...
| Code Block | ||||
|---|---|---|---|---|
| ||||
#include "can_frm.h"
#include "can_bus.h"
#if (APP_CAN_DEMO_SELECT == APP_CAN_ECHO_DEMO)
void Echo_Task (void *argp) [1]
{
CANFRM frm;
CPU_INT08U busId;
CPU_INT16U timeout;
(void)&argp; /* Suppress Compiler Warning. */
busId = 0u; [2] /* CAN Device Number/ CAN Controller Number. */
timeout = 0u;
CanBusIoCtl( busId, /* Rx Timeout is set to wait forever for a new Frame. */
CANBUS_SET_RX_TIMEOUT,
&timeout); [3]
while (DEF_ON) { /* Endless while loop. */
CanBusRead( busId, [4] /* Wait for new CAN Frame to Arrive. */
(void *)&frm,
sizeof(CANFRM));
frm.Identifier = 0x100L; [5] /* Change Frame ID. */
CanBusWrite( busId, [6] /* Echo back same data with updated Frame ID. */
(void *)&frm,
sizeof(CANFRM));
}
}
#endif |
| Panel | ||
|---|---|---|
| ||
1] The 'ECHO' Task example is taken from µC/OS-II or -III can_demo.c files. Although the 'ECHO' Task example is the same when using No OS, the user must be aware of minor changes between No OS and µC/OS-II or -III. 2] CAN Bus ID based on the CAN Bus Channel desired to use. 3] Set the RX timeout to 0 to enable the blocking mode, e.g. the function
4] Wait for the next received CAN Frame. 5] After reception, change the CAN Identifier in the Received Frame. 6] Transmit the Received CAN Frame with the changed CAN ID on the desired CAN Bus Channel. |