COIfSend

Description

This function sends the given CAN frame on the interface without delay.

Prototype

CPU_INT16S COIfSend(CO_IF *cif, CO_IF_FRM *frm);

Returned Value

>0     the size of CO_IF.FRM on success

<0     the internal CanBus error code

Example

The send function may be used within the application to transmit additional messages on the CANopen interface. The following example show how to call the transmit function for the interface of the CANopen node AppNode:

    CO_IF_FRM   frame;
    CPU_INT16S  err;
    :
    frame.Identifier = 0x123;
    frame.DLC        = 8;
    frame.Data[0]    = 0x12;
    frame.Data[1]    = 0x23;
    frame.Data[2]    = 0x34;
    frame.Data[3]    = 0x45;
    frame.Data[4]    = 0x56;
    frame.Data[5]    = 0x67;
    frame.Data[6]    = 0x78;
    frame.Data[7]    = 0x89;
    err = COIfSend (&(AppNode.If), &frame);
    if (err < 0) {
        /* error in interface layer */
    }
    :

Note: Be careful with transmitting additional messages on an active CANopen network. This might result in unpredictable behavior of the complete system.