CanTransmit


Function

Performs CAN or CAN FD transmission.

Format

Ret = CanTransmit ( Id , ChannelNo , MessageNum , MessageType , CanId , DataLength , Data )

Parameters

Id [ VB.NET: Short ] [ C, C++: short ] [ C#: short ]
Specify the device ID retrieved from CanInit.

ChannelNo [ VB.NET: UShort ] [ C, C++: unsigned short ] [ C#: ushort ]
Specify the channel number.

MessageNum [ VB.NET: UInteger ] [ C, C++: unsigned long ] [ C#: uint ]
Specify the number of messages to send.
For details, please refer to the Specifications based on devices section.

MessageType [ VB.NET: UInteger ] [ C, C++: unsigned long * ] [ C#: ref uint ]
Specify the send message type in a one-dimensional array.
When specifying multiple message types, perform bitwise operations using logical OR.

Definition

Value
[Hex]

Description

CCAN_MSG_TYPE_CAN

0x01

CAN message

CCAN_MSG_TYPE_CAN_FD

0x02

CAN FD message

CCAN_MSG_TYPE_REMOTE_FRAME

0x04

Remote frame. *Only CAN can be enabled

CCAN_MSG_TYPE_BITRATE_SWITCH

0x08

Bitrate switch. *Only CAN FD can be enabled

CCAN_MSG_TYPE_EXTENDED_FORMAT

0X20

Extended format

CanId [ VB.NET: UInteger ] [ C, C++: unsigned long * ] [ C#: ref uint ]
Specify the transmission CAN ID in a one-dimensional array.

If standard format is specified, specify with base ID (11bit).
Valid specification range is 0x000 to 0x7FF.

If extended format is specified, specify it as extended ID + base ID (29 bits in total).
Valid specification range is 0x000 to 0x1FFFFFFF.

CanId bit number

31

30

29

28

27

26

25

24

23

22

21

20

19

18

17

16

15

14

13

12

11

10

09

08

07

06

05

04

03

02

01

00

Extended ID/Base ID

-

-

-

Extended ID

Base ID

Bit number of each ID

-

-

-

17

16

15

14

13

12

11

10

09

08

07

06

05

04

03

02

01

00

10

09

08

07

06

05

04

03

02

01

00

DataLength [ VB.NET: UShort ] [ C, C++: unsigned short * ] [ C#: ref ushort ]
Specify the sending message data length in a one-dimensional array.

If CAN communication is specified, valid specification ranges are 0 to 8.
If CAN FD communication is specified, valid specification ranges are 0 to 8, and 12, 16, 20, 24, 32, 48, 64.

Data [ VB.NET: Byte ] [ C, C++: unsigned char * ] [ C#: ref byte ]
Specify the sending data in a two-dimensional array.
The number of elements (number of columns) of the two-dimensional array is 64.

If the data length (DataLength) of all messages is 0, specify the NULL character.

Return Value

Ret [ VB.NET: Integer ] [ C, C++: long ] [ C#: int ]

Definition

Value
[Dec]

Description

CAN_ERR_SUCCESS

0

Normality completion

CAN_ERR_SYS_RECOVERED_FROM_STANDBY

7

Execute CanResetDevice function because the device has recovered from standby mode.

CAN_ERR_DLL_INVALID_ID

10001

Invalid ID specified.

CAN_ERR_DLL_CALL_DRIVER

10002

Driver can't be called (Failed in the device I/O control).

CAN_ERR_DLL_BUFF_ADDRESS

10100

Invalid data buffer address.

CAN_ERR_SYS_CH_NO

20101

Channel number is outside the settable range

CAN_ERR_SYS_MESSAGE_NUM

20150

The number of messages is outside the settable range.

CAN_ERR_SYS_MESSAGE_TYPE

20151

The messages type is outside the settable range.

CAN_ERR_SYS_DATA_LEN

20160

Data length is outside the settable range.

