CAN_set

#include <rtx_can.h>

CAN_ERROR CAN_set (
    U32 ctrl,        /* CAN Controller */
    CAN_msg *msg,    /* CAN Message */
    U16 timeout);    /* Time to Wait */

The CAN_set function sets the DATA FRAME message to be sent automatically by the CAN controller hardware (specified by ctrl) in response to a REMOTE FRAME request.

If the CAN controller hardware supports REMOTE FRAME requests, this function sets the DATA FRAME message from msg. If the hardware is busy it will retry every timer tick.

The timeout specifies how long to wait for the hardware to become available.

If the message is not set by the specified time, an error is returned.

The CAN_set function executes quickly because the CAN controller hardware is rarely busy for long periods of time.

The CAN_set function is part of RL-CAN. The prototype is defined in RTX_CAN.h.

The CAN_set function returns one of the following manifest constants.

• CAN_OK
  Success.
• CAN_TIMEOUT
  Indicates that the timeout expired before a message was set.
• CAN_NOT_IMPLEMENTED_ERROR
  Indicates that hardware does not offer this functionality.

CAN_request

#include <rtx_can.h>

__task void task_send_CAN (void) {
  unsined int i = 0;

  CAN_msg msg_buf = {
    33,                           // ID
    { 0x00, 0x00, 0x00, 0x00,
      0x00, 0x00, 0x00, 0x00 },   // Data
    1,                            // Length
    1,                            // Channel
    STANDARD_FORMAT,              // Format
    DATA_FRAME                    // Type
  };

  while (1) {
    // Put data (i) into the transmit buffer
    // Set DATA FRAME message on controller 1
    msg_buf.data[0] = ++i;
    CAN_set (1, &msg_buf, 0x0F00);

    // Wait 100ms
    os_dly_wait (10);
  }
}