def init_cans():
can1 = CAN(1, CAN.NORMAL)
can2 = CAN(2, CAN.NORMAL)
can1.setfilter(0, CAN.LIST16, 0, (23, 24, 25, 26))
can1.setfilter(1, CAN.LIST16, 1, (33, 34, 35, 36))
return can1, can2
def bitrate(self, bitrate=125):
if bitrate == 125:
# 125kpbs, PCLK1@42000000
self._canIf = CAN(self._canId,
CAN.NORMAL,
extframe=False,
prescaler=16,
sjw=1,
bs1=14,
bs2=6)
print('set can speed', bitrate)
elif bitrate == 250:
''' Init for 250 kbps <=> bit time 4 µs. If 42 MHz clk is prescaled by 21, we get 8 subparts 'tq'
of a bit time from theese parts (# tq): sync(1) + bs1(5) + bs2(2) = 8 * tq = 4µs => 250 kbps'''
self._canIf = CAN(self._canId,
CAN.NORMAL,
extframe=False,
prescaler=21,
sjw=1,
bs1=5,
bs2=2)
else:
print('CAN speed not found')
self._canIf.initfilterbanks(1)
return True
def init_cans():
can1 = CAN(1, CAN.NORMAL, prescaler=2, sjw=1, bs1=14, bs2=6)
can2 = CAN(2, CAN.NORMAL, prescaler=2, sjw=1, bs1=14, bs2=6)
can1.setfilter(0, CAN.LIST16, 0, (23, 24, 25, 26))
can1.setfilter(1, CAN.LIST16, 1, (33, 34, 35, 36))
# can1.rxcallback(0, cb10)
# can1.rxcallback(1, cb11)
# can2.rxcallback(0, cb2)
# can2.rxcallback(1, cb2)
return can1, can2
def _init_cans():
can1 = CAN(1, CAN.NORMAL, prescaler=2, sjw=1, bs1=14, bs2=6)
can2 = CAN(2, CAN.NORMAL, prescaler=2, sjw=1, bs1=14, bs2=6)
can1.setfilter(0, CAN.LIST16, 0, (11, 12, 13, 14))
can1.setfilter(1, CAN.LIST16, 1, (21, 22, 23, 24))
can1.rxcallback(0, cb10)
# can1.rxcallback(1, cb11)
# can2.rxcallback(0, cb2)
# can2.rxcallback(1, cb2)
return can1, can2
def __init__(self,
port=2,
data_rate=None,
host_id=2,
module_id=1,
debug=False,
can_mode=CanModeNormal()):
del data_rate
tmcl_interface.__init__(self, host_id, module_id, debug)
tmcl_host_interface.__init__(self, host_id, module_id, debug)
self.__silent = Pin(Pin.cpu.B14, Pin.OUT_PP)
self.__mode = can_mode
self.__flag_recv = False
self.__set_mode()
CAN.initfilterbanks(14)
self.__can = CAN(port, CAN.NORMAL)
# PCLK1 = 42 MHz, Module_Bitrate = 1000 kBit/s
# With prescaler = 3, bs1 = 11, bs2 = 2
# Sample point at 85.7 %, accuracy = 100 %
self.__can.init(CAN.NORMAL,
prescaler=3,
bs1=11,
bs2=2,
auto_restart=True)
self.__can.setfilter(0, CAN.LIST16, 0,
(host_id, host_id, host_id, host_id))
self.__can.rxcallback(0, self.__callback_recv)
def __init__(self,
port=1,
data_rate=None,
host_id=2,
module_id=1,
debug=False,
can_mode=CanModeNormal()):
del data_rate
tmcl_module_interface.__init__(self, host_id, module_id, debug)
tmcl_host_interface.__init__(self, host_id, module_id, debug)
self.__silent = Pin(Pin.cpu.B10, Pin.OUT_PP)
self.__mode = can_mode
self.__flag_recv = False
self.__can = None
CAN.initfilterbanks(14)
# PCLK1 = 42 MHz, Module_Bitrate = 1000 kBit/s
# With prescaler = 3, bs1 = 11, bs2 = 2
# Sample point at 85.7 %, accuracy = 100 %
if (isinstance(self.__mode, CanModeNormal)):
self.__silent.low()
self.__can = CAN(port, CAN.NORMAL)
self.__can.init(CAN.NORMAL,
prescaler=3,
bs1=11,
bs2=2,
auto_restart=True)
self.__can.setfilter(0, CAN.LIST16, 0,
(host_id, host_id, module_id, module_id))
elif (isinstance(self.__mode, CanModeSilent)):
self.__silent.high()
self.__can = CAN(port, CAN.SILENT)
self.__can.init(CAN.SILENT,
prescaler=3,
bs1=11,
bs2=2,
auto_restart=True)
self.__can.setfilter(0, CAN.LIST16, 0,
(host_id, host_id, module_id, module_id))
elif (isinstance(self.__mode, CanModeOff)):
raise ValueError() # Not supported by TJA1051T/3
self.__can.rxcallback(0, self.__callback_recv)
def __init__(self, devid):
self.can = CAN(2, CAN.NORMAL)
