Usercode CAN Bus

Functions

• void user_can_message_receive (uint8_t hw_id, bios_can_msg_typ ∗msg)
  • Manually interpret the received CAN message.
  • CAN ID must be defined in User Defined Messages.
  • This function call is already defined in user_code.c.
  • Parameters
    • hw_id, the CAN channel the message was receieved on. Physical CAN channel ID number minus 1, i.e.: CAN1 = 0
    • msg, pointer to the message
      • msg->id, CAN message identifier of message received
      • msg->id_ext, CAN message identifier type, "0" = 11 bit identifier, "1" for 29 bit identifier
      • msg->data[0] - msg->data[7], the value of the data field from the recieved message
  • returns the value of the recieved data-point or signal
• uint8_t os_can_send_msg (uint8_t hw_id, uint32_t id, uint8_t id_type, uint8_t dlc, uint8_t byte0, uint8_t byte1, uint8_t byte2, uint8_t byte3, uint8_t byte4, uint8_t byte5, uint8_t byte6, uint8_t byte7)
  • Send an user-defined CAN message.
  • Parameters:
    • hw_id, select which CAN channel to send message on. Set to physical CAN channel ID number minus 1, i.e.: CAN1 = 0
    • id, CAN message identifier
    • id_type, "0" for 11 bit identifier, "1" for 29 bit identifier
    • dlc, select data length of message, from 1 (byte) to 8 (bytes)
    • byte0 - byte7, the value of the data field to be sent
  • returns the result of the transmission
    • 1 = success
    • 0 = error, TX-Buffer full, CAN channel not initialized, wrong parameters.
• uint32_t can_db_get_value (uint32_t name_signal)
  • Read a CAN message.
  • CAN datapoint must be defined in User Defined Messages or an External Database Datapoint.
• uint8_t can_db_test_dp_value (uint32_t id)
  • Check for CAN message reception.
  • CAN datapoint must be defined in User Defined Messages or an External Database Datapoint.
  • returns the result of the check.
    • 0 = no message received
    • 1 = data-point or signal recieved and is the same value as the last reception
    • 2 = data-point or signal received and is different than the last reception
• void can_db_set_value (uint32_t name_signal, uint32_t value_int)
  • Set the value of a data-point.
  • CAN datapoint must a "Sent" datapoint and defined in User Defined Messages sent section.

Example Code

• Read a datapoint to a variable

uint32_t variable1;
// Reads the CAN message (data-point-name = POINT1) and writes it into variable1
variable1 = can_db_get_value(POINT1);
uint32_t variable2;
// Reads the CAN message (data-point-name = CAN_AVERAGE_CONSUMPTION) and writes it into variable2
variable2 = can_db_get_value(CAN_AVERAGE_CONSUMPTION);

• Set the value of a data point

// Set the value of data-point "POINT2" to 23.
can_db_set_value(POINT2, 23);
// or
// Set the value of data-point "CAN_ANALOG_INPUT_ANA0" to the analog input value of ANA0.
can_db_set_value(CAN_ANALOG_INPUT_ANA0, os_algin_mv(ANA0));

• Check if a CAN message has been received
• Manually switch the output of OUT_HSD2 when bit 8 of byte 3 of 0x1FF00

uint32_t variable1;
// Check if received CAN message matches data-point "CAN_CHECK_FOR_THIS"
variable1 = can_db_test_dp_value(CAN_CHECK_FOR_THIS);

• Manually receive CAN message

void user_can_message_receive(uint8_t hw_id, bios_can_msg_typ* msg)
{
    // When 0x400 is received, send a CAN message
    if( (msg->id == 0x400) && (msg->id_ext == 0) )
    {
        if( msg->data[0] == 0x33 )
        {
            os_can_send_msg(0, 0x720, 0, 8, 0x66, 0x33, 0x11, 0, 0, 0, 0, msg->data[7]);
        }
    }   

    // Switch the output OUT_HSD2 when bit8 of byte3 of 0x1FF004AB is "1"
    if( (msg->id == 0x1FF004AB) && (msg->id_ext == 1) )
    {
        os_digout( OUT_HSD2, (msg->data[3] & 0x80) );
    }
    else
    {
    // do nothing
    }
}