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CAN development possibilities

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  • undefined
    hauschka
    last edited by 24 Sept 2020, 20:51

    Hey everyone,

    I'm looking into ways of connecting/building my own toolboards and also to explore what's possible with CAN-FD on the Duet 3!

    I recently followed the documentation on the sammy-c21 boards and so far I understood that the board has pins available, but I don't understand how I could include these pins in gcode.

    For example, there's a pin called pa04, would I then set its PWM to 50% by calling :

    M950 P0 C"XX.pa04" Q500
    and
    M42 P0 S0.5
    ?

    Is it possible to save functions on the chip and then call the whole functions via gcode?

    Same goes for Arduino! The CanDIY shield looks really nice, but I'm quite unsure how to use it.

    Would I be able to call subroutines that execute arduino code and once it's done return to the "main printjob"?

    Does anyone have an overview of what's possible and what's not?

    Looking forward to some input from everyone 🙂

    undefined 1 Reply Last reply 25 Sept 2020, 14:24 Reply Quote 0
    • undefined
      T3P3Tony administrators
      last edited by 25 Sept 2020, 11:36

      Have you tried the method you outlined:

      For example, there's a pin called pa04, would I then set its PWM to 50% by calling :

      M950 P0 C"XX.pa04" Q500
      and
      M42 P0 S0.5

      www.duet3d.com

      1 Reply Last reply Reply Quote 0
      • undefined
        dc42 administrators @hauschka
        last edited by dc42 25 Sept 2020, 14:24

        @hauschka said in CAN development possibilities:

        For example, there's a pin called pa04, would I then set its PWM to 50% by calling :

        M950 P0 C"XX.pa04" Q500
        and
        M42 P0 S0.5
        ?

        Yes you can do that, although I can't remember offhand whether port PA04 supports PWM.

        Is it possible to save functions on the chip and then call the whole functions via gcode?

        Unless you extend the CAN protocol, you would need to use an existing CAN message. For example, you could alter that code so that M42 commands to a particular port ran your function.

        Duet WiFi hardware designer and firmware engineer
        Please do not ask me for Duet support via PM or email, use the forum
        http://www.escher3d.com, https://miscsolutions.wordpress.com

        undefined 1 Reply Last reply 25 Sept 2020, 14:34 Reply Quote 0
        • undefined
          hauschka @dc42
          last edited by 25 Sept 2020, 14:34

          Thanks a lot for those answers!

          Unless you extend the CAN protocol, you would need to use an existing CAN message. For example, you could alter that code so that M42 commands to a particular port ran your function.

          Are the "existing/available CAN messages" documented somewhere?

          I would expect them to be in CANlib ?

          Where/ How would I modify the protocol?
          Would I have to add a custom M-code with the function's name in it?

          @dc42 any guidance is highly appreciated! 🙂

          undefined 1 Reply Last reply 25 Sept 2020, 14:39 Reply Quote 0
          • undefined
            dc42 administrators @hauschka
            last edited by 25 Sept 2020, 14:39

            Yes they are documented in CANLib. An overview of the CAN protocol is at https://github.com/Duet3D/CANlib/blob/master/doc/Duet 3 CAN protocol.odt, the message type numbers are in https://github.com/Duet3D/CANlib/blob/master/src/CanId.h, and the formats of the messages in https://github.com/Duet3D/CANlib/blob/master/src/CanMessageFormats.h.

            Currently there is no provision for user-defined messages, but I may add a few for users such as yourself to use.

            Duet WiFi hardware designer and firmware engineer
            Please do not ask me for Duet support via PM or email, use the forum
            http://www.escher3d.com, https://miscsolutions.wordpress.com

            undefined 1 Reply Last reply 26 Sept 2020, 19:33 Reply Quote 0
            • undefined
              hauschka @dc42
              last edited by 26 Sept 2020, 19:33

              @dc42 said in CAN development possibilities:

              Currently there is no provision for user-defined messages, but I may add a few for users such as yourself to use.

              That would be really cool!
              I'm not familiar with C++, unfortunately 😞

              1 Reply Last reply Reply Quote 0
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