# Device id [0-63]
self.devid = devid
# Mode of the device
self.mode = 0
# Configuration data
self.config_simple_targets = 0
self.config_line_segments = 0
self.config_color_detect = 0
self.config_advanced_targets = 0
self.frame_counter = 0
# Buffer for receiving data in our callback.
self.read_buffer = bytearray(8)
self.read_data = [0, 0, 0, memoryview(self.read_buffer)]
# Initialize CAN based on which type of board we're on
if omv.board_type() == "H7":
print("H7 CAN Interface")
self.can.init(CAN.NORMAL,
extframe=True,
baudrate=1000000,
sampling_point=75) # 1000Kbps H7
#self.can.init(CAN.NORMAL, extframe=True, prescaler=4, sjw=1, bs1=8, bs2=3)
elif omv.board_type() == "M7":
self.can.init(CAN.NORMAL,
extframe=True,
prescaler=3,
sjw=1,
bs1=10,
bs2=7) # 1000Kbps on M7
self.can.setfilter(0, CAN.LIST32, 0, [
self.my_arb_id(self.api_id(1, 3)),
self.my_arb_id(self.api_id(1, 4))
])
print("M7 CAN Interface")
else:
print("CAN INTERFACE NOT INITIALIZED!")
self.can.restart()
try:
from pyb import CAN
except ImportError:
print("SKIP")
raise SystemExit
from array import array
import micropython
import pyb
# test we can correctly create by id (2 handled in can2.py test)
for bus in (-1, 0, 1, 3):
try:
CAN(bus, CAN.LOOPBACK)
print("CAN", bus)
except ValueError:
print("ValueError", bus)
CAN(1).deinit()
can = CAN(1)
print(can)
# Test state when de-init'd
print(can.state() == can.STOPPED)
can.init(CAN.LOOPBACK, num_filter_banks=14)
print(can)
print(can.any(0))
# Test state when freshly created
print(can.state() == can.ERROR_ACTIVE)
def write_command(cmd):
"""
write single command byte to ssd1306
"""
dc.low()
spi.send(cmd)
filterMsgIDs = (123, 124, 125, 126)
#for i in range(0, 100, 1):
# filterMsgIDs[i] = i+100
displayText = strtobit
accel = pyb.Accel()
#can1 = CAN(1, CAN.NORMAL, extframe=False, prescaler=16, sjw=1, bs1=14, bs2=6) #125kbps
can1 = CAN(1, CAN.NORMAL, extframe=False, prescaler=8, sjw=1, bs1=14,
bs2=6) #250kbps
#can1 = CAN(1, CAN.NORMAL, extframe=False, prescaler=4, sjw=1, bs1=14, bs2=6) #500kbps
#can1 = CAN(1, CAN.NORMAL, extframe=False, prescaler=2, sjw=1, bs1=14, bs2=6) #1000kbps <- not wornikg
#can1 = CAN(1, CAN.LOOPBACK, extframe=False, prescaler=16, sjw=1, bs1=14, bs2=6)
can1.setfilter(0, CAN.LIST16, 0, filterMsgIDs)
recData_au8 = bytearray(8)
uart1 = UART(2, 115200)
uart1.init(115200,
bits=8,
parity=None,
stop=1,
timeout=20,
flow=0,
timeout_char=20,
read_buf_len=8)
from pyb import CAN
import pyb
CAN.initfilterbanks(14)
can = CAN(1)
print(can)
can.init(CAN.LOOPBACK)
print(can)
print(can.any(0))
# Catch all filter
can.setfilter(0, CAN.MASK16, 0, (0, 0, 0, 0))
can.send('abcd', 123, timeout=5000)
print(can.any(0))
print(can.recv(0))
can.send('abcd', -1, timeout=5000)
print(can.recv(0))
can.send('abcd', 0x7FF + 1, timeout=5000)
print(can.recv(0))
# Test too long message
try:
can.send('abcdefghi', 0x7FF, timeout=5000)
except ValueError:
print('passed')
else:
print('failed')
from pyb import CAN
buf = bytearray(8)
data_lst = [0, 0, 0, memoryview(buf)]
