python-can-usbtingo

This module is a plugin for python-can. It adds support for the USBtingo USB to CAN-FD interface.

Installation

Install using pip:

$ pip install python-can-usbtingo

Usage

After installation, the usbtingo interface can be used like any other in python-can.

Example: Viewer

Python-can provides a tool for monitoring received frames on the console. Connects to a 125kBaud classic CAN bus:

python -m can.viewer -i usbtingo --bitrate 125000

Connects to a 1M/2M CAN-FD bus. If several USBtingos are connected, -c with the unique USB serial number (here: ABCD1234) selects a specific device:

python -m can.viewer -i usbtingo --fd --bitrate 1000000 --data_bitrate 2000000 -c ABCD1234    

Example: Send classic CAN message, blocking

import can

with can.Bus(interface="usbtingo", bitrate=125000) as bus:

    message = can.Message(arbitration_id=0x123, is_extended_id=False, data=[0x11, 0x22, 0x33, 0x44])
    bus.send(message)               # blocking: wait until message sent out

Example: Send CAN-FD message, non-blocking

import can
   
with can.Bus(interface="usbtingo", fd=True, bitrate=1000000, data_bitrate=2000000) as bus:

    message = can.Message(arbitration_id=0x123, is_fd=True, bitrate_switch=True, data=range(64))
    bus.send(message, timeout=0)    # non-blocking

Example: Receive CAN message blocking, open specific device via serial number (channel)

import can
    
with can.Bus(interface="usbtingo", bitrate=125000, channel="ABCD1234") as bus:

    message = bus.recv()
    print(message)

Example: Receive CAN messages non-blocking with Notifier, receive own (TX) messages

import can

def parse_data(msg):
    print(msg)        

with can.Bus(interface="usbtingo", is_fd=True, bitrate=1000000, data_bitrate=2000000, receive_own_messages=True) as bus:

    can.Notifier(bus, [parse_data])

    bus.send(can.Message(arbitration_id=0x123, is_fd=True, bitrate_switch=True, data=range(12)), timeout=0)

    while True:
        time.sleep(1)

Example: Receive CAN messages with iterator, open listen-only (passive)

import can    

with can.Bus(interface="usbtingo", bitrate=125000, state=can.BusState.PASSIVE) as bus:

    for msg in bus:
        print(f"{msg.arbitration_id:X}: {msg.data}")

[!NOTE] In listen-only (passive) mode, no ACKs are generated on the CAN bus. With only one active bus device, this causes multiple transmission attempts or errors.

Example: Filter CAN messages (up to 32 hardware filters)

import can    
   
with can.Bus(interface="usbtingo", is_fd=True, bitrate=1000000, data_bitrate=2000000, receive_own_messages=True) as bus:
   
    bus.set_filters([
        {"can_id": 0x321, "can_mask": 0x7fe, "extended": False},            # accept standard frame with id 0x321
        {"can_id": 0x001, "can_mask": 0x001, "extended": False},            # accept all odd ids of standard frames
        {"can_id": 0x1234567, "can_mask": 0x1fffffff, "extended": True},    # accept extended frame with id 0x1234567
        {"can_id": 0x0000000, "can_mask": 0x00000001, "extended": True}     # accept all even ids of extended frames
    ])

Example: Echo with hardware timestamping and CAN-RX logic analyzing

USBtingo generates hardware timestamps by default - both RX and TX. This allows the response time to be measured in an echo test:

import can
import time

with can.Bus(interface="usbtingo", bitrate=10000) as bus:

    bus.recording_start()
        
    print("wait for message...")

    msgrx = bus.recv()
    print(msgrx)   

    print("received. now send a messaage")

    msgtx = can.Message(arbitration_id=0x123, is_extended_id=False,
                        data=[0x00, 0x11, 0x22, 0x33, 0x44, 0x55, 0x66, 0x77])
    bus.send(msgtx)
    print(msgtx)

    diff = msgtx.timestamp - msgrx.timestamp

    print("time diff in milliseconds: ", diff * 1000)

    bus.recording_stop()

Output:

$ python echotest.py 
wait for message...
Timestamp: 1701853126.749139        ID: 0123    S Rx                DL:  4    11 22 33 44
received. now send a messaage
Timestamp: 1701853126.759339        ID: 0123    S Tx                DL:  8    00 11 22 33 44 55 66 77
time diff in milliseconds:  10.200023651123047

Additionally the recording function for the CAN-RX line was used. The recorded signal (stored to file usbtingo_capture.sr by default) can be be analyzed with Pulseview:

Example: Detect connected USBtingo devices

import can

devicelist = can.detect_available_configs(interfaces=["usbtingo"])
print(devicelist)