`mil_usb_to_can` - USB to CAN Communication¶

`mil_usb_to_can.sub8` - SubjuGator 8¶

The mil_usb_to_can package implements a driver and helper class for the USB to CAN driver board. The package provides full functionality for communication with the board, along with helper classes to provide a better, more structured use of data being sent to and received from the board.

To launch the driver, start sub8_driver.py, an executable Python file. This file will spin up a driver and interface to the board. If you are starting the driver from a launch file, you can additionally provide information for the embedded USBtoCANBoard class, which handles connecting to the board. This information can be provided through local ROS parameters:

<launch>
  <node pkg="mil_usb_to_can" type="sub8_driver.py" name="usb_to_can_driver">
    <rosparam command="delete" />
    <rosparam>
    # Path of serial device (default: "/dev/tty0")
    port: /dev/serial/by-id/usb-FTDI_FT232R_USB_UART_A800GHCF-if00-port0
    # Baudrate of device (default: 115200)
    baudrate: 115200
    # The CAN device id of the board (default: 0)
    can_id: 0
    # List of python device handle classes (list of device id: python class implementation)
    device_handles:
      "18": sub8_thrust_and_kill_board.ThrusterAndKillBoard
      "83": sub8_actuator_board.ActuatorBoard
    simulated_devices:
      "18": sub8_thrust_and_kill_board.ThrusterAndKillBoardSimulation
      "83": sub8_actuator_board.ActuatorBoardSimulation
    </rosparam>
  </node>
</launch>

Many of the parameters shown are used to connect the driver to the physical board. However, the final two parameters, device_handles and simulated_devices are used to create device handles for specific devices. These device handles can send and receive data from the board, and many be used to do both, or one or the other.

As suggested in the above XML, the package implements drivers for a physical run, as well as a simulated run. Whether the simulated drivers are used is controlled by the global /is_simulation parameter. The physical drivers implement CANDeviceHandle, whereas the simulated drivers implement from SimulatedCANDevice. More information on writing device handles can be found in the documentation of each type of class.

Packet Format¶

In order to reliably communicate with the USB to CAN board, a consistent packet format must be defined.

Below is the USBtoCAN Packet Format. This packet format wraps every message being sent over the serial connection to the USB to CAN board from ROS.

USBtoCAN Packet Format¶
Name	Length	Description
Start flag (`0xC0`)	1 byte	Flag indicating the start of a new board message
Payload	4-11 bytes	Actual data being transmitted. Often created through application packets. The two following tables show the payloads of command and receiving packets.
End flag (`0xC1`)	1 byte	Flag indicating end of previous board message

Below are the payload specifications for each type of transmission. Command packets are packets sent out by the computer to complete an action (sending or requesting information), whereas receiving packets are packets that listen to data coming from other devices.

Command Packet (`CommandPacket`)¶
Name	Length	Description
Length	1 byte	Byte indicating the length of the data being sent, or the length of the data expected to be received, in bytes. Notably, bit 7 of this byte determines whether the command packet is sending a command, or receiving data through a command. If bit 7 is 1, then the command packet is receiving.
CAN ID	1 byte	ID of the sender, or ID of who to request from
Data	1-8 bytes	For sending command packets, the actual data being sent. For requesting command packets, an empty binary string.

Receiving Packet (`ReceivePacket`)¶
Name	Length	Description
Device ID	1 byte	The CAN ID of the device to receive data from.
Payload length	1 byte	The amount of data to listen to.
Data	1-8 bytes	The data that was received.
Checksum	1 byte	The checksum for the data.

Checksums¶

All messages contain a checksum to help verify data integrity. However, receiving packets also have a special byte containing a slightly modified checksum formula.

The checksum in all packets is found by adding up all bytes in the byte string, including the start/end flags, and then using modulo 16 on this result.

Exceptions¶

Exception Hierarchy¶

Exception
- ApplicationPacketWrongIdentifierException
- USB2CANException
  
  ChecksumException
  
  PayloadTooLargeException
  
  InvalidFlagException
  
  InvalidStartFlagException
  
  InvalidEndFlagException

Exception List¶

class mil_usb_to_can.sub8.ApplicationPacketWrongIdentifierException(received: int, expected: int)[source]¶

Exception thrown when the identifier for a MIL application level CAN packet had a different identifier from what was expected.

Inherits from Exception.

received¶

A value representing what received found.

Type: int

expected¶

What the found value should have been.

