https://docs.macchina.cc/projects/mini-project-tutorials/p1-can-vehicle-data

p1_data.py

import can
from can.interface import Bus
from can import Message
import os
from datetime import datetime
from datetime import time
import csv

os.system('sudo ip link set can0 down')
os.system('sudo ip link set can0 up type can bitrate 500000')

can.rc['interface']='socketcan'
can.rc['channel']='can0'
can.rc['bitrate']=500000

print('CAN0 Setup Complete')

bus=Bus()

msg_mph=Message(is_extended_id=False, arbitration_id=0x7DF, data=[2,1,0xD,0xAA,0xAA,0xAA,0xAA,0xAA])
msg_rpm=Message(is_extended_id=False, arbitration_id=0x7DF, data=[2,1,0xC,0xAA,0xAA,0xAA,0xAA,0xAA])
msg_temp=Message(is_extended_id=False, arbitration_id=0x7DF, data=[2,1,5, 0xAA,0xAA,0xAA,0xAA,0xAA])

last=datetime.now()
fields=['Time','Vehicle Speed (MPH)','Engine Speed (RPM)','Coolant Temperature (C)']
newRow=[' ',' ',' ',' ']
pollTime=0.1

rpmSend=False
tempSend=False

fileName='dataLog.csv'
x=datetime.now()
fileName=str(x.year)+str(x.month).zfill(2)+str(x.day).zfill(2)+str(x.hour).zfill(2)+str(x.minute).zfill(2)+fileName

with open(os.path.dirname(__file__)+'/../'+fileName,'w') as csvfile:
    csvwriter=csv.writer(csvfile)
    csvwriter.writerow(fields)

    print('CSV File Created')

    for msg in bus:
        if (datetime.now()-last).total_seconds()>pollTime:
            print('Polling('+str(datetime.now().hour).zfill(2)+':'+str(datetime.now().minute).zfill(2)+':'+str(datetime.now().second).zfill(2)+')...')
            last=datetime.now()
            bus.send(msg_mph)
            #print('Sending speed request at '+str(datetime.now().time()))
            rpmSend=True
            tempSend=True
        if  rpmSend and (datetime.now()-last).total_seconds()>pollTime/3.0:
            rpmSend=False
            bus.send(msg_rpm)
            #print('Sending rpm request at '+str(datetime.now().time()))
        if tempSend and (datetime.now()-last).total_seconds()>pollTime*2.0/3.0:
            tempSend=False
            bus.send(msg_temp)
            #print('Sending temp request at '+str(datetime.now().time()))
        if (msg.arbitration_id>2015 and msg.arbitration_id<2032):
            #SPEED
            if (msg.data[1]==65 and msg.data[2]==13):
                #print('Speed: '+str(msg.data[3]*0.621371))
                newRow[0]=str(datetime.now().time())
                newRow[1]=str(msg.data[3]*0.621371)
            #RPM
            elif (msg.data[1]==65 and msg.data[2]==12):
                #print('RPM: '+str(64.0*msg.data[3]+0.25*msg.data[4]))
                newRow[2]=str(64.0*msg.data[3]+0.25*msg.data[4])
            #TEMP
            elif (msg.data[1]==65 and msg.data[2]==5):
                #print('Temp: '+str(msg.data[3]-40))
                newRow[3]=str(msg.data[3]-40)
                csvwriter.writerow(newRow)
            else:
                continue
        else:
            continue