Filter Implementation

[canuser11]

Hello All,

I am trying to implement an alpha tunable low pass filter on in PCAN Explorer. My script currently reads the command signal and sends it over the CAN bus. I would like to filter this command signal before its sent. How should I go about implementing this?

[canuser11]

Hello All,

I am trying to implement an alpha tunable low pass filter on in PCAN Explorer. My script currently reads the command signal and sends it over the CAN bus. I would like to filter this command signal before its sent. How should I go about implementing this?

Following is the matlab script I would like to implement on the realtime CAN data

Code: Select all

Cmd=sin(2*pi*(linspace(1,5,80)));% random data
Cmd=Cmd';
t=0.2; %tau
y=zeros(1,length(Cmd));
y(1,1)=Cmd(1,1);
for i=2:length(Cmd);
    y(i)=y(i-1)+(t*(Cmd(i)-y(i-1)));
end
axis([0 80 -5 5])
plot(Cmd,'-r')
hold on;
plot(y,'-g')
set(gca,'Xlim',[0 70],'Ylim',[-1.5 1.5]);
hold off;

Following is the PCAN explorer script where I would like to implement the above filter on the Cmd. My question is how do I access the i-1th Cmd in the script. Thanks.

Code: Select all

Sub Feedback()

	Dim Network1, Network2
	Dim Port1, Port2
	Dim obj
	Dim RecvMsgNetwork1, SendMsgNetwork2
	Dim Cmd
			
	Set Network1 = CreateObject("Pcan3.PCANClient")
	Set Network2 = CreateObject("Pcan3.PCANClient")

	Network1.Name = "CAN1" 
	Network2.Name = "CAN2" 

	' Connect to the pre defined Networks
	
	Set Port1 = Network1.Connections.Add("Connection1") 
	Set Port2 = Network2.Connections.Add("Connection2") 

			
	' Receive CAN1 messages
	Set RecvMsgNetwork1  = Network1.Messages.Add
	Set SendMsgNetwork1 = Network1.Messages.Add
	' Send CAN2 messages
	Set SendMsgNetwork2 = Network2.Messages.Add
	
	'Message Filter for CAN1
	Port1.RegisterMsg &h11BD3659, &h11BD1254, 1, 1  
			  
	Do 'Forever loop till error or CAN ID found 
		Do While not RecvMsgNetwork1.Read ' Here we read the driver queue until we received a MSG
			Wait(100) ' Cmd frequency
					
		Loop
        If RecvMsgNetwork1.LastError = pcanErrorOk Then  
	        With SendMsgNetwork2 ' receive the filtered command
				.ID = RecvMsgNetwork1.ID  ' 
				.DLC = RecvMsgNetwork1.DLC '
				.MsgType = RecvMsgNetwork1.MsgType 
				.Data(0) = RecvMsgNetwork1.Data(0) 
				.Data(1) = RecvMsgNetwork1.Data(1)
				.Data(2) = RecvMsgNetwork1.Data(2)
				.Data(3) = RecvMsgNetwork1.Data(3)
				.Data(4) = RecvMsgNetwork1.Data(4)
				.Data(5) = RecvMsgNetwork1.Data(5)
				.Data(6) = RecvMsgNetwork1.Data(6)
				.Data(7) = RecvMsgNetwork1.Data(7)
				
			End With			
			Cmd = (RecvMsgNetwork1.Data(1) + RecvMsgNetwork1.data(0))
			'Combine the two bytes to get command for applying the filter
								
				
End Sub

[PEAK-Support]

First of all: double posting will not speed up the time until someone send a feedback (we need max. 24h)
I have now merged both posts to one thread. Also, please understand, we do know not if you use a PE4 or PE5 (think it´s a PE5 because of using 2 CAN BUS in a Project). Please always post the Version you use. Also be sure you have update to the latest version. See Start Screen of your PCAN-Explorer.

You have simply copy a sample from us and post it here Why? You write you like to port a script from MatLab, but i found nothing in the Macro that you post. Its an 1:1 sample for using 2 physical CAN Bus in a project ? Do you need 2 CAN ? Did you understand what the macro does ?
Please read and study the samples and if you have understand how the PE5 macros work, try to repost in a way we could support you. We also offer consulting - so if we should wrote the PE5 script for you, send us a technical specification and we send you an offer. By the way the MatLab support also PEAK-CAN Hardware.