Type: int

class mil_usb_to_can.sub8.USB2CANException[source]¶: Base class for exception in USB2CAN board functionality. Inherits from Exception.

class mil_usb_to_can.sub8.ChecksumException(calculated, expected)[source]¶: Exception thrown when the checksum between motherboard and CANtoUSB board is invalid. Inherits from USB2CANException.

class mil_usb_to_can.sub8.PayloadTooLargeException(length)[source]¶: Exception thrown when payload of data sent/received from CAN2USB is too large. Inherits from USB2CANException.

class mil_usb_to_can.sub8.InvalidFlagException(description, expected, was)[source]¶: Exception thrown when a constant flag in the CAN2USB protocol is invalid. Inherits from USB2CANException.

class mil_usb_to_can.sub8.InvalidStartFlagException(was: int)[source]¶: Exception thrown when the SOF flag is invalid. Inherits from InvalidFlagException.

class mil_usb_to_can.sub8.InvalidEndFlagException(was: int)[source]¶: Exception thrown when the EOF flag is invalid. Inherits from InvalidFlagException.

ApplicationPacket¶

Attributes

identifier
payload

Methods

clsApplicationPacket.from_bytes

class mil_usb_to_can.sub8.ApplicationPacket(identifier: int, payload: bytes)[source]¶

Represents an application-specific packet structure used by a CAN device. This class does not implement the entire packet that will be sent over the CAN bus; the packet only includes the identifier and payload in the packet.

This class should be used to generate packets to send to the board. This packet does not handle communication with the board; this is instead handled by other packet classes.

This class can be inherited from to implement packet structures for specific applications.

class SendALetterMessage(ApplicationPacket):

    IDENTIFIER = 0xAA
    STRUCT_FORMAT = "B"

    def __init__(self, letter: str):
        self.letter = letter
        super().__init__(self.IDENTIFIER, struct.pack(self.STRUCT_FORMAT, ord(letter)))

    @classmethod
    def from_bytes(cls, data: bytes) -> SendALetterMessage:
        return cls(*struct.unpack(self.STRUCT_FORMAT, data))

bytes(x): Assembles the packet into a form suitable for sending through a data stream. Packs identifier and payload into a single bytes object.

identifier¶

The identifier for the packet. Allowed range is between 0 and 255.

Type: int

payload¶

The payload of bytes to be sent in the packet.

Type: bytes

classmethod from_bytes(data: bytes, expected_identifier: int | None = None) → T[source]¶

Unpacks a series of packed bytes representing an application packet using struct.Struct.unpack(), which produces the packet identifier and array of data. These values are then used to produce the new instance of the class.

Parameters

data (bytes) – The packed packet.
expected_identifier (Optional[int]) – The identifier that is expected to result from the packet. If None, then the identifier is not verified. If this value is passed and the identifiers do not match, then the below error is thrown.

Raises

ApplicationPacketWrongIdentifierException – If the expected_identifier does not match the identifier found in the packet, then this is raised.

Returns

The data represented as an application packet.

Return type

ApplicationPacket

USBtoCANBoard¶

Attributes

lock
ser

Methods

defread_packet
defsend_data

class mil_usb_to_can.sub8.USBtoCANBoard(port: str, baud: int = 9600, simulated: bool = False, **kwargs)[source]¶

ROS-independent wrapper which provides an interface to connect to the USB to CAN board via a serial (or simulated serial) device. Provides thread-safe functionality.

lock¶

The thread lock.

Type: threading.Lock

ser¶

The serial connection.

Type: Union[SimulatedUSBtoCAN, serial.Serial]

Parameters

port (str) – Path to serial device, such as /dev/ttyUSB0.
baud (int) – Baud rate of serial device to connect to. Defaults to 9600.
simulated (bool) – If True, use a simulated serial device rather than a real device. Defaults to False.

read_packet() → Optional[ReceivePacket][source]¶

Read a packet from the board, if available. Returns a ReceivePacket instance if one was successfully read, or None if the in buffer is empty.

Returns: The packet, if found, otherwise None.
Return type: Optional[ReceivePacket]

send_data(data: bytes, can_id: int = 0) → None[source]¶

Sends data to a CAN device using the thread lock. Writes using the write() method of the ser attribute.

Parameters

device_id (int) – CAN device ID to send data to.
data (bytes) – Data (represented as bytes) to send to the device.

Raises

PayloadTooLargeException – The payload is larger than 8 bytes.

