Can.c File Reference

CAN functions. More...

#include <stdlib.h>
#include "derivative.h"
#include "bits.h"
#include "stepRocker.h"
#include "Can.h"

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Macros
#define	CAN_MB_RX_INACTIVE   0x00
#define	CAN_MB_FULL   0x02
#define	CAN_MB_EMPTY   0x04
#define	CAN_MB_TX_INACTIVE   0x08
#define	CAN_MB_DATA   0x0C

Functions
void	InitCan (UCHAR Bitrate, USHORT ReceiveID1, USHORT ReceiveID2)
	Initialization of the CAN interface. More...
int	CanSendMessage (TCanFrame *Msg)
int	CanGetMessage (TCanFrame *Msg)

Detailed Description

CAN functions.

Author

Trinamic Motion Control GmbH & Co KG

Version

2.20

This file provides functions for intializing and using the CAN interface.

Function Documentation

CanGetMessage

(

TCanFrame *

Msg

)

Parameters

*Msg	Pointer to TCanFrame structure to take the message

Returns

TRUE: Message successfully read
FALSE: No message read (buffer empty).

Try to read a message from the receive buffer if it is not empty.

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CanSendMessage

(

TCanFrame *

Msg

)

Parameters

*Msg	Pointer to CAN message (type TCanFrame) to be sent

Returns

TRUE if message could be written
FALSE if buffer full.

Try to send a CAN message by writing it to mailbox 15.

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InitCan	(	UCHAR	Bitrate,
		USHORT	ReceiveID1,
		USHORT	ReceiveID2
	)

Initialization of the CAN interface.

Parameters

Baudrate	CAN-Bitrate 1 2 3 4 5 6 7 8 10 20 50 100 125 250 500 1000kBit/s
ReceiveID	Only CAN messages with this ID (standard or extended frames) will be accepted.
SecondaryID	If this is !=0 then also messgaes with this ID (standard or extended frames) will be accepted.

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