WeAct Studio USB2CANFD V2 SLCAN Firmware

Base on STM32G431CBT6, CA-IS2062A

SLCAN Protocol Description

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, need close can channel (default)
• M1[CR] - Set to silent mode, need close can channel
• A0[CR] - Turn off automatic retransmission, need close can channel (default)
• A1[CR] - Enable automatic retransmission, need close can channel (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 enabled) [ID, length, data]
• 0x80 + t, uint8_t length , uint16_t ID, uint8_t DLC, uint8_t *D... - Transfer data frame (standard ID) [length, ID, DLC, Data] Enhance mode, length=ID+DLC+Data
• 0x80 + T, uint8_t length , uint32_t ID, uint8_t DLC, uint8_t *D... - Transfer data frame (extended ID) [length, ID, DLC, Data] Enhance mode, length=ID+DLC+Data
• 0x80 + r, uint8_t length , uint16_t ID, uint8_t DLC - Transfer remote frame (standard ID) [length, ID, DLC] Enhance mode, length=ID+DLC
• 0x80 + R, uint8_t length , uint16_t ID, uint8_t DLC - Transfer remote frame (extended ID) [length, ID, DLC] Enhance mode, length=ID+DLC
• 0x80 + d, uint8_t length , uint16_t ID, uint8_t DLC, uint8_t *D... - Transmit CANFD standard frames (without BRS enabled) [length, ID, DLC, Data] Enhance mode, length=ID+DLC+Data
• 0x80 + D, uint8_t length , uint32_t ID, uint8_t DLC, uint8_t *D... - Transmit CANFD extended frames (without BRS enabled) [length, ID, DLC, Data] Enhance mode, length=ID+DLC+Data
• 0x80 + b, uint8_t length , uint16_t ID, uint8_t DLC, uint8_t *D... - Transmit CANFD standard frames (BRS enabled) [length, ID, DLC, Data] Enhance mode, length=ID+DLC+Data
• 0x80 + B, uint8_t length , uint32_t ID, uint8_t DLC, uint8_t *D... - Transmit CANFD extended frames (BRS enabled) [length, ID, DLC, Data] Enhance mode, length=ID+DLC+Data
• V[CR] - Reads the firmware version
• E[CR] - Read the failure state
• X[CR] - Enter firmware upgrade mode
• H0[CR] - Turn off SLCAN Enhance mode, need close can channel (default)
• H1[CR] - Turn on SLCAN Enhance mode, need close can channel
• fIIIMMM[CR] - Set standard ID filter, need close can channel [ID, mask] (default: 0,0)
• FIIIIIIIIMMMMMMMM[CR] - Set extended ID filter, need close can channel [ID, mask] (default: 0,0)

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

A status statement is returned after the command is sent

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

Note
The CANFD message length is as follows (in ascii, eg: A) (uint8_t DLC is hex, eg: 0x0A):

• 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