def can_cb1(bus, reason, fifo_num):
if reason == CAN.CB_REASON_RX:
bus.recv(fifo=fifo_num, list=data_lst)
print(data_lst)
if reason == CAN.CB_REASON_ERROR_WARNING:
print('Error Warning')
if reason == CAN.CB_REASON_ERROR_PASSIVE:
print('Error Passive')
if reason == CB_REASON_ERROR_BUS_OFF:
print('Bus off')
can0 = CAN(0, mode=CAN.NORMAL, extframe=True, baudrate=500000)
can1 = CAN(1, mode=CAN.NORMAL, extframe=True, baudrate=500000)
can1.setfilter(id=0x55, fifo=10, mask=0xf0)
can0.send(data='mess 1!', id=0x50)
can1.recv(fifo=10)
can1.rxcallback(can_cb1)
can0.send(data='mess 2!', id=0x50)
# CAN Shield Example
#
# This example demonstrates CAN communications between two cameras.
# NOTE: you need two CAN transceiver shields and DB9 cable to run this example.
import time, omv
from pyb import CAN
# NOTE: Set to False on receiving node.
TRANSMITTER = True
can = CAN(2, CAN.NORMAL, baudrate=125_000, sample_point=75)
# NOTE: uncomment to set bit timing manually, for example:
#can.init(CAN.NORMAL, prescaler=32, sjw=1, bs1=8, bs2=3)
can.restart()
if (TRANSMITTER):
while (True):
# Send message with id 1
can.send('Hello', 1)
time.sleep_ms(1000)
else:
# Runs on the receiving node.
if (omv.board_type() == 'H7'): # FDCAN
# Set a filter to receive messages with id=1 -> 4
# Filter index, mode (RANGE, DUAL or MASK), FIFO (0 or 1), params
can.setfilter(0, CAN.RANGE, 0, (1, 4))
else:
# Set a filter to receive messages with id=1, 2, 3 and 4
# Filter index, mode (LIST16, etc..), FIFO (0 or 1), params
def __init__(self):
# Constants and variables #
# UART cmd to en-/disable the GPS
self.GPS_OFF = (0xB5, 0x62, 0x06, 0x04, 0x04, 0x00, 0x00, 0x00, 0x08,
0x00, 0x16, 0x74)
self.GPS_ON = (0xB5, 0x62, 0x06, 0x04, 0x04, 0x00, 0x00, 0x00, 0x09,
0x00, 0x17, 0x76)
self.SIM_DISABLED = False
self.GPS_LOG_TIME = 5000 # 5s
self.SHUTOFF_TIME = 30000 # 30s of no CAN activity
self.TOKEN = "REDACTED"
self.VERSION = 1.0
if 'sd' in os.listdir('/'):
self.PATH = '/sd/'
else:
self.PATH = ''
self.CAN_FILE = open(self.PATH + 'can.log', 'a+')
# This will hold CAN IDs to be filtered for in the can log
self.can_filter = []
self.allowed_users = ["610574975"]
self.interrupt = False
self.shutdown = False
# Init modules #
# GPS init
self.gps_uart = UART(1, 9600) # init with given baudrate
self.gps_uart.init(9600,
bits=8,
parity=None,
stop=1,
read_buf_len=512 // 2) # init with given parameters
self.gps = MicropyGPS()
# CAN init (500 MHz)
self.can = CAN(1, CAN.NORMAL) # recv
self.can2 = CAN(2, CAN.NORMAL) # send
self.can.init(CAN.NORMAL,
prescaler=4,
sjw=1,
bs1=14,
bs2=6,
auto_restart=True)
self.can2.init(CAN.NORMAL,
prescaler=4,
sjw=1,
bs1=14,
bs2=6,
auto_restart=True)
self.can.setfilter(0, CAN.MASK16, 0, (0, 0, 0, 0))
# SIM800L init
sim_uart = UART(4, 9600, timeout=1000, read_buf_len=2048 // 4)
self.modem = Modem(sim_uart)
self.modem.initialize()
try:
self.modem.connect('internet.eplus.de')
except:
self.SIM_DISABLED = True
print("LOG ONLY MODE (NO GSM)")
# Clock init
self.rtc = RTC()
