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Hello I have a custom rp2040 based board using MCP251863. I was able to build Micro-python along with the added CAN related code from this repo (except the MIN_PROTOCOL support due to a build error). I have not been able to find out where the GP# pins are defined to interface with the MCP251863. On my board it uses GP pins 8 through 11 which is part of the second SPI bus of the rp2040. Where can I set the SPI pins?
Thank you.

The CAN ISR could call a standard MicroPython interrupt function (which is not permitted to use the heap, directly or indirectly).

The function is called with attributes of the incoming CAN frame (or possibly can make a call to read the front of the FIFO and obtain the CAN ID and payload directly: cannot create a CANFrame because cannot trigger garbage collection).

See here for MicroPythpn interrupts: https://docs.micropython.org/en/latest/reference/isr_rules.html

Hi,

I tried these commands:
from canpico import *
c = CAN()

Then it raised an error:
RuntimeError: Cannot put MCP2517/18FD into config mode

Any insight?

Thank you.

Regards,
Jhon R Putra

Neither in get_status() nor in the repr string for a CAN controller.

Hello.

Congratulations for the great project supporting CANBUS on Rp2040 using MicroPython!

I would like to use MicroPython on the rp2040/RPico (CANPico) for realtime communication using CANPico firmware, and I would like to know what is the behaviour if CAN received message when Garbage Collector (GC) is running. Will the received/read message delayed by the GC, or the CAN will interrupt the GC to handle the CAN message?

Thank you very much!

I know this probably isn't the right place to ask but I would like to do some prototyping in Micropython using an RP2040 / MCP251863 on a custom PCB I am designing (to control over 70 clock faces using stepper motor boards). I have no need for the canhack code and wondered if I can modify to remove all the canhack stuff.

Hello Ken,

I'm quite confused with the use of 2 boards.
I noticed the difference with the Canis CANHack board vs the Canis CANPico ( includes MCP2518 transceiver), but what is the difference with the firmware? Which one is the best to use with CANHackTool kit?
What is the improvement with the controller?
It is not even clear for me.

Thank you

Regards

Nico

Hi,

I was following the README.txt found in canhack/pico/micropython/ to apply the patch on the firmware of the CANPico board but I cannot find the canis folder nor its content in any directory of this repo. Could you please provide some more info about this procedure?

Thanks

I'm following the steps described in canhack/pico/micropython/README.txt in order to build the last firmware. I am able to patch + build 1.15, but I cannot figure out how to build 1.16 following those instructions. See an extract of my script (I've downloaded patches under /canis-patches):

git clone -b master https://github.com/micropython/micropython.git
cd micropython
git checkout v1.15
git apply --whitespace=nowarn ../canis-patches/v1.15.patch
... here I download some submodules that I require...
make -C mpy-cross
cd ports/rp2
make submodules
make

Where should I apply v1.16.patch? If I do it right after v1.15.patch the patch fails. Should I rebase to Micropython 1.16 just before applying the patch or there is something else I need to consider?

Thanks.

I want to say first of all, I’m thoroughly impressed with the CANPico hardware and Micropython SDK. I’m a student with @WURacing, an FSAE design team at WashU in St. Louis. I originally bought one as basically an overpowered CAN reader – letting us easily probe the car’s CAN system and also potentially insert test frames without changing the car’s software. And it’s done that brilliantly, even in the week we’ve had it it’s already been incorporated as a teaching tool for new members learning about CAN for the first time.

After trying it out, I immediately decided we can actually incorporate these into our sensor network. We have 4 more on the way right now to begin working with, which is why I’m hoping I can get a little bit more information about how some of the firmware works for the board.

Actual question starts here:

In the patch for building the MicroPython v1.16-canpico firmware, there’s reference to some source files that I can’t find anywhere else. It seems that there’s an entire “canis” directory with some essential files, specifically I’m very interested in checking out “canis/rp2_can.c” (line 115 of the patch) and “canis/rp2_can.h” (line 31 of the patch), to get a better idea of how the system is implemented and potentially adapt the firmware to our specific purposes. Are these files publicly available/open source? If not, would you be willing to provide them to us directly? I’m happy to preserve whatever license you’re using, as long as the team has access.

Thanks in advance!

I have been able to successfully build the new V1.18 firmware in my Ubuntu box. However, when running the same build in my macos machine I run into the below error:

[ 14%] Building C object CMakeFiles/firmware.dir/Users/user55/dev/mpe-firmware/pico/micropython/py/emitnx86.c.obj
[ 14%] Building C object CMakeFiles/firmware.dir/Users/user55/dev/mpe-firmware/pico/micropython/py/emitnxtensa.c.obj
[ 15%] Building C object CMakeFiles/firmware.dir/Users/user55/dev/mpe-firmware/pico/micropython/py/emitnxtensawin.c.obj
[ 15%] Building C object CMakeFiles/firmware.dir/Users/user55/dev/mpe-firmware/pico/micropython/py/formatfloat.c.obj
/Users/user55/dev/mpe-firmware/pico/micropython/py/formatfloat.c:105:5: internal compiler error: Illegal instruction: 4
  105 |     MICROPY_FLOAT_CONST(1e32), MICROPY_FLOAT_CONST(1e16), MICROPY_FLOAT_CONST(1e8), MICROPY_FLOAT_CONST(1e4), MICROPY_FLOAT_CONST(1e2), MICROPY_FLOAT_CONST(1e1)
      |     ^~~~~~~~~~~~~~~~~~~
Please submit a full bug report,
with preprocessed source if appropriate.
See <https://bugs.linaro.org/> for instructions.
make[3]: *** [CMakeFiles/firmware.dir/Users/user55/dev/mpe-firmware/pico/micropython/py/formatfloat.c.obj] Error 1
make[2]: *** [CMakeFiles/firmware.dir/all] Error 2
make[1]: *** [all] Error 2
make: *** [all] Error 2

Any idea what could be wrong?

