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COIfRead

Description

This function waits for a CAN frame on the interface without timeout. If a CAN frame is received, the given receive frame buffer will be filled with the received data.

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If necessary, the following example show how to call the blocking receive function for the interface of the CANopen node AppNode:

    CO_IF_FRM   frame;
    CPU_INT16S  err;
    :
    err = COIfRead (&(AppNode.If), &frame);
    if (err < 0) {
        /* error in interface layer */
    } else {
        /* frame contains received data */
    }
    :