canitpSend (Function)

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Architecture:	NX32 / NX32L
Device support:	MX2 turbo/encore/warp, NX-200, NX-400, LX2, LX5
Firmware version:	5.13 / 1.80.00

Send an ISO-TP message.

The destination of the message is set in the canitpOpen function, using the dst parameter.

Input:

data : PTR

The buffer with the message to send.

size : INT (1..4095)

The size of the message in bytes.

Returns: INT

1	- Successful.
0	- Not available.
-1	- ISO-TP is not open.
-2	- Illegal data or size.
-3	- Error sending the message.
-11	- The CAN bus is not open.
-14	- Timeout sending the messge.
-15	- The CAN bus is in monitor mode.
-16	- An error is detected on the can bus.

Declaration:

FUNCTION canitpSend : INT;
VAR_INPUT
data : PTR;
size : INT;
END_VAR;

Example:

INCLUDE rtcu.inc

VAR

buf : ARRAY [1..4096] OF SINT;

END_VAR;

FUNCTION CALLBACK canitpRecv

VAR_INPUT

size : INT;

END_VAR;

DebugMsg(message := strFromMemory(src := ADDR(buf), len := size));

END_FUNCTION;

PROGRAM example;

VAR

rc : INT;

str : STRING;

out : ARRAY [1..4095] OF SINT;

len : INT;

END_VAR;

// Open can

canOpen(baud := 250, monitor := FALSE);

// Open ISO-TP

rc := canitpOpen(port := 1,

src := 16#12345678,

dst := 16#12345679,

received := @canitpRecv,

cb_data := ADDR(buf),

cb_size := SIZEOF(buf));

IF rc < 1 THEN

DebugFmt(message := "canitpOpen=\1", v1 := rc);

RETURN;

END_IF;

// Build message

str := "Hello from RTCU device";

// Send message

len := strLen(str := str);

strToMemory(str := str, dst := ADDR(out), len := len);

rc := canitpSend(data := ADDR(out), size := len);

IF rc < 1 THEN

DebugFmt(message := "canitpSend=\1", v1 := rc);

RETURN;

END_IF;

BEGIN

END;

END_PROGRAM;