CANDeviceHandle¶

Methods

defon_data
defsend_data

class mil_usb_to_can.sub8.CANDeviceHandle(driver: USBtoCANBoard, device_id: int)[source]¶

Base class to allow developers to write handles for communication with a particular CAN device. The two methods of the handle allow the handle to listen to incoming data, as well as send data.

class ExampleEchoDeviceHandle(CANDeviceHandle):
    def __init__(self, driver, device_id):
        self.last_sent = None
        self.send_new_string()
        super().__init__(driver, device_id)

    def on_data(self, data: bytes):
        if self.last_sent is not None and data == self.last_sent[0]:
            print(
                "SUCCESSFULLY echoed {} in {}seconds".format(
                    self.last_sent[0], (rospy.Time.now() - self.last_sent[1]).to_sec()
                )
            )
            rospy.sleep(0.15)
            self.send_new_string()

    def send_new_string(self):
        test = "".join([random.choice(string.ascii_letters) for _ in range(4)])
        self.last_sent = (test, rospy.Time.now())
        self.send_data(test.encode())

Parameters

driver (USBtoCANBoard) – Driver that is used to communicate with the board.
device_id (int) – The CAN ID of the device this class will handle. Not currently used.

on_data(data: bytes)[source]¶

Called when data is received from the device this handle is registered for.

Parameters: data (bytes) – The data received.

send_data(data: bytes, can_id: int = 0)[source]¶

Sends data to the device.

Parameters

data (bytes) – The data payload to send to the device.
can_id (int) – The CAN device ID to send data to. Defaults to 0.

Raises

PayloadTooLargeException – The payload is larger than 8 bytes.

USBtoCANDriver¶

Attributes

board
handles
parse_module_dictionary
timer

Methods

defprocess_in_buffer
defread_packet
defsend_data

class mil_usb_to_can.sub8.USBtoCANDriver[source]¶

ROS Driver which implements the USB to CAN board. Allow users to specify a dictionary of device handle classes to be loaded at runtime to handle communication with specific devices.

board¶

The board the driver is implementing.

Type: USBtoCANBoard

handles¶

The handles served by the driver. Each key represents a unique device ID, and each corresponding value represents an instance of a child class inheriting from CANDeviceHandle. Upon initialization, each class is constructed after being parsed from dynamic reconfigure.

Type: dict[int, CANDeviceHandle]

timer¶

The timer controlling when buffers are processed.

Type: rospy.Timer

static parse_module_dictionary(d: Dict[str, Any]) → Generator[Tuple[int, Any], None, None][source]¶

Generator to load classes from module strings specified in a dictionary. Imports all found classes.

Yields: Generator[Tuple[int, Any], None, None] – Yields tuples containing the device ID and the associated class.

process_in_buffer(*args) → None[source]¶: Read all available packets in the board’s in-buffer.

read_packet() → bool[source]¶

Attempt to read a packet from the board. If the packet has an appropriate device handler, then the packet is passed to the on_data method of that handler.

Returns: The success in reading a packet.
Return type: bool

send_data(*args, **kwargs) → Optional[Exception][source]¶

Sends data using the USBtoCANBoard.send_data() method.

Returns: If data was sent successfully, nothing is returned. Otherwise, the exception that was raised in sending is returned.
Return type: Optional[Exception]

SimulatedCANDevice¶

Methods

defon_data
defsend_data

class mil_usb_to_can.sub8.SimulatedCANDevice(sim_board: SimulatedUSBtoCAN, can_id: int)[source]¶

Simulates a CAN device, with functions to be overridden to handle data requests and sends from motherboard.

Child classes can inherit from this class to implement a simulated CAN device.

on_data(data: bytes, can_id: int)[source]¶

Called when the motherboard or another simulated device sends data onto the bus.

Note

Because the CAN bus is shared, you must verify that the received data is appropriate for your device.

Parameters: data (bytes) – The data payload as a string/bytes object.

send_data(data: bytes)[source]¶: Send data onto the bus, delivering it to other simulated devices and to the driver node.

SimulatedUSBtoCAN¶

Methods

defsend_to_bus
defwrite

class mil_usb_to_can.sub8.SimulatedUSBtoCAN(devices: dict[int, type[SimulatedCANDevice]] | None = None, can_id=- 1)[source]¶

Simulates the USB to CAN board. Is supplied with a dictionary of simulated CAN devices to simulate the behavior of the whole CAN network.

