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SLCAN Protocol Description

Please upgrade to the latest firmware version to support more baud rates

Using the virtual serial, the command is as follows:

  • O[CR] - Opens the CAN channel
  • C[CR] - Close the CAN channel
  • S0[CR] - Set the nominal bit rate to 10k
  • S1[CR] - Set the nominal bit rate to 20k
  • S2[CR] - Set the nominal bit rate to 50k
  • S3[CR] - Set the nominal bit rate to 100k
  • S4[CR] - Set the nominal bit rate to 125k (default)
  • S5[CR] - Set the nominal bit rate to 250k
  • S6[CR] - Set the nominal bit rate to 500k
  • S7[CR] - Set the nominal bit rate to 800k
  • S8[CR] - Set the nominal bit rate to 1M
  • S9[CR] - Set the nominal bit rate to 83.3k
  • SA[CR] - Set the nominal bit rate to 75k
  • SB[CR] - Set the nominal bit rate to 62.5k
  • SC[CR] - Set the nominal bit rate to 33.3k
  • SD[CR] - Set the nominal bit rate to 5k
  • Sxxyy[CR] - Custom nominal bit rate (60/2=30Mhz CAN clock) [xx=seg1(hex,0x02~0xff), yy=seg2(hex,0x02~0x80)]
  • Sddxxyy[CR] - Custom nominal bit rate ([60/div]Mhz CAN clock) [dd=div(hex,0x01~0xff), xx=seg1(hex,0x02~0xff), yy=seg2(hex,0x02~0x80)]
  • Y1[CR] - Set the CANFD data segment bit rate to 1M
  • Y2[CR] - Set CANFD data segment bit rate to 2M (default)
  • Y3[CR] - Set the CANFD data segment bit rate to 3M
  • Y4[CR] - Set the CANFD data segment bit rate to 4M
  • Y5[CR] - Set the CANFD data segment bit rate to 5M
  • Yxxyy[CR] - Custom CANFD data segment bit rate (60Mhz CAN clock) [xx=seg1(hex,0x01~0x20), yy=seg2(hex,0x01~0x10)]
  • Yddxxyy[CR] - Custom CANFD data segment bit rate ([60/div]Mhz CAN clock) [dd=div(hex,0x01~0x20), xx=seg1(hex,0x01~0x20), yy=seg2(hex,0x01~0x10)]
  • M0[CR] - Set to normal mode (default)
  • M1[CR] - Set to silent mode
  • A0[CR] - Turn off automatic retransmission (default)
  • A1[CR] - Enable automatic retransmission (not recommended, may crash)
  • tIIILDD...[CR] - Transfer data frame (standard ID) [ID, length, data]
  • TIIIIIIIILDD...[CR] - Transfer data frame (extended ID) [ID, length, data]
  • rIIIL[CR] - Transfer remote frame (standard ID) [ID, length]
  • RIIIIIIIIL[CR] - Transfer remote frame (extended ID) [ID, length]
  • dIIILDD...[CR] - Transmit CANFD standard frames (without BRS enabled) [ID, length, data]
  • DIIIIIIIILDD...[CR] - Transmit CANFD extended frames (without BRS enabled) [ID, length, data]
  • bIIILDD...[CR] - Transmit CANFD standard frames (BRS enabled) [ID, length, data]
  • BIIIIIIIILDD...[CR] - Transmit CANFD extended frames (BRS enable) [ID, length, data]
  • V[CR] - Reads the firmware version
  • E[CR] - Read the failure state
  • X[CR] - Enter firmware upgrade mode

[CR] : 0x0D (hex), \r (ascii)

A status statement is returned after the command is sent

  • [CR]: transmission successful
  • 0x07: transmission failed

For mode changes (M0/M1), this ACK/NACK confirms whether the interface accepted the normal/silent mode switch.

Note
The CANFD message length is as follows (in hex):

  • 0-8 : Same as standard CAN
  • 9 : length = 12
  • A : length = 16
  • B : length = 20
  • C : length = 24
  • D : length = 32
  • E : length = 48
  • F : length = 64

cangaroo is located in Tools/cangaroo
The documentation for calculating custom Bitrate Settings is located in Doc/CAN Bitrate Calculate_波特率计算.xlsx