Difference between revisions of "Component: CAN (Internal, MCP2515) (Comms: Interface)"

Revision as of 09:52, 27 January 2023

Author	Matrix Ltd
Version	2.10
Category	Comms: Interface

CAN (Internal, MCP2515) component

Low level routines for controling the CAN interface either using an external MCP2515 IC and a SPI bus connection or using an internal CAN peripheral if available on your device. Both methods will require a CAN driver IC like the MCP2551 to drive the CAN signals on the bus.

Component Source Code

Please click here to download the component source project: FC_Comp_Source_CAN.fcfx

Please click here to view the component source code (Beta): FC_Comp_Source_CAN.fcfx

Detailed description

No detailed description exists yet for this component

Examples

No additional examples

Macro reference

	ReadSwitches
Returns switch input states from the external MCP2515 device. 0 = No Switch Pressed, 1 = Switch 1 Pressed, 2 = Switch 2 Pressed, 3 = Both Pressed (External CAN only)
- BYTE	Return

	SetTxData
Assigns one of the outgoing transmit buffers with data ready to be sent.
- BYTE	Buffer

- BYTE	Count

- BYTE	d0

- BYTE	d1

- BYTE	d2

- BYTE	d3

- BYTE	d4

- BYTE	d5

- BYTE	d6

- BYTE	d7

- VOID	Return

	SetRxMask
Allows the receive ID mask to be configured on the fly allowing different ID ranges to be received.
- BYTE	Mask
Specifies which receive mask to modify. Range: 0-1
- ULONG	ID
The ID mask value you wish to use
- VOID	Return

	GetRxData
Returns last received message data byte at position Index. Buffer parameter is currently ignored
- BYTE	Buffer

- BYTE	Index

- BYTE	Return

	GetRxIDHi
Gets the Hi byte Rx ID in register format. Standard ID only 0-2047. Compatible with v5 component and previous,
- BYTE	Buffer
Receive Buffer. Range 0-1
- BYTE	Return

	SetTxIDSimple
Set the Tx CAN ID as a generic number. Standard IDs only 0-2047.
- BYTE	Buffer
Transmit buffer to load. Range: 0-2
- UINT	ID
The ID value you wish to use. Range: 0-2047
- VOID	Return

	SendBuffer
Transmits one of the transmit buffers which should have already been populated with an ID and data.
- BYTE	Buffer
Specifies which transmit buffer to send
- VOID	Return

	GetRxDataCount
Returns last received message data length. Buffer parameter is currently ignored
- BYTE	Buffer

- BYTE	Return

	SetRxFilterID
sets the Filter Standard mode only (for V5 compatibility only)
- BYTE	Filter
Specifies which filter to modify. Range: 0-5
- BYTE	Hi
ID bits 3-10
- BYTE	Lo
ID bits 0-2 stored in the upper 3 bits of the byte
- VOID	Return

	GetRxIDLo
Gets the Lo byte Rx ID in register format. Standard ID only 0-2047. Compatible with v5 component and previous,
- BYTE	Buffer

- BYTE	Return

	SetRxMaskID
set the Mask Standard ID mode only (for V5 compatibility)
- BYTE	Mask
Specifies which receive mask to modify. Range: 0-1
- BYTE	Hi
ID bits 3-10
- BYTE	Lo
ID bits 0-2 stored in the upper 3 bits of the byte
- VOID	Return

	SetRxFilter
Allows the receive ID filter to be configured on the fly allowing different ID ranges to be received.
- BYTE	Filter
Specifies which receive filter to modify. Range: 0-5
- ULONG	ID
The ID filter value you wish to use
- VOID	Return

	SetTxIdent
Set the Tx CAN ID as a generic number. Standard and extended IDs Standard 0-2047 Extended 2048-536870911
- BYTE	Buffer
Transmit buffer to load. Range: 0-2
- ULONG	ID
The ID or Extended ID value you wish to use. Range: 0-536870911
- VOID	Return

	CheckRx
Checks to see if any messages are available for 'Buffer' specified
- BYTE	Buffer
Send buffer: 0 to 1
- BYTE	Return

	ChangeRate
Simple attempt to alter the bus rate of the CAN. External CAN channels only,
- BYTE	Rate
Rate: 0-3 where 0=125, 1=250, 2=500, 3=1000
- VOID	Return

	GetRxIDSimple
Gets the Rx ID as a Integer Standard ID only 0-2047.
- BYTE	Buffer
Receive Buffer. Range 0-1
- UINT	Return

	SetTxID
Set the Tx CAN ID in register format. Standard ID only 0-2047. Compatible with v5 component and previous,
- BYTE	Buffer
Transmit buffer to load. Range: 0-2
- BYTE	Hi
ID bits 3-10 e.g. ((ID & 0x7F8) >> 3)
- BYTE	Lo
ID bits 0-2 stored in the upper 3 bits of the byte e.g. ((ID & 0x7) << 5)
- VOID	Return