Parameters

devices (Dict[int, Any]) – Dictionary containing CAN IDs and their associated simulated classes inheriting from SimulatedCANDevice.
can_id (int) – ID of the CAN2USB device. Defaults to -1.

send_to_bus(can_id: int, data: bytes, from_mobo: bool = False)[source]¶

Sends data onto the simulated bus from a simulated device.

Parameters

can_id (int) – ID of sender.
data (bytes) – The payload to send.
from_mobo (bool) – Whether the data is from the motherboard. Defaults to False.

write(data: bytes) → int[source]¶: Parse incoming data as a command packet from the motherboard.

Packet¶

Attributes

EOF
SOF
payload

Methods

clsPacket.from_bytes
clsPacket.read_packet

class mil_usb_to_can.sub8.Packet(payload: bytes)[source]¶

Represents a packet to or from the CAN to USB board. This class is inherited by ReceivePacket (for receiving data from the bus) and CommandPacket (for sending commands). Those child classes should be used over this class whenever possible.

bytes(x): Assembles the packet into a form suitable for sending through a data stream. For this base packet class, SOF, payload, and EOF are assembled into one byte string.

payload¶

The payload stored in the packet.

Type: bytes

SOF¶

Flag used to mark the beginning of each packet. Equal to 0xC0.

Type: int

EOF¶

Flag used to mark the beginning of each packet. Equal to 0xC1.

Type: int

classmethod from_bytes(data: bytes) → T | None[source]¶

Parses a packet from a packed bytes string into a Packet instance.

Parameters: data (bytes) – The packed data to construct the Packet instance from.
Returns: The packet instance. None is returned if the packet contains an empty payload.
Return type: Optional[Packet]

classmethod read_packet(stream: serial.Serial | SimulatedUSBtoCAN) → T | None[source]¶

Read a packet with a known size from a serial device

Parameters

stream (Union[serial.Serial, SimulatedUSBtoCAN]) – A instance of a serial device to read from.

Raises

InvalidStartFlagException – The start flag of the packet read was invalid.
InvalidEndFlagException – The end flag of the packet read was invalid.

Returns

The read packet. If a packet was partially transmitted (ie, starting with a character other than SOF or ending with a character other than EOF), then None is returned.

Return type

Optional[Packet]

ReceivePacket¶

Attributes

EOF
SOF
data
device
length
payload

Methods

clsReceivePacket.create_receive_packet
clsReceivePacket.from_bytes

class mil_usb_to_can.sub8.ReceivePacket(payload: bytes)[source]¶

Packet used to request data from the USB to CAN board.

payload¶

The payload stored in the packet.

Type: bytes

SOF¶

Flag used to mark the beginning of each packet. Equal to 0xC0.

Type: int

EOF¶

Flag used to mark the beginning of each packet. Equal to 0xC1.

Type: int

classmethod create_receive_packet(device_id: int, payload: bytes) → ReceivePacket[source]¶

Creates a command packet to request data from a CAN device.

Parameters

device_id (int) – The CAN device ID to request data from.
payload (bytes) – The data to send in the packet.

Returns

The packet to request from the CAN device.

Return type

ReceivePacket

property data: bytes¶: The data inside the packet.

property device: int¶: The device ID associated with the packet.

classmethod from_bytes(data: bytes) → ReceivePacket[source]¶

Creates a receive packet from packed bytes. This strips the checksum from the bytes and then unpacks the data to gain the raw payload.

Raises

ChecksumException – The checksum found in the data differs from that
found in the data. –

Returns

The packet constructed from the packed bytes.

Return type

ReceivePacket

property length¶: The length of the data to receive.

CommandPacket¶

Attributes

EOF
SOF
data
filter_id
is_receive
length
length_byte
payload

Methods

clsCommandPacket.create_request_packet
clsCommandPacket.create_send_packet

class mil_usb_to_can.sub8.CommandPacket(payload: bytes)[source]¶

Represents a packet to the CAN board from the motherboard. This packet can either request data from a device or send data to a device.

bytes(x): Assembles the packet into a form suitable for sending through a data stream.

payload¶

The payload stored in the packet.

Type: bytes

SOF¶

Flag used to mark the beginning of each packet. Equal to 0xC0.

Type: int

EOF¶

Flag used to mark the beginning of each packet. Equal to 0xC1.

Type: int

classmethod create_request_packet(filter_id: int, receive_length: int) → CommandPacket[source]¶

Creates a command packet to request data from a CAN device.