self.rtc.wakeup(5000) # wakeup call every 5s
# Interrupt Flag init
self.interrupt = False
pyb.ExtInt('X5', pyb.ExtInt.IRQ_FALLING, pyb.Pin.PULL_UP,
self.incoming_call)
# Sleep pins for GSM
self.gsm_sleep = pyb.Pin('X6', pyb.Pin.OUT_PP)
self.gsm_sleep.value(0)
if not self.SIM_DISABLED:
# Software Update
self.ota()
# Telegram Bot
self.telegram = TelegramBot(token=self.TOKEN, modem=self.modem)
from pyb import CAN
from pyb import LED
red_led = LED(1)
can = CAN(2, CAN.LOOPBACK)
#can.setfilter(0, CAN.LIST16, 0, (123, 124, 125, 126)) # set a filter to receive messages with id=123, 124, 125 and 126
can.send('message!', 123) # send a message with id 123
value = can.recv(0) # receive message on FIFO 0
if value[0] == 123:
red_led.LED.on()
print(value[3])
""" @author: Ivo Weihert @date: 14.04.2018 @organisation: TU Darmstadt Space Technology e.V. Test script transmitting data from the accelometer via can bus on pyboard Note: run receiver first! can class documentation: https://docs.micropython.org/en/latest/pyboard/library/pyb.CAN.html Accel class documentation: http://docs.micropython.org/en/v1.9.3/pyboard/library/pyb.Accel.html """ from pyb import CAN accel = pyb.Accel() can = CAN(1, CAN.NORMAL) #select can 1 (Y3,Y4) in normal mode can.setfilter(0, CAN.LIST16, 0, (123, 124, 125, 126)) #(bank, mode, fifo, params, *, rtr) - important: fifo & ID's while (True): Data_X=str(accel.x()) #get the x value from the accelerometer can.send(Data_X,123) #send x-value via can bus, Axis Information is put in can ID 123=X, 124=Y, 125=Z pyb.delay(500) #delay for better visualization Data_Y=str(accel.y()) can.send(Data_Y,124) pyb.delay(500) Data_Z=str(accel.z()) can.send(Data_Z,125) pyb.delay(500)
def send():
global send_flag
#消除抖动，sw按下返回1，松开返回0。
if sw.value() == 1:
delay(10)
if sw.value() == 1:
send_flag = 1
sw = Switch() #定义按键对象名字为sw
sw.callback(send) #当按键被按下时，执行函数send()
can = CAN(1, CAN.NORMAL) #设置CAN1为普通模式(RX-->PB8,TX-->PB9)
#设置接收相关配置 id=123, 124, 125 和 126
can.setfilter(0, CAN.LIST16, 0, (123, 124, 125, 126))
can.send('message!', 123) #发送id=123的信息
num = 0
while True:
#判断有无收到信息
if can.any(0):
text = can.recv(0) #读取数据
print(text) #通过REPL打印串口3接收的数据
if send_flag == 1:
can.send(str(num), 123) #发送id=123的信息
# CAN Shield Example
#
# This example demonstrates CAN communications between two cameras.
# NOTE: you need two CAN transceiver shields and DB9 cable to run this example.
import time, omv
from pyb import CAN
# NOTE: Set to False on receiving node.
TRANSMITTER = True
can = CAN(2, CAN.NORMAL)
# Set a different baudrate (default is 250Kbps)
# NOTE: The following parameters are for the H7 only.
#
# can.init(CAN.NORMAL, prescaler=32, sjw=1, bs1=8, bs2=3) # 125Kbps
# can.init(CAN.NORMAL, prescaler=16, sjw=1, bs1=8, bs2=3) # 250Kbps
# can.init(CAN.NORMAL, prescaler=8, sjw=1, bs1=8, bs2=3) # 500Kbps
# can.init(CAN.NORMAL, prescaler=4, sjw=1, bs1=8, bs2=3) # 1000Kbps
can.restart()
if (TRANSMITTER):
while (True):
# Send message with id 1
can.send('Hello', 1)
time.sleep(1000)
else:
