This receives a message from a CAN network. Before any reception is realized, a receive filter must have been created with canFilterCreate, canFilterCreateOnce, canFilterCreateX, or canFMSFilterCreate. If the canLoopBackMode is enabled, all transmitted messages from the RTCU will be received - but only if a receive filter is set up.
Input:
port : SINT (1/2) (default 1)
The port of the CAN bus.
timeout : INT (-1..32767) (default 0)
The number of milliseconds to wait for a CAN message
0
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- Return immediately if no message
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-1
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- Wait for ever.
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data : PTR
Address of the buffer to receive the data in.
Note: the buffer must be a minimum of 8 bytes long.
Output:
xtd : BOOL
TRUE:
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Message uses the extended identifier (29 bits).
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FALSE:
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Message uses the standard identifier (11 bits).
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id : DINT
The identifier of the message.
datasize : INT
Number of bytes received.
Returns: INT
1
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- Successful.
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0
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- The canReceiveX function is not supported.
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-1
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- The CAN bus is not present.
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-2
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- The CAN bus is not open.
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-3
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- Illegal parameter.
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-4
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- Timeout.
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Declaration:
FUNCTION canReceiveX : INT;
VAR_INPUT
port : SINT := 1;
timeout : INT := 0;
data : PTR;
xtd : ACCESS BOOL;
ID : ACCESS DINT;
datasize : ACCESS INT;
END_VAR;
Example:
INCLUDE rtcu.inc
VAR
buf : ARRAY [1..8] OF SINT;
END_VAR;
PROGRAM CANExample;
VAR
FilterID : SINT;
rc : INT;
msg_xtd : BOOL;
msg_id : DINT;
msg_size : INT;
END_VAR;
canOpen(baud := 250, monitor := FALSE);
canLoopBackMode(enable := ON);
FilterID := canFilterCreate(xtd:=TRUE,startID:=16#0EFDD600,length:=6);
rc := canSendMessage(xtd:=TRUE,ID:=16#0EFDD600,data:=ADDR(buf),datasize:=8);
IF rc = 0 THEN
DebugMsg(message:="CAN message sent");
ELSE
DebugFmt(message:="CAN message failed (\1)",v1:=rc);
END_IF;
BEGIN
...
rc := canReceiveX(port := 1, timeout := -1, data := ADDR(buf), xtd := msg_xtd, id := msg_id, datasize := msg_size);
CASE rc OF
1: DebugMsg(message:="CAN message received.");
DebugFmt(message:="canRX - xtdd= \1", v1:=INT(msg_xtd));
DebugFmt(message:="canRX - ID= \4", v4:=msg_id);
DebugFmt(message:="canRX - DataSize= \1", v1:=msg_size);
0: DebugMsg(message:="The canReceiveX function is not supported.");
-1: DebugMsg(message:="The CAN bus is not present.");
-2: DebugMsg(message:="The CAN bus is not open.");
-3: DebugMsg(message:="Illegal parameter.");
-4: DebugMsg(message:="Timeout on CAN receive.");
ELSE
DebugFmt(message:="canReceiveX (rc=\1)", v1:=rc);
END_CASE;
...
END;
END_PROGRAM;
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