MATLAB Examples

# CAN Channel Message Filtering

This example shows you how to use CAN message filters to allow only messages that contain specified identifiers to pass through a channel. It uses MathWorks Virtual CAN channels connected in a loopback configuration.

## Create Transmitting and Receiving Channels

One channel will transmit messages the other. Filters are set on the receiving channel.

```txCh = canChannel('MathWorks', 'Virtual 1', 1); rxCh = canChannel('MathWorks', 'Virtual 1', 2); ```

## Create Messages

These messages are sent to the receiving channel multiple times throughout the example. Note that one of the messages has an extended identifier.

```txMsgs(1) = canMessage(250, false, 8); txMsgs(2) = canMessage(500, false, 8); txMsgs(3) = canMessage(1000, false, 8); txMsgs(4) = canMessage(1500, true, 8); txMsgs(5) = canMessage(2000, false, 8); ```

## Receive Messages on an Open Filter

Set the channels online, transmit the messages, and receive them. Note that all messages sent were received. The filter settings on a newly created channel are fully open for both standard and extended identifiers.

```start(rxCh); start(txCh); transmit(txCh, txMsgs); pause(0.5); rxMsgs1 = receive(rxCh, Inf, 'OutputFormat', 'timetable') stop(rxCh); stop(txCh); ```
```rxMsgs1 = Time ID Extended Name Data Length Signals Error Remote _________ ____ ________ ____ ___________ ______ ____________ _____ ______ 0.476 sec 250 false '' [1×8 uint8] 8 [0×0 struct] false false 0.476 sec 500 false '' [1×8 uint8] 8 [0×0 struct] false false 0.476 sec 1000 false '' [1×8 uint8] 8 [0×0 struct] false false 0.476 sec 1500 true '' [1×8 uint8] 8 [0×0 struct] false false 0.476 sec 2000 false '' [1×8 uint8] 8 [0×0 struct] false false ```

Plot the identifiers of the received messages to see that all messages sent were received by the channel.

```plot(1, rxMsgs1.ID, 'x') h_gca = gca; h_gca.XTick = 0:1:2; h_gca.XTickLabel = {'', 'Transmit 1', ''}; axis([0 2 0 2047]) xlabel('Message Transmits') ylabel('CAN Identifiers') ```

## Receive Messages on a Configured Filter

Use the filterAllowOnly command to specify messages to receive by CAN identifier and identifier type.

```filterAllowOnly(rxCh, [500 2000], 'Standard'); ```

Display the channel to view the configured state of the message filters.

```rxCh ```
```rxCh = Summary of CAN Channel using 'MathWorks' 'Virtual 1' Channel 2. Channel Parameters: Bus Speed is 500000. Bus Status is 'N/A'. Transceiver name is 'N/A'. Serial Number of this device is 0. Initialization access is allowed. No database is attached. Status: Offline - Waiting for start. 0 messages available to receive. 0 messages transmitted since last start. 5 messages received since last start. Filter History: Standard ID Filter: Allow Only | Extended ID Filter: Allow All ```

Transmit the messages again to the receiving channel. Note that fewer messages were received this time.

```start(rxCh); start(txCh); transmit(txCh, txMsgs); pause(0.5); rxMsgs2 = receive(rxCh, Inf, 'OutputFormat', 'timetable') stop(rxCh); stop(txCh); ```
```rxMsgs2 = Time ID Extended Name Data Length Signals Error Remote __________ ____ ________ ____ ___________ ______ ____________ _____ ______ 2.4401 sec 500 false '' [1×8 uint8] 8 [0×0 struct] false false 2.4401 sec 1500 true '' [1×8 uint8] 8 [0×0 struct] false false 2.4401 sec 2000 false '' [1×8 uint8] 8 [0×0 struct] false false ```

Add the new receive data to the plot to see which messages are blocked by the filter. The message with the extended identifier was numerically supposed to be blocked, but it passed the filter because the filter was only configured for standard identifiers.

```plot(1, rxMsgs1.ID, 'x', 2, rxMsgs2.ID, 'x'); h_gca = gca; h_gca.XTick = 0:1:3; h_gca.XTickLabel = {'', 'Transmit 1', 'Transmit 2', ''}; axis([0 3 0 2047]) xlabel('Message Transmits') ylabel('CAN Identifiers') ```

## Reset the Message Filter

You can reset the message filters to their default open state with the filterAllowAll command.

