1.9.3.2 CANx_MessageTransmit Function

C

The prototype of CANx_MessageTransmit() varies based on device family. Refer to the generated header file for the actual prototype to be used.

bool CANx_MessageTransmit(uint32_t id, uint8_t length, uint8_t* data, uint8_t fifoNum, CAN_MSG_TX_ATTRIBUTE msgAttr) // x - Instance of the CAN peripheral

bool CANx_MessageTransmit(uint32_t id, uint8_t length, uint8_t* data, uint8_t fifoQueueNum, CANFD_MODE mode, CANFD_MSG_TX_ATTRIBUTE msgAttr) // x - Instance of the CAN peripheral

bool CANx_MessageTransmit(uint32_t id, uint8_t length, uint8_t* data, CAN_MAILBOX_TX_ATTRIBUTE mailboxAttr) // x - Instance of the CAN peripheral

bool CANx_MessageTransmit(uint8_t bufferNumber, CAN_TX_BUFFER *txBuffer) // x - Instance of the CAN peripheral

Summary

Transmits a message into CAN bus.

Description

This routine transmits a message into CAN bus.

Precondition

CANx_Initialize must have been called for the associated CAN instance.

Parameters


Param	Description
id	11-bit / 29-bit identifier (ID)
length	Length of data buffer in number of bytes
data	Pointer to source data buffer
fifoNum	FIFO number
fifoQueueNum	If fifoQueueNum is 0 then Transmit Queue otherwise FIFO
mode	CAN mode Classic CAN or CAN FD without BRS or CAN FD with BRS
msgAttr	Data frame or Remote frame to be transmitted
mailboxAttr	Mailbox type TX Mailbox or Consumer Mailbox or Producer Mailbox
bufferNumber	Tx buffer number
txBuffer	Pointer to Tx buffer

Returns

Request status. true - Request was successful.

false - Request has failed.

Example

uint8_t message[] = {0xAA, 0x55};
    uint32_t messageID = 0x555;
    uint8_t messageLength = 2;
    CAN1_Initialize();
    CAN1_MessageTransmit(messageID, messageLength, message, 0, CAN_MSG_TX_DATA_FRAME);

uint8_t message[] = {0xAA, 0x55};
    uint32_t messageID = 0x555;
    uint8_t messageLength = 2;
    CAN1_Initialize();
    CAN1_MessageTransmit(messageID, messageLength, message, 1, CANFD_MODE_NORMAL, CANFD_MSG_TX_DATA_FRAME);

uint8_t buf[] = {0xAA, 0x55};
    CAN0_Initialize();
    CAN0_MessageTransmit(0x555, sizeof(buf), buf, CAN_MAILBOX_DATA_FRAME_TX);

uint8_t loop_count = 0;
uint8_t txFiFo[CAN0_TX_FIFO_BUFFER_SIZE];
CAN_TX_BUFFER *txBuffer = (CAN_TX_BUFFER *)txFiFo;
memset(txFiFo, 0x00, CAN0_TX_FIFO_BUFFER_ELEMENT_SIZE);
txBuffer->id = 0x100000A5;
txBuffer->dlc = 8;
txBuffer->xtd = 1;
txBuffer->fdf = 1;
txBuffer->brs = 1;
for (loop_count = 0; loop_count < 8; loop_count++){
    txBuffer->data[loop_count] = loop_count;
}
// Transmit message from Tx buffer 0
CAN0_MessageTransmit(0, txBuffer);

Remarks

None.