CAN_msg

The CAN_msg type is defined in rtx_can.h. It specifies the CAN message structure used by the CAN driver routines. The CAN_msg type is defined as:

typedef struct {
  U32 id;        /* 11/29 bit message ID              */
  U8  data[8];   /* Data field                        */
  U8  len;       /* Length of data field in bytes     */
  U8  ch;        /* Object channel                    */
  U8  format;    /* 0-STANDARD, 1-EXTENDED IDENTIFIER */
  U8  type;      /* 0-DATA FRAME, 1-REMOTE FRAME      */
} CAN_msg;

and is used as shown in the following example:

#include <rtx_can.h>

   ..
  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
  };
   ..
  CAN_send (2, &msg_buf, 0x0F00);
   ..