CANMessage() – di-ce.de

Description

CANMessage() – the custrutor of the class CANMessage creates an instance of a CAN message.
Use this class for sending and receiving messages with the CAN bus MCAN0 / MCAN1.

Syntax

CANMessage myMsg;

Properties

uint32_t id – 11 /29 bit identifier of the message
bool ext – true: extended 29 bit identifier
uint8_t len – DLC data length code – number of data bytes in the message
Data can be access through a ‘union‘ so either of the following would work:
uint8_t data[ ] – data byte [0] . . . [7]
uint16_t data16[ ] – data16[0] . . . [3]
uint32_t data32[ ] – data[0] . . . [1]
uint64_t data64

toString()

The convenience function toString() creates a String holding the information of the CAN message

Example Code

The following example sends messages on CAN bus MCAN0 and prints received messages

void setup()
{  
}

void loop () 
{
  CANMessage myMsg;
  myMsg.id = 0x12345;
  myMsg.ext = true;
  myMsg.len = 1;
  myMsg.data[0] = 0xA5;
  MCAN0.sendMsgBuf(myMsg); 
  if( MCAN0.checkReceive() )
  {
    CANMessage t_canMesgToRecv;		
    if(MCAN0.readMsgBuf(t_canMesgToRecv) == CAN_OK)
      Serial.println( t_canMesgToRecv.toString() );
  }
  delay(100);
}

Notes and Warnings

Examples can be found in the Arduino IDE menu:
File -> Examples -> DICE -> CAN Bus ->