Parameters

filter_id (int) – The CAN device ID to request data from.
receive_length (int) – The number of bytes to request.

Returns

The command packet responsible for requesting data from a CAN device.

Return type

CommandPacket

classmethod create_send_packet(data: bytes, can_id: int = 0) → CommandPacket[source]¶

Creates a command packet to send data to the CAN bus from the motherboard.

Parameters

data (bytes) – The data payload.
can_id (int) – The ID of the device to send data to. Defaults to 0.

Raises

PayloadTooLargeException – The payload is larger than 8 bytes.

Returns

The packet responsible for sending information to the CAN bus from the motherboard.

Return type

CommandPacket

property data: bytes¶: Returns: bytes: The data to be sent.

property filter_id: int¶

An integer representing the CAN device ID specified by this packet.

Returns: int

property is_receive: bool¶

True if this CommandPacket is requesting data.

Returns: bool

property length: int¶

The number of bytes of data sent or requested.

Returns: int

property length_byte: int¶

The first header byte which encodes the length and the receive flag.

Returns: int

`mil_usb_to_can.sub9` - SubjuGator 9¶

Packet Format¶

In order to reliably communicate with the USB to CAN board, a consistent packet format must be defined.

Below is the USBtoCAN Packet Format. This packet format wraps every message being sent over the serial connection to the USB to CAN board from ROS.

USBtoCAN Packet Format¶
Name	Length	Description
Sync character 1 (`0x37`)	1 byte	First sync character indicating the start of packets.
Sync character 2 (`0x01`)	1 byte	Second sync character indicating the start of packets.
Class ID	1 byte	Message class. Determines the family of messages the packet belongs to.
Subclass ID	1 byte	Message subclass. In combination with class, determines specific qualities of message.
Payload Length	2 bytes	Length of payload.
Payload	0-65535 bytes	Payload. Meaning of payload is determined by specific packet class/subclass.
Checksum A	1 byte	First byte of Fletcher’s checksum.
Checksum B	1 byte	Second byte of Fletcher’s checksum.

Checksums¶

All messages contain a checksum to help verify data integrity. However, receiving packets also have a special byte containing a slightly modified checksum formula.

The checksum in all packets is found by adding up all bytes in the byte string, including the start/end flags, and then using modulo 16 on this result.

Packet Listing¶

Below is a listing of all available packets. The payload format is the format used by the struct module. For more information, see the Python documentation on the list of format characters, and their corresponding byte length.

Message ID	Subclass ID	Payload Format	Class
0x00 (Meta)	0x00	Empty	`mil_usb_to_can.sub9.NackPacket`
0x00 (Meta)	0x01	Empty	`mil_usb_to_can.sub9.AckPacket`
0x01 (Sub8 Thrust/ Kill)	0x00	Empty	`sub8_thrust_and_kill_board.HeartbeatPacket`
	0x01	`Bf`	`sub8_thrust_and_kill_board.ThrustSetPacket`
	0x02	`B`	`sub8_thrust_and_kill_board.KillSetPacket`
	0x03	`B`	`sub8_thrust_and_kill_board.KillReceivePacket`
0x02 (Sub9 Thrust/ Kill)	0x00	Empty	`sub9_thrust_and_kill_board.HeartbeatSetPacket`
	0x01	Empty	`sub9_thrust_and_kill_board.HeartbeatReceivePacket`
	0x02	`Bf`	`sub9_thrust_and_kill_board.ThrustSetPacket`
	0x03	`B`	`sub9_thrust_and_kill_board.KillSetPacket`
	0x04	`B`	`sub9_thrust_and_kill_board.KillReceivePacket`
0x03 (Battery Monitor)	0x00	Empty	`sub8_battery_monitor_board.BatteryPollRequestPacket`
0x03 (Battery Monitor)	0x01	`ffff`	`sub8_battery_monitor_board.BatteryPollResponsePacket`
0x04 (Actuator Board)	0x00	`BB`	`sub_actuator_board.ActuatorSetPacket`
	0x01	Empty	`sub_actuator_board.ActuatorPollRequestPacket`
	0x02	`B`	`sub_actuator_board.ActuatorPollResponsePacket`
0x05 (System Status)	0x00	Empty	`sub9_system_status_board.SetLedRequestPacket`

CANDeviceHandle¶

Methods

defon_data
defsend_data

class mil_usb_to_can.sub9.CANDeviceHandle(driver: USBtoCANDriver)[source]¶

Base class to allow developers to write handles for communication with a particular CAN device. The two methods of the handle allow the handle to listen to incoming data, as well as send data.

