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Sending and receiving CAN frames can be implemented in different ways. The simplest way is to disable all upper layers and use the CAN frames directly. When using an operating system (e.g. µCμC/OS), the RX and TX communication could be performed within two tasks.
Example: The CAN frame reception shall be done within a single RX-Task. Any received CAN frame shall be send back with the fixed CAN Identifier: 0x100.
Source code:
#include “cancan_frm.h”h
#include “cancan_bus.h”h
void Echo_Task(void *argp)
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