Python program for Robotell USB-CAN Adapter
I've bought a Robotell USB-CAN Adapter from AliExpress.
The Windows application is published here.
The link described as "ourdev_627692IXWNNX.rar" in the page is the Windows application.
But I can't understand Chinese.
So, I analyzed the communication message that flows through USB and created a new application with Python.
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pyserial
-
socat
$ git clone https://github.com/nopnop2002/Robotell-USB-CAN-Python
$ cd Robotell-USB-CAN-Python
$ python ./usb-can.py --help
usage: usb-can.py [-h] [-p PORT] [-s SPEED] [-u UDP]
[-l {DEBUG,INFO,WARNING,ERROR,CRITICAL}]
optional arguments:
-h, --help show this help message and exit
-p PORT, --port PORT open port
-s SPEED, --speed SPEED
can bit rate
-u UDP, --udp UDP UDP receive port
-l {DEBUG,INFO,WARNING,ERROR,CRITICAL}, --log {DEBUG,INFO,WARNING,ERROR,CRITICAL}
Set the logging level
-
port
Communication port.
Default is /dev/ttyUSB0.
Be sure to specify the correct port in Windows 10. -
speed
CAN bit rate.
Default is 500Kbps.
Supporting speed is 1M/800K/500K/400K/250K/125K/100K. -
udp
UDP port number for receiving commands from the outside.
Default is 8200 -
log
Log level.
Default is WARNING.
These displays are internal information of the USB-CAN Adapter, not CAN FRAME.
-
BAUDRATE is the current speed.
0x20-0xA1-0x07-0x00 is 0x0007A120(=500,000) -
VERSION is firmware version.
-
FILTERxx is the current receive filter setting.
The initial value enables reception of all CAN FRAMEs.
BAUDRATE ID: 0x01FFFED0 DLC: 4 Data: 0x20 0xA1 0x07 0x00
VERSION ID: 0x01FFFFE0 DLC: 8 Data: 0x01 0x00 0x00 0x00 0xC5 0x24 0x00 0x08
CPUINFO0 ID: 0x01FFFFF0 DLC: 8 Data: 0x57 0xFF 0x73 0x06 0x67 0x75 0x54 0x55
CPUINFO1 ID: 0x01FFFFF1 DLC: 8 Data: 0x11 0x30 0x17 0x67 0x00 0x00 0x00 0x00
ABOM ID: 0x01FFFEB0 DLC: 8 Data: 0x00 0x00 0x00 0x00 0xC5 0x24 0x00 0x08
ART ID: 0x01FFFEA0 DLC: 8 Data: 0x00 0x00 0x00 0x00 0xC5 0x24 0x00 0x08
FILTER00 ID: 0x01FFFEE0 DLC: 8 Data: 0x00 0x00 0x00 0x80 0x00 0x00 0x00 0x00
FILTER01 ID: 0x01FFFEE1 DLC: 8 Data: 0x00 0x00 0x00 0xC0 0x00 0x00 0x00 0x00
FILTER02 ID: 0x01FFFEE2 DLC: 8 Data: 0xFF 0xFF 0xFF 0x5F 0xFF 0xFF 0xFF 0x1F
FILTER03 ID: 0x01FFFEE3 DLC: 8 Data: 0xFF 0xFF 0xFF 0x5F 0xFF 0xFF 0xFF 0x1F
FILTER04 ID: 0x01FFFEE4 DLC: 8 Data: 0xFF 0xFF 0xFF 0x5F 0xFF 0xFF 0xFF 0x1F
FILTER05 ID: 0x01FFFEE5 DLC: 8 Data: 0xFF 0xFF 0xFF 0x5F 0xFF 0xFF 0xFF 0x1F
FILTER06 ID: 0x01FFFEE6 DLC: 8 Data: 0xFF 0xFF 0xFF 0x5F 0xFF 0xFF 0xFF 0x1F
FILTER07 ID: 0x01FFFEE7 DLC: 8 Data: 0xFF 0xFF 0xFF 0x5F 0xFF 0xFF 0xFF 0x1F
FILTER08 ID: 0x01FFFEE8 DLC: 8 Data: 0xFF 0xFF 0xFF 0x5F 0xFF 0xFF 0xFF 0x1F
FILTER09 ID: 0x01FFFEE9 DLC: 8 Data: 0xFF 0xFF 0xFF 0x5F 0xFF 0xFF 0xFF 0x1F
FILTER10 ID: 0x01FFFEEA DLC: 8 Data: 0xFF 0xFF 0xFF 0x5F 0xFF 0xFF 0xFF 0x1F
FILTER11 ID: 0x01FFFEEB DLC: 8 Data: 0xFF 0xFF 0xFF 0x5F 0xFF 0xFF 0xFF 0x1F
FILTER12 ID: 0x01FFFEEC DLC: 8 Data: 0xFF 0xFF 0xFF 0x5F 0xFF 0xFF 0xFF 0x1F
FILTER13 ID: 0x01FFFEED DLC: 8 Data: 0xFF 0xFF 0xFF 0x5F 0xFF 0xFF 0xFF 0x1F
FILTER14 ID: 0x01FFFEEE DLC: 8 Data: 0x00 0x00 0x00 0x00 0x01 0x00 0x00 0x00
FILTER15 ID: 0x01FFFEEF DLC: 8 Data: 0xFF 0xFF 0xFF 0xBF 0xFF 0xFF 0xFF 0xFF
This tool accepts data to send via UDP Broadcast.
Open a new terminal and execute the following command:
$ chmod 777 transmit.sh
$ vi transmit.sh
Please change if necessary.
$ ./transmit.sh
This tool accepts filter to set via UDP Broadcast.
Open a new terminal and execute the following command:
$ chmod 777 stdmask.sh
$ vi stdmask.sh
Please change if necessary.
$ ./stdmask.sh
This tool accepts filter to set via UDP Broadcast.
Open a new terminal and execute the following command:
$ chmod 777 extmask.sh
$ vi extmask.sh
Please change if necessary.
$ ./extmask.sh
Change the log level when the program starts.
You can see receive & transmit packet.