Parameters

driver (USBtoCANBoard) – Driver that is used to communicate with the board.
device_id (int) – The CAN ID of the device this class will handle. Not currently used.

on_data(data: Packet)[source]¶

Called when a return packet is sent over the serial connection. In the USB to CAN protocol, it is assumed that packets will be returned to the motherboard in the order they are sent out. Therefore, the type of packet sent through this event is not guaranteed, and is only determined by the message and subclass ID sent by the individual board.

Partial data (ie, incomplete packets) are not sent through this event.

Parameters: packet (Packet) – The incoming packet.

send_data(data: Packet)[source]¶

Sends a packet over the serial connection.

Parameters: data (Packet) – The packet to send.

SimulatedCANDeviceHandle¶

Attributes

inbound_packets

Methods

defon_data
defsend_data

class mil_usb_to_can.sub9.SimulatedCANDeviceHandle(sim_board: SimulatedUSBtoCANStream, inbound_packets: list[type[Packet]])[source]¶

Simulates a CAN device, with functions to be overridden to handle data requests and sends from motherboard.

Child classes can inherit from this class to implement a simulated CAN device.

inbound_packets¶

The types of packets listened to by this device. Packets of this type will be routed to the on_data() method of the device handle.

Type: type[Packet]

on_data(packet: Packet)[source]¶

Called when an relevant incoming packet is received over the serial connection. Relevant packets are those listed in inbound_packets.

Partial data (ie, incomplete packets) are not sent through this event.

Parameters: packet (Packet) – The incoming packet.

send_data(data: bytes)[source]¶: Sends data over the serial connection.

Packet¶

Methods

clsPacket.from_bytes

class mil_usb_to_can.sub9.Packet[source]¶

Represents one packet sent or received by a device handle communicating to/from the USB to CAN board. This class is able to handle packaging unique data values into a bytes object for sending over a data stream.

This class should be overridden to implement unique packet payloads. Note that this class supports three subclass arguments to assign unique message IDs, subclass IDs, and payload formats. Note that all subclasses must be decorated with dataclasses.dataclass().

If any class members are annotated with a subclass of enum.Enum, the class will always make an attempt to convert the raw data value to an instance of the enum before constructing the rest of the values in the class.

from dataclasses import dataclass

@dataclass
class ExamplePacket(Packet, msg_id = 0x02, subclass_id = 0x01, payload_format = "BHHf"):
    example_char: int
    example_short: int
    example_short_two: int
    example_float: float

bytes(x): Returns a bytes object representing the data of the packet in the specified packet format.

Parameters

msg_id (int) – The message ID. Can be between 0 and 255.
subclass_id (int) – The message subclass ID. Can be between 0 and 255.
payload_format (str) – The format for the payload. This determines how the individual payload is assembled. Each character in the format string represents the position of one class variable. The class variables are assembled in the order they are defined in.

classmethod from_bytes(packed: bytes) → Packet[source]¶: Constructs a packet from a packed packet in a bytes object. If a packet is found with the corresponding message and subclass ID, then an instance of that packet class will be returned, else Packet will be returned.

NackPacket¶

class mil_usb_to_can.sub9.NackPacket[source]¶: Common not-acknowledged packet. Should only be found in response operations.

AckPacket¶

class mil_usb_to_can.sub9.AckPacket[source]¶: Common acknowledgment packet. Should only be found in response operations.

mil_usb_to_can - USB to CAN Communication¶

mil_usb_to_can.sub8 - SubjuGator 8¶

Packet Format¶

Checksums¶

Exceptions¶

Exception Hierarchy¶

Exception List¶

ApplicationPacket¶

USBtoCANBoard¶

CANDeviceHandle¶

USBtoCANDriver¶

SimulatedCANDevice¶

SimulatedUSBtoCAN¶

Packet¶

ReceivePacket¶

CommandPacket¶

mil_usb_to_can.sub9 - SubjuGator 9¶

Packet Format¶

Checksums¶

Packet Listing¶

CANDeviceHandle¶

SimulatedCANDeviceHandle¶

Packet¶

NackPacket¶

AckPacket¶

`mil_usb_to_can` - USB to CAN Communication¶

`mil_usb_to_can.sub8` - SubjuGator 8¶

`mil_usb_to_can.sub9` - SubjuGator 9¶