Send a CAN message with the defined ID and contents of a buffer. The message Identifier (ID) is by default set to be an extended ID. The maximum data size to send is limited to 8 bytes per transmission.
Note:
From firmware version 4.68 / R1.10.00 this function supports reporting of bus-error conditions.
Input:
port : SINT (1/2) (default 1)
The port of the CAN bus.
xtd : BOOL (default TRUE)
If true, the package uses the extended identifier (29 bits).
ID : DINT
The identifier of the package.
data : PTR
Address of the buffer that contains the data.
datasize : INT (1..8)
Number of bytes in buffer.
Returns: SINT
0
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- Success. The Message was sent and acknowledged on the bus.
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1
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- The CAN bus is not open.
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2
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- Datasize out of range.
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3
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- Invalid buffer.
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4
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- Timeout. The message was not acknowledged on the bus.
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5
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- Monitor mode. Transmission not allowed.
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6
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- An bus-error was detected. This includes a short-circuit condition or write operation impossible (missing jumper condition).
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Declaration:
FUNCTION canSendMessage : SINT;
VAR_INPUT
port : SINT := 1;
xtd : BOOL := TRUE;
ID : DINT;
data : PTR;
datasize : INT;
END_VAR;
Example:
INCLUDE rtcu.inc
VAR
canRX : canReceiveMessage;
buf : ARRAY [1..8] OF SINT;
END_VAR;
PROGRAM CANExample;
VAR
FilterID : SINT;
rc : INT;
END_VAR;
canOpen(baud := 250, monitor := FALSE);
canRX(data := ADDR(buf));
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
canRX();
...
IF canRX.ready THEN
DebugMsg(message:="Message received!");
DebugFmt(message:="canRX.xtd= \1", v1:=INT(canRX.xtd));
DebugFmt(message:="canRX.ID= \4", v4:=canRX.ID);
DebugFmt(message:="canRX.DataSize= \1", v1:=INT(canRX.DataSize));
END_IF;
...
END;
END_PROGRAM;
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