CAN-FD commands ?

Dan_55

Hi !
I'd like to develop a simple Atmega328 based printhead board, but I can't find any information about CAN communication.
How do I communicate Duet with expansion board ? I don't need anything sophisticated like motor control etc. I just want to store head specific offsets, control a fan and a servo.
Can I send regular gcodes ?

Dan

Danal

@Dan_55 said in CAN-FD commands ?:

Can I send regular gcodes ?

No. The payloads on the CAN bus are proprietary binary. To understand them, consider that Duet 3 "RepRap" firmware is all open source. https://github.com/dc42/RepRapFirmware

Dan_55

@Danal Thank You ! The source for RRF is no use for me because I can't understand it
Till now I've been using UART communication using MAX3232, it works like a charm. Looks like CAN will have to wait until I'm better at coding.

Danal

If you are coding for Atmega based platforms, you are closer than you may realize to reading the source for RepRap.

Danal

I would recommend looking in this folder:

dc42/RepRapFirmware/src/CAN/

And particularly at the CanMessageFormats.h

AND

Get your ATmega328 solution up and running, on the CAN bus at address 1, and have it print (in hex) the incoming CAN messages.

raykholo

This is also of interest to me.

@Danal the active development appears to be happening in branch v3.01-dev, not dev where that file does not exist.

I have started reading the contents of:

https://github.com/dc42/RepRapFirmware/tree/v3.01-dev/src/CAN

and:

https://github.com/dc42/Duet3Expansion/tree/master/src/CAN

Danal

Good point, I was doing quick generic searches. You are spot on regarding the directories and branches...