# Runs on the receiving node.
if (omv.board_type() == 'H7'): # FDCAN
try:
from pyb import CAN
CAN(2)
except (ImportError, ValueError):
print("SKIP")
raise SystemExit
# Testing rtr messages
bus2 = CAN(2, CAN.LOOPBACK, extframe=True)
while bus2.any(0):
bus2.recv(0)
bus2.setfilter(0, CAN.LIST32, 0, (1, 2), rtr=(True, True))
bus2.setfilter(1, CAN.LIST32, 0, (3, 4), rtr=(True, False))
bus2.setfilter(2, CAN.MASK32, 0, (16, 16), rtr=(False, ))
bus2.setfilter(2, CAN.MASK32, 0, (32, 32), rtr=(True, ))
bus2.send("", 1, rtr=True)
print(bus2.recv(0))
bus2.send("", 2, rtr=True)
print(bus2.recv(0))
bus2.send("", 3, rtr=True)
print(bus2.recv(0))
bus2.send("", 4, rtr=True)
print(bus2.any(0))
#16x2 Display v1.0p test code
from pyb import Pin, delay, millis, CAN
from pyb_gpio_lcd import GpioLcd
import utime
print("16x2 Display v1.0p test code")
print("v1.0")
print("initializing")
can = CAN(1, CAN.NORMAL, extframe=True, prescaler=12, bs1=11, bs2=2)
can.setfilter(0, CAN.MASK32, 0, (0, 0))
#Setup Pins
hbt_led = Pin("D13", Pin.OUT)
func_butt = Pin("D5", Pin.IN, Pin.PULL_UP)
can_wakeup = Pin("D6", Pin.OUT)
can_wakeup.value(0)
#Setup hbt timer
hbt_state = 0
hbt_interval = 500
start = utime.ticks_ms()
next_hbt = utime.ticks_add(start, hbt_interval)
hbt_led.value(hbt_state)
lcd_mess = ''
print("starting")
#Setup LCD
lcd = GpioLcd(rs_pin=Pin.board.D1,
enable_pin=Pin.board.D0,
'''
description: 根据传家宝007_Elmo改写的MPY平台上的Elmo驱动
status: 未完成
issue: 报文发送失败，FIFO溢出
'''
from pyb import Pin, CAN
can = CAN(1)
can.init(mode=CAN.NORMAL, prescaler=3, sjw=1, bs1=9, bs2=4)
# Baudrate is pyb.freq() / (sjw + bs1 + bs2) / prescaler = 1Mbps
can.setfilter(bank=0, mode=CAN.MASK32, fifo=0, params=(0x0, 0x0))
COBID_NMT = 0x000
COBID_RSDO = 0x600
COBID_RPDO2 = 0x300
NMT_OPERATIONAL = 1
NMT_RESET_COMMUNICATION = 130
def NMT(elmoID, cmd):
nmt = bytearray(2)
nmt[0] = cmd
nmt[1] = elmoID # Elmo ID
can.send(nmt, id=COBID_NMT)
def RSDO(elmoID, index, subIndex, data):
rsdo = bytearray(8)
rsdo[0] = 0x22
rsdo[1] = index & 0xFF
try:
from pyb import CAN
CAN(2)
except (ImportError, ValueError):
print("SKIP")
raise SystemExit
# Testing rtr messages
bus2 = CAN(2, CAN.LOOPBACK)
while bus2.any(0):
bus2.recv(0)
bus2.setfilter(0, CAN.LIST32, 0, (1, 2), rtr=(True, True), extframe=True)
bus2.setfilter(1, CAN.LIST32, 0, (3, 4), rtr=(True, False), extframe=True)
bus2.setfilter(2, CAN.MASK32, 0, (16, 16), rtr=(False, ), extframe=True)
bus2.setfilter(2, CAN.MASK32, 0, (32, 32), rtr=(True, ), extframe=True)
bus2.send("", 1, rtr=True, extframe=True)
print(bus2.recv(0))
bus2.send("", 2, rtr=True, extframe=True)
print(bus2.recv(0))
bus2.send("", 3, rtr=True, extframe=True)
print(bus2.recv(0))
bus2.send("", 4, rtr=True, extframe=True)
print(bus2.any(0))
try:
from pyb import CAN
except ImportError:
print("SKIP")
raise SystemExit
from uarray import array
import micropython
import pyb
# test we can correctly create by id (2 handled in can2.py test)
for bus in (-1, 0, 1, 3):
try:
CAN(bus, CAN.LOOPBACK)
print("CAN", bus)
except ValueError:
print("ValueError", bus)
CAN(1).deinit()
CAN.initfilterbanks(14)
can = CAN(1)
print(can)
# Test state when de-init'd
print(can.state() == can.STOPPED)
can.init(CAN.LOOPBACK)
print(can)
print(can.any(0))
# Test state when freshly created
# https://github.com/hmaerki/micropython/tree/master/canbus_example
from pyb import CAN
from pyb import LED
import pyb
import micropython
DESTINATION_CAN_ID = 123
ledBlue = LED(1)
switch = pyb.Switch()
# 50kBaud
can = CAN(1, CAN.NORMAL, extframe=False, prescaler=40, sjw=1, bs1=14, bs2=6)
print("Press Switch to send CAN-telegrams, press <ctrl-c> to abort.")
