CAN Receive

R2026b

Receive messages from the controller area network (CAN) bus

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CAN Receive block

To add a block to a model, double-click the canvas and start typing the block name. Then, select the block from the list.

Libraries:
NVIDIA Jetson and NVIDIA DRIVE / Communication

Description

Add-On Required: This feature requires the MATLAB Coder Support Package for NVIDIA Jetson and NVIDIA DRIVE Platforms add-on.

The CAN Receive block receives messages from the CAN bus through the time triggered CAN (TTCAN) controller available on NVIDIA^® embedded boards. This block uses the SocketCAN interface to communicate with the CAN controller hardware on NVIDIA boards.

You can also use this block to interact with a virtual CAN interface. A virtual CAN interface allows transmission and reception of CAN frames without a native CAN interface associated with real hardware. For more information on how to set up a virtual CAN interface, see Setup Virtual CAN Interface.

The CAN Receive block supports Raw data and CAN Msg as output types. To use CANdb (CAN database) file or to specify signals manually, use CAN Msg output type and CAN Unpack block. The CAN Unpack block is available from the Vehicle Network Toolbox™.

Examples

CAN Bus Communication on NVIDIA Jetson TX2 in Simulink

Deploy a Simulink® model that uses CAN communication for a deep learning application. The Simulink model in this example uses the CAN Transmit and CAN Receive blocks from the MATLAB® Coder™ Support Package for NVIDIA® Jetson® and NVIDIA DRIVE® Platforms to model a CAN bus system on the Jetson TX2 platform. The model uses the CAN bus to transmit the recognized traffic sign objects in a video frame from one CAN node to another CAN node.

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Ports

Output

Data — Raw message data

vector

Raw message data, returned as a uint8 vector. The Message Length parameter determines the length of the vector.

Dependencies

To enable this port, set Data to be output as to Raw data.

Data Types: uint8

CAN Msg — CAN message data

bus

CAN message data, returned as a CAN_MESSAGE_BUS. To extract data from the Simulink^® bus signal, use the CAN Unpack (Vehicle Network Toolbox) block.

Dependencies

To enable this port, set Data to be output as to CAN Msg.

Status — Status of output message

scalar

Status of the received message, returned as a uint8 scalar. If the block receives a message, the status is 1. Otherwise, the status is 0.

Data Types: uint8

Error — Error codes

scalar

Error codes, returned as a uint8 scalar in which each bit indicates a specific error code. For example, if bit zero is 1, the transmission generated an overflow on receive buffer 1. This table lists the error codes for each bit.

Status bit	Error Code
0	Receive Buffer 1 Overflow Flag (RX1OVR)
1	Receive Buffer 0 Overflow Flag (RX0OVR)
2	Receive Error-Passive Flag (RXEP)
3	Receive Error Warning Flag (RXWAR)
4	-
5	-
6	-
7	-

Dependencies

To enable this port, select Output Error.

Remote — Remote message flag

scalar

Remote message flag.

Dependencies

To enable this parameter, select Output Remote.

Parameters

CAN interface — CAN interface name

can0 (default) | interface name

Name of the real or virtual CAN interface.

Programmatic Use

To set the block parameter value programmatically, use the set_param (Simulink) function.

To get the block parameter value programmatically, use the get_param (Simulink) function.

Parameter:	DeviceID
Values:	"can0" (default) | interface name in quotes
Data Types:	string | char

Example: set_param(gcb,DeviceID="vcan0")

Set up CAN interface — Option to set up CAN interface

off (default) | on

Option to set up the CAN interface specified in the CAN Interface parameter on the NVIDIA target. If you select this parameter, the block configures the network interface before CAN communication.

Programmatic Use

To set the block parameter value programmatically, use the set_param (Simulink) function.

To get the block parameter value programmatically, use the get_param (Simulink) function.

Parameter:	SetupCAN
Values:	"off" (default) | "on"

Example: set_param(gcb,SetupCAN="on")

CAN interface type — Type of CAN interface

Real (default) | Virtual

Select the type of CAN interface to set up on the hardware board.

Dependencies

To enable this parameter, select Set up CAN interface.

Note

If you set this parameter to Real, and the CAN interface specified in the CAN interface parameter already exists on the board, the CAN bus speed must match the CAN Bus Speed (kBit/s) model configuration parameter. Otherwise, the block does not transmit the CAN frames.

Programmatic Use

To set the block parameter value programmatically, use the set_param (Simulink) function.

