrate to 1M

• Y2 - Set data bitrate to 2M (default)

• Y4 - Set data bitrate to 4M

• Y5 - Set data bitrate to 5M

• Y8 - Set data bitrate to 8M (If supported by the CAN tranceiver)

• rIIIL - Transmit remote frame (Standard ID) [ID, length]

• RIIIIIIIIL - Transmit remote frame (Extended ID) [ID, length]

• tIIILDD... - Transmit data frame (Standard ID) [ID, length, data]

• TIIIIIIIILDD... - Transmit data frame (Extended ID) [ID, length, data]

• dIIILDD... - Transmit CAN FD standard ID (no BRS) [ID, length, data]

• DIIIIIIIILDD... - Transmit CAN FD extended ID (no BRS) [ID, length, data]

• bIIILDD... - Transmit CAN FD BRS standard ID [ID, length, data]

• BIIIIIIIILDD... - Transmit CAN FD extended ID [ID, length, data]

• V - Returns firmware version and remote path as a string

• N - Returns or sets serial number

• F - Returns status flags

• Z - Turn on or off time stamp

• Q - Turn on or off auto-startup feature

Note: CANFD message lengths are as follows (expressed in hexadecimal):

• 0-8: Same as standard CAN
• 9: Length = 12
• A: Length = 16
• B: Length = 20
• C: Length = 24
• D: Length = 32
• E: Length = 48
• F: Length = 64

Note: Channel configuration commands must be sent before opening the channel. The channel must be opened before transmitting frames.

Building

Firmware builds with GCC. Specifically, you will need gcc-arm-none-eabi, which is packaged for Windows, OS X, and Linux on Launchpad. Download for your system and add the bin folder to your PATH.

Your Linux distribution may also have a prebuilt package for arm-none-eabi-gcc, check your distro's repositories to see if a build exists. Simply compile by running make.

Flashing with the Bootloader

Plug in your CANable2 while pressing down the BOOT button. The blue LED should be dimly illuminated. Next, type make flash and your CANable will be updated to the latest firwmare. Unplug/replug the device after moving the boot jumper back, and your CANable will be up and running.

License

See LICENSE.md