lastValue = None
while True:
newValue = switch.value()
if lastValue != newValue:
lastValue = newValue
if newValue:
ledBlue.on()
telegram = b'on'
else:
ledBlue.off()
telegram = b'off'
from time import sleep_ms
import struct
k = 0
def cb0(bus, reason):
'''
print('cb0')
if reason == 0:
print('pending')
if reason == 1:
print('full')
if reason == 2:
print('overflow')
'''
global k
k = 1
CAN(1).deinit()
can = CAN(1)
can.init(mode=CAN.NORMAL, extframe=False, prescaler=3, sjw=1, bs1=9, bs2=4)
# Baudrate is pyb.freq() / (sjw + bs1 + bs2) / prescaler = 1Mbps
can.setfilter(bank=0, mode=CAN.MASK16, fifo=0, params=(0, 0, 0, 0))
can.rxcallback(0, cb0)
while True:
if k == 1:
print(struct.unpack('<L', can.recv(0)[3])[0])
k = 0
from pyb import CAN
CAN.initfilterbanks(14)
can = CAN(1)
print(can)
can.init(CAN.LOOPBACK)
print(can)
print(can.any(0))
# Catch all filter
can.setfilter(0, CAN.MASK16, 0, (0, 0, 0, 0))
can.send('abcd', 123)
print(can.any(0))
print(can.recv(0))
can.send('abcd', -1)
print(can.recv(0))
can.send('abcd', 0x7FF + 1)
print(can.recv(0))
# Test too long message
try:
can.send('abcdefghi', 0x7FF)
except ValueError:
print('passed')
else:
print('failed')
#Stack Light v1.0p test code
from machine import Pin
from pyb import CAN, ADC
import utime
print("starting stack light board test")
print("v1.0")
print("initializing")
can = CAN(1, CAN.NORMAL)
can.setfilter(0, CAN.LIST16, 0, (123, 124, 125, 126))
#Setup Pins
hbt_led = Pin("D5", Pin.OUT)
func_butt = Pin("E7", Pin.IN, Pin.PULL_UP)
can_wakeup = Pin("D6", Pin.OUT)
can_wakeup.value(0)
BUZZER = Pin("D12", Pin.OUT)
WHITE = Pin("D11", Pin.OUT)
BLUE = Pin("E13", Pin.OUT)
GREEN = Pin("E12", Pin.OUT)
YELLOW = Pin("E11", Pin.OUT)
RED = Pin("E10", Pin.OUT)
#Setup hbt timer
hbt_state = 0
hbt_interval = 500
start = utime.ticks_ms()
next_hbt = utime.ticks_add(start, hbt_interval)
hbt_led.value(hbt_state)
i2s.write(buf) # write buffer of audio samples to I2S device
i2s = I2S(1,
sck=Pin("X5"),
ws=Pin("X6"),
sd=Pin("Y4"),
mode=I2S.RX,
bits=16,
format=I2S.MONO,
rate=22050,
ibuf=40000) # create I2S object
i2s.readinto(buf) # fill buffer with audio samples from I2S device
# CAN bus (controller area network)¶
# See pyb.CAN.
from pyb import CAN
can = CAN(1, CAN.LOOPBACK)
can.setfilter(0, CAN.LIST16, 0, (123, 124, 125, 126))
can.send("message!", 123) # send a message with id 123
can.recv(0) # receive message on FIFO 0
# Internal accelerometer¶
# See pyb.Accel.
from pyb import Accel
accel = Accel()
print(accel.x(), accel.y(), accel.z(), accel.tilt())
