# CAN Shield Example
#
# This example demonstrates CAN communications between two cameras.
# NOTE: you need two CAN transceiver shields and DB9 cable to run this example.

import time, omv
from pyb import CAN

# NOTE: Set to False on receiving node.
TRANSMITTER = True

can = CAN(2, CAN.NORMAL)
# Set a different baudrate (default is 250Kbps)
# NOTE: The following parameters are for the H7 only.
#
# can.init(CAN.NORMAL, prescaler=32, sjw=1, bs1=8, bs2=3) # 125Kbps
# can.init(CAN.NORMAL, prescaler=16, sjw=1, bs1=8, bs2=3) # 250Kbps
# can.init(CAN.NORMAL, prescaler=8,  sjw=1, bs1=8, bs2=3) # 500Kbps
# can.init(CAN.NORMAL, prescaler=4,  sjw=1, bs1=8, bs2=3) # 1000Kbps

can.restart()

if (TRANSMITTER):
    while (True):
        # Send message with id 1
        can.send('Hello', 1)
        time.sleep(1000)

else:
    # Runs on the receiving node.
    if (omv.board_type() == 'H7'): # FDCAN
        # Set a filter to receive messages with id=1 -> 4
        # Filter index, mode (RANGE, DUAL or MASK), FIFO (0 or 1), params
        can.setfilter(0, CAN.RANGE, 0, (1, 4))
    else:
        # Set a filter to receive messages with id=1, 2, 3 and 4
        # Filter index, mode (LIST16, etc..), FIFO (0 or 1), params
        can.setfilter(0, CAN.LIST16, 0, (1, 2, 3, 4))

    while (True):
        # Receive messages on FIFO 0
        print(can.recv(0, timeout=10000))

@@ -327,19 +327,19 @@
 ault is 
+1
 25
-0
 Kbps)%0A# 

Default CAN baudrate is 125 kbps