To get the block parameter value programmatically, use the get_param (Simulink) function.

Parameter:	TypeOfCAN
Values:	"Real" (default) | "Virtual"

Example: set_param(gcb,TypeOfCAN="Virtual")

Data to be output as — Data output type

Raw data (default) | CAN Msg

Specify the data type that the block returns:

• Raw data returns a uint8 vector containing the CAN data.

• CAN Msg returns a Simulink bus containing the CAN frame information.

Programmatic Use

To set the block parameter value programmatically, use the set_param (Simulink) function.

To get the block parameter value programmatically, use the get_param (Simulink) function.

Parameter:	OutputDataType
Values:	"Raw Data" (default) | "CAN Msg"

Example: get_param(gcb,"OutputDataType")

Identifier type — Message identifier type

Standard (11-bit identifier) (default) | Extended (29-bit identifier)

Specify the message identifier type:

• Standard (11-bit identifier) uses the standard, 11-bit identifier.

• Extended (29-bit identifier) uses the extended, 29-bit identifier.

Dependencies

To enable this parameter, set Data to be output as to Raw data.

Programmatic Use

To set the block parameter value programmatically, use the set_param (Simulink) function.

To get the block parameter value programmatically, use the get_param (Simulink) function.

Parameter:	IdentifierType
Values:	"Standard (11-bit identifier)" (default) | "Extended (29-bit identifier)"

Example: get_param(gcb,"IdentifierType")

Message ID — Message identifier

100 (default) | nonnegative integer

Message identifier for the CAN frame. For identifiers in binary or hexadecimal formats, convert the identifier to the decimal format by using the bin2dec or hex2dec functions.

Dependencies

• To enable this parameter, set Data to be output as to Raw data.

• If Identifier Type is Standard (11-bit identifier), the message identifier must be less than or equal to 2047. If Identifier Type is Extended (29-bit identifier), the message identifier must be less than or equal to 536870911.

Programmatic Use

To set the block parameter value programmatically, use the set_param (Simulink) function.

To get the block parameter value programmatically, use the get_param (Simulink) function.

Parameter:	MessageId
Values:	"100" (default) | nonnegative integer in quotes
Data Types:	string | char

Example: set_param(gcb,MessageId="2047");

Example: set_param(gcb,MessageId=string(bin2dec("00000001111")));

Message Length — Length of message

8 (default) | positive integer

Message length in bytes. The message length can be between 1 and 8 bytes.

Dependencies

To enable this parameter, set Data to be output as to Raw data.

Programmatic Use

To set the block parameter value programmatically, use the set_param (Simulink) function.

To get the block parameter value programmatically, use the get_param (Simulink) function.

Parameter:	MsgLength
Values:	"8" (default) | positive integer between 1 and 8 in quotes

Example: set_param(gcb,MsgLength="2")

Sample time — Time frequency at which block reads data

-1 (default) | scalar

Specify the sample time at which the block reads the port buffer, in seconds. To inherit the sample time from the model, use -1. Otherwise, enter a value greater than 0.

Programmatic Use

To set the block parameter value programmatically, use the set_param (Simulink) function.

To get the block parameter value programmatically, use the get_param (Simulink) function.

Parameter:	SampleTime
Values:	"-1" (default) | numeric value in quotes

Example: get_param(gcb,"SampleTime")

Output error — Option to output error codes

off (default) | on

Select this parameter to output error codes if the message transfer fails.

Dependencies

To enable this parameter, set Data to be output as to Raw data.

Programmatic Use

To set the block parameter value programmatically, use the set_param (Simulink) function.

To get the block parameter value programmatically, use the get_param (Simulink) function.

Parameter:	OutputError
Values:	"off" (default) | "on"

Example: set_param(gcb,OutputError="on")

Output Remote — Enable remote messages

off (default) | on

Select to output remote messages.

Programmatic Use

To set the block parameter value programmatically, use the set_param (Simulink) function.

To get the block parameter value programmatically, use the get_param (Simulink) function.

Parameter:	OutputRemote
Values:	"off" (default) | "on"

Tips

• If a Simulink model contains CAN Transmit and CAN Receive block, and the Set up CAN interface is set only on the CAN Transmit block, then a CAN receive socket might not be set up because of the order of execution of the blocks. In such cases, manually set up the CAN interfaces before executing the models or enable Set up CAN interface on all blocks.

Version History

Introduced in R2021b