```filterAllowAll(rxCh, 'Standard'); ```

Display the channel to view the configured state of the message filters.

```rxCh ```
```rxCh = Summary of CAN Channel using 'MathWorks' 'Virtual 1' Channel 2. Channel Parameters: Bus Speed is 500000. Bus Status is 'N/A'. Transceiver name is 'N/A'. Serial Number of this device is 0. Initialization access is allowed. No database is attached. Status: Offline - Waiting for start. 0 messages available to receive. 0 messages transmitted since last start. 3 messages received since last start. Filter History: Standard ID Filter: Allow All | Extended ID Filter: Allow All ```

Transmit and receive a third time to see that all messages are once again passing through the filter and into the channel.

```start(rxCh); start(txCh); transmit(txCh, txMsgs); pause(0.5); rxMsgs3 = receive(rxCh, Inf, 'OutputFormat', 'timetable') stop(rxCh); stop(txCh); ```
```rxMsgs3 = Time ID Extended Name Data Length Signals Error Remote __________ ____ ________ ____ ___________ ______ ____________ _____ ______ 3.3821 sec 250 false '' [1×8 uint8] 8 [0×0 struct] false false 3.3821 sec 500 false '' [1×8 uint8] 8 [0×0 struct] false false 3.3821 sec 1000 false '' [1×8 uint8] 8 [0×0 struct] false false 3.3821 sec 1500 true '' [1×8 uint8] 8 [0×0 struct] false false 3.3821 sec 2000 false '' [1×8 uint8] 8 [0×0 struct] false false ```

With the new data added to the plot, observe that the first and third transmits are identical as the message filters were fully open in both cases.

```plot(1, rxMsgs1.ID, 'x', 2, rxMsgs2.ID, 'x', 3, rxMsgs3.ID, 'x') h_gca = gca; h_gca.XTick = 0:1:4; h_gca.XTickLabel = {'', 'Transmit 1', 'Transmit 2', 'Transmit 3', ''}; axis([0 4 0 2047]) xlabel('Message Transmits') ylabel('CAN Identifiers') ```

## Filter Messages By Name

The filterAllowOnly command can also reference messages by name when using a CAN database file.

```db = canDatabase('demoVNT_CANdbFiles.dbc'); rxCh.Database = db; filterAllowOnly(rxCh, 'EngineMsg'); rxCh ```
```rxCh = Summary of CAN Channel using 'MathWorks' 'Virtual 1' Channel 2. Channel Parameters: Bus Speed is 500000. Bus Status is 'N/A'. Transceiver name is 'N/A'. Serial Number of this device is 0. Initialization access is allowed. 'demoVNT_CANdbFiles.dbc' database is attached. Status: Offline - Waiting for start. 0 messages available to receive. 0 messages transmitted since last start. 5 messages received since last start. Filter History: Standard ID Filter: Allow Only | Extended ID Filter: Allow All ```

## Blocking All Messages of a Specific Type

The filterBlockAll command lets you quickly set the filter to block all messages of either standard or extended identifier type.

```filterBlockAll(rxCh, 'Extended'); rxCh ```
```rxCh = Summary of CAN Channel using 'MathWorks' 'Virtual 1' Channel 2. Channel Parameters: Bus Speed is 500000. Bus Status is 'N/A'. Transceiver name is 'N/A'. Serial Number of this device is 0. Initialization access is allowed. 'demoVNT_CANdbFiles.dbc' database is attached. Status: Offline - Waiting for start. 0 messages available to receive. 0 messages transmitted since last start. 5 messages received since last start. Filter History: Standard ID Filter: Allow Only | Extended ID Filter: Block All ```