A CAN DBC file for the Tritium WaveSculptor 20 motor controller.
Note: This assumes that your motor controller has a base address of
0x80 (the Device Identifier 0x4 shifted left by 5). If this is not the
case, just edit the addresses to match your configuration.
Kvaser Database Editor is a pretty
good option for a free DBC GUI editor.
The CAN Frame ID format (using 11-bit CAN IDs) is as follows:
+---+---+---+---+---+---+---+---+---+---+---+---+---+---+---+---+
| x | x | x | x | x | d | d | d | d | d | d | m | m | m | m | m |
+---+---+---+---+---+---+---+---+---+---+---+---+---+---+---+---+
0xf 0xe 0xd 0xc 0xb 0xa 0x9 0x8 0x7 0x6 0x5 0x4 0x3 0x2 0x1 0x0
m = Message ID
d = Device ID
x = unused
These instructions use eerimoq/cantools over SocketCAN to decode messages with the DBC. If you're using PCAN-Explorer or something similar, feel free to ignore those steps/requirements and directly import the DBC.
# Ensure that can-utils is installed
sudo apt-get update
sudo apt-get install can-utils
# Start the slcand userspace daemon and create slcan0 interface
# We assume 500 kbps bitrate, see (https://elinux.org/Bringing_CAN_interface_up)
sudo slcand -o -c -s6 /dev/ttyUSB0 slcan0
# Bring up the SocketCAN interface
sudo ifconfig slcan0 up
# Install cantools (either in a virtualenv or something).
pip install cantools# View the DBC file
cantools dump dbc/wavesculptor_20.dbc
# Decode CAN messages with the DBC
candump slcan0 | cantools decode --single-line dbc/wavesculptor_20.dbcI've included a demo with some data collected using candump.
# Load kernel modules and stuff
sudo modprobe can
sudo modprobe can_raw
sudo modprobe vcan
# Bring up vcan interface
sudo ip link add dev vcan0 type vcan
sudo ip link set up vcan0
# Check to make sure we can see the interface
ip link show vcan0
# Replay data out on vcan0
canplayer -I examples/candump-2019-01-09_224207.log vcan0=slcan0
# Decode the data
candump vcan0 | cantools decode --single-line dbc/wavesculptor_20.dbc
# Or we can monitor the data
cantools monitor --single-line dbc/wavesculptor_20.dbc