On-board CAN Transmit

Transmit messages to CAN network using on-board Arduino CAN controller

Since R2024b

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  • Arduino On-board CAN Transmit block icon

Libraries:
Simulink Support Package for Arduino Hardware / Communication

Description

Add-On Required: This feature requires the Simulink Support Package for Arduino Hardware add-on.

Use the On-board CAN Transmit block to transmit CAN messages from the on-board Arduino® CAN controller. The block transmits messages from the mailboxes into the CAN network in a first-in, first-out method at every sample time.

Note

The On-board CAN Transmit block supports C/C++ code generation. This feature allows you to generate C and C++ code using Embedded Coder®.

Supported Arduino Boards

  • Arduino Due

  • Arduino compatible Teensy 4.0 and 4.1

  • Arduino UNO R4 Wi-Fi®

  • Arduino UNO R4 Minima

Ports

Input

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The block accepts CAN messages in raw or CAN message formats.

  • Raw data — To accept the message as a uint8 vector array, set Data is input as to Raw data.

  • CAN message — To accept the message in the CAN message format, set Data is input as to CAN Msg.

Data Types: uint8 | CAN Msg

Output

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The block outputs CAN message transmission status.

Arduino Due, Arduino UNO R4 Wi-Fi, and Arduino UNO R4 Minima boards uses these transmission statues.

  • 1 — The CAN controller transmits data successfully on to the CAN network.

  • 0 — The CAN controller cannot transmit data successfully on to the CAN network or if the transmission CAN mailbox is full.

Arduino Teensy boards use these transmission statues.

  • -2 — Value in the transmit error counter (TEC) is >= 96 due to CAN controller failure or accumulation of transmission errors.

  • -1 — The CAN controller cannot transmit data successfully on to the CAN network or if no transmit mailboxes are available to transmit data on to the CAN network.

  • 0 — No transmission queue available.

  • 1 — The CAN controller transmits data successfully on to the CAN network.

Dependencies

  • To enable this port, select Output status.

Data Types: uint8

Parameters

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Select the CAN controller according to the Arduino board you use.

Arduino BoardsSupported CAN Controller
Arduino DueCAN0 and CAN1
Arduino compatible Teensy 4.0 and 4.1CAN1, CAN2, and CAN3
Arduino UNO R4 Wi-FiCAN0
Arduino UNO R4 Minima

For more information on how to assign or view the Arduino board pins for the On-board CAN Receive block, click View pin map.

Select the input message type.

  • Raw data — Select this option to accept the input message as a 1-by-N uint8 array.

  • CAN Msg — Select this option to accept the input message in CAN message format.

    Perform these steps to accept message in CAN message format.

    • To your Simulink® model, add a CAN Pack (Vehicle Network Toolbox) from the Vehicle Network Toolbox™.

    • Connect the output of the CAN Pack (Vehicle Network Toolbox) to the input port of the On-board CAN Transmit block.

    • Using the options in the Data is input as list of the CAN Pack (Vehicle Network Toolbox) block, specify if you want to create your messages or you want to upload a CAN database file. If you choose to upload a CAN database file, the CAN Pack inherits the message properties from the uploaded file.

On-board CAN Transmit and CAN Pack blocks connections

Select this option to request status of CAN message transmission.

Message

To enable the parameters under the Message section, set Data is input as to Raw data.

Specify the CAN identifier type.

  • Standard (11-bit identifier) — Use this option to transmit CAN messages with a standard 11-bit identifier.

  • Extended (29-bit identifier) — Use this option to transmit CAN messages with an extended 29-bit identifier.

Specify the message identifier, which is 11 bits long for the standard CAN frame size or 29 bit long for the extended CAN frame size. You can specify the value in decimal, binary, or hexadecimal. For binary and hexadecimal formats, use bin2dec and hex2dec, respectively. The message identifier is coded into a message that is sent to the CAN bus.

Specify the length of CAN message in bytes.

Select this option to identify if the data frame the block transmits on the CAN network is a remote frame or not.

Note

Arduino UNO R4 Wi-Fi and Minima boards does not support CAN remote frames.

Version History

Introduced in R2024b

See Also

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