CAN_ERR_SYS_CAN_ID

20170

CAN ID is outside the settable range.

CAN_ERR_SYS_TIMEOUT_TIME

20180

The timeout time is outside the settable range.

CAN_ERR_SYS_BUSOFF

20201

Cannot execute because the bus is off.

CAN_ERR_SYS_BUS_DISCONNECT

20202

Cannot execute because the bus is disconnected.

CAN_ERR_SYS_TIMEOUT

20250

A timeout occurred

The others (See also: Details of Error Code)

Initial Value

None

Remarks

Performs CAN or CAN FD transmission.

For message type (MessageType), CAN ID (CanId), and data length (DataLength), allocate memory in a one-dimensional array, specify numerical values, and take the start addresses as arguments.
Image of one-dimensional array:

Array variable name[message number]

Element value (example)

MessageType[0]

CCAN_MSG_TYPE_CAN

MessageType[1]

CCAN_MSG_TYPE_CAN

MessageType[2]

CCAN_MSG_TYPE_CAN

MessageType[3]

CCAN_MSG_TYPE_CAN

・・・

・・・

MessageType[MessageNum - 1]

CCAN_MSG_TYPE_CAN

 

Memory is allocated for the sending data (Data) as a two-dimensional array with 64 elements, and the start address is taken as an argument.
Image of two-dimensional array:

Array variable name[message number][(element number)]

Value of element 01

Value of element 02

Value of element 03

・・・

Value of element 64

Data[0][]

Data[0][0]

Data[0][1]

Data[0][2]

・・・

Data[0][63]

Data[1][]

Data[1][0]

Data[1][1]

Data[1][2]

・・・

Data[1][63]

Data[2][]

Data[2][0]

Data[2][1]

Data[2][2]

・・・

Data[2][63]

Data[3][]

Data[3][0]

Data[3][1]

Data[3][2]

・・・

Data[3][63]

・・・

・・・

・・・

・・・

・・・

・・・

Data[MessageNum - 1][]

Data[MessageNum - 1][0]

Data[MessageNum - 1][1]

Data[MessageNum - 1][2]

・・・

Data[MessageNum - 1][63]

Specifications based on devices

Model No.

Arguments

Content

CAN-4P-PE
CAN-4PF-PE

MessageNum

The setting should be 1 only.

CAN-2-USB
CAN-2-WF

MessageNum

The setting range is 1 to 90.

Example

Perform CAN transmission from ChannelNo = 1. MessageNum =1, MessageType = CCAN_MSG_TYPE_CAN, CAN ID = 0x11c, DataLength = 1, Data = 0xff

VB.NET

Dim Ret As Integer

Dim MessageType(0) As UInteger

Dim CanId(0) As UInteger

Dim DataLength(0) As UShort

Dim Data(0)(63) As Byte

 

MessageType(0) = CCAN_MSG_TYPE_CAN

CanId(0) = &H11C

Data(0)(0) = &HFF

 

Ret = CanTransmit ( Id , 1 , 1 , MessageType , CanId , Data )
 

C, C++

long Ret;

unsinged long MessageType[1];

unsinged long CanId[1];

unsinged short DataLength[1];

unsinged char Data[1][64];

 

MessageType[0] = CCAN_MSG_TYPE_CAN;

CanId[0] = 0x11c;

Data[0][0] = 0xff;


Ret = CanTransmit ( Id , 1 , 1 , &MessageType[0] , &CanId[0] , &Data[0][0] );
 

C#

int Ret;

uint[] MessageType = new unit[1];

uint[] CanId = new uint[1];

ushort[] DataLength = new ushort[1];

ubyte[,] Data = new ubyte[1,64];

 

MessageType[0] = CCAN_MSG_TYPE_CAN;

CanId[0] = 0x11c;

Data[0,0] = 0xff;


Ret = can.Transmit ( Id , 1 , 1 , ref MessageType , ref CanId , ref Data );
 

See Also

CanRecieve