The PDF documentation 'CANPico MicroPython SDK reference manual.pdf' leads me to believe that the CANID object should have a get_id() method.

Hower, calling get_id() on a CANID gives a runtime error.

Error: "AttributeError: 'CANID' object has no attribute 'id'"

Code: "canid = frame.get_canid().get_id()"

I have run the following code on a CANID object to find about the supported methods:

object_methods = [method_name for method_name in dir(frame.get_canid())
                  if callable(getattr(frame.get_canid(), method_name))]
print(object_methods)

Result:
['__class__', 'get_arbitration_id', 'get_id_filter', 'is_extended']

retries= doesn't have any effect when overwrite=True for CANHack.spoof_frame()

Screenshot of test follows. Note only one overwrite attempted in target frame despite retries=3

Hello,

Nice job!

I think there is a mistake in : https://github.com/kentindell/canhack/tree/master/docs/pdf

CANHack_schm.pdf seems to be the same as CANProbe_schm.pdf, no RaspberryPico on CANHack_schm.pdf, and the name of the schematic sheet is CANProbe with DB9.

Best regards

Nico

The CANHack toolkit builds a bit pattern for a given frame, and records where fields are, but the MicroPython does not allow the bit fields to be modified after creation (e.g. for when doing fault injection). Add an API call to MicroPython to flip bits in the sequence.

unable to compile:
[ 66%] Building C object CMakeFiles/firmware.dir/main.c.obj
In file included from /pico/micropython/ports/rp2/canis/candrivers/mcp2517fd/mcp2517fd-types.h:23,
from /pico/micropython/ports/rp2/canis/candrivers/canapi.h:27,
from /pico/micropython/ports/rp2/canis/rp2_can.h:22,
from /pico/micropython/ports/rp2/main.c:52:

/pico/micropython/ports/rp2/canis/candrivers/mcp2517fd/rp2/mcp2517fd-rp2.h: In function 'mcp2517fd_spi_pins_init':
/pico/micropython/ports/rp2/canis/candrivers/mcp2517fd/rp2/mcp2517fd-rp2.h:131:5: error: implicit declaration of function 'irq_set_enabled' [-Werror=implicit-function-declaration]
131 | irq_set_enabled(IO_IRQ_BANK0, true);
| ^~~~~~~~~~~~~~~
/home/ivs/pico/micropython/ports/rp2/canis/candrivers/mcp2517fd/rp2/mcp2517fd-rp2.h:131:21: error: 'IO_IRQ_BANK0' undeclared (first use in this function)
131 | irq_set_enabled(IO_IRQ_BANK0, true);
|

Sometimes the CANHack library freezes with interrupts locked and this causes the USB to freeze, which causes the USB subsystem in a Raspberry Pi host to fail (requiring a reboot).

A solution is to run the CANHack code on the second core in the RP2040 and use a RAM variable to signal a return code so that if it hangs then at least host does not hang (because USB is driven from the main CPU core).

The MCP2517/18FD controller sometimes has the C1TXQUA value exceed the allocated space. This may be a bug in the memory allocation, but either way it seems not possible to use C1TXQUA as an index into the array where the frame control blocks are kept. Instead, allocate slots from a free list and return them when transmitted.

Is it possible to build MicroPython v1.21 with support for CANPico for the Pico W?

I would like to build a project that uses both BLE and CAN. v1.21 is required for BLE support on the Pico W but the latest firmware appears to be built on v1.19.

Otherwise, I will have to use the C API I guess.

Any help would be appreciated.

Hello all,

I have trouble to build a firmware.uf2.
In the readme on the step 4 to make the build in the path "ports/rp2"

It says to me:
/home/canhack/micropython/ports/rp2 (da4b38e75*) # make
[ -d build-PICO ] || cmake -S . -B build-PICO -DPICO_BUILD_DOCS=0 -DMICROPY_BOARD=PICO
make -s -C build-PICO
make[1]: *** Es wurden keine Ziele angegeben und keine „make“-Steuerdatei gefunden. Schluss.
make[1]: *** No targets were specified and no make control file was found. Ending.
make: *** [Makefile:19: all] Fehler 2

Can somebody help me, or upload a firmware.uf2 for me?

Thanks :)

I'm new to the RPi Pico and have installed micropython and the pico-sdk to test some of the provided examples.
I looked at the docs but still have no clue how to build a canhack binary that combines C and micropython components ¯_(ツ)_/¯
Can you please upload some of the needed make/CMake files to build the firmware.uf2?
Thanks!

Thank you for shared this impressive module.I had been porting to the PYBV11 board.As follow is micropython.mk
`

SRC_USERMOD += $(USERMODULES_DIR)/pyb_canhack.c

CFLAGS_USERMOD += -I$(USERMODULES_DIR)

CFLAGS_EXTRA = -DMODULE_CANHACK_ENABLED=1
`
Put this file to canhack/pyb folder to micropython/. Then to micropython/ports/stm32 build: make BOARD=PYBV11 USER_C_MODULES=../../canhack all.It build OK.But Download the firmware.dfu.Can't found CANHack module.Any issue.Thanks!