	ShowLEDs
Set LED state (External CAN only)
- BYTE	led1
Controls LED 1. Range: 0-1
- BYTE	led2
Controls LED 2. Range: 0-1
- VOID	Return

	GetRxIdent
Gets the Rx ID as a Integer Standard and Extended IDs.
- BYTE	Buffer

- ULONG	Return

	Initialise
Must be called before any other CAN component macros to enable and initialise the CAN peripheral.
- VOID	Return

Property reference

	Properties
	Channel
Switches between Internal CAN peripheral and External CAN controller IC MCP2515.
	Controller Osc

	Bus Rate
Data rate of the bus specified in thousand bits per second, Kbps.
	Sync Jump Width
Defines how far a resyncronisation may move the sample point
	Sample Point
Point in each bit period where the incoming data is sampled.
	ID Type
Switches between using Standard, or Standard and Extended CAN
	One Shot Mode
Disabled. Messages will reattempt transmission Enabled. Message will only attempt to transmit once
	Connections
	SPI
	CHANNEL
SPI Channel selector
	MOSI
SPI Data Out Pin SDO - Also Known as Master Out Slave In (MOSI) when used in Master mode.
	MISO
SPI Data In Pin SDI - Also Known as Master In Slave Out (MISO) when used in Master mode.
	CLK
SPI Clock Pin CLK - The Clock signal is driven by the SPI master.
	SS
Chip Select / Slave Select Pin Master Mode: General purpose output pin used to select the remote SPI device. Slave Mode: Hardware chip select pin input used to select the SPI device.
	Prescale
Prescale option selector
	Sample Point
Data bit read sample point
	Config Delay

	TX Buffer 0
	Message ID
TX Buffer 0 Message Identifier
	Length
TX Buffer 0 Number of data bytes
	D0
TX Buffer 0 Data Byte 0
	D1
TX Buffer 0 Data Byte 1
	D2
TX Buffer 0 Data Byte 2
	D3
TX Buffer 0 Data Byte 3
	D4
TX Buffer 0 Data Byte 4
	D5
TX Buffer 0 Data Byte 5
	D6
TX Buffer 0 Data Byte 6
	D7
TX Buffer 0 Data Byte 7
	TX Buffer 1
	Message ID
TX Buffer 1 Message Identifier
	Length
TX Buffer 1 Number of data bytes
	D0
TX Buffer 1 Data Byte 0
	D1
TX Buffer 1 Data Byte 1
	D2
TX Buffer 1 Data Byte 2
	D3
TX Buffer 1 Data Byte 3
	D4
TX Buffer 1 Data Byte 4
	D5
TX Buffer 1 Data Byte 5
	D6
TX Buffer 1 Data Byte 6
	D7
TX Buffer 1 Data Byte 7
	TX Buffer 2
	Message ID
TX Buffer 2 Message Identifier
	Length
TX Buffer 2 Number of data bytes
	D0
TX Buffer 2 Data Byte 0
	D1
TX Buffer 2 Data Byte 1
	D2
TX Buffer 2 Data Byte 2
	D3
TX Buffer 2 Data Byte 3
	D4
TX Buffer 2 Data Byte 4
	D5
TX Buffer 2 Data Byte 5
	D6
TX Buffer 2 Data Byte 6
	D7
TX Buffer 2 Data Byte 7
	RX Buffer 0
	Settings
RX Buffer 0 Message Receive Mode
	RX Buffer 1
	Settings
RX Buffer 1 Message Receive Mode
	Simulation
	Label
Comms Flasher Identification Label
	Simulate SPI Comms

==Macro reference==

	ReadSwitches
Returns switch input states from the external MCP2515 device. 0 = No Switch Pressed, 1 = Switch 1 Pressed, 2 = Switch 2 Pressed, 3 = Both Pressed (External CAN only)
- BYTE	Return

	SetTxData
Assigns one of the outgoing transmit buffers with data ready to be sent.
- BYTE	Buffer

- BYTE	Count

- BYTE	d0

- BYTE	d1

- BYTE	d2

- BYTE	d3

- BYTE	d4

- BYTE	d5

- BYTE	d6

- BYTE	d7

- VOID	Return

	SetRxMask
Allows the receive ID mask to be configured on the fly allowing different ID ranges to be received.
- BYTE	Mask
Specifies which receive mask to modify. Range: 0-1
- ULONG	ID
The ID mask value you wish to use
- VOID	Return

	GetRxData
Returns last received message data byte at position Index. Buffer parameter is currently ignored
- BYTE	Buffer

- BYTE	Index

- BYTE	Return

	GetRxIDHi
Gets the Hi byte Rx ID in register format. Standard ID only 0-2047. Compatible with v5 component and previous,
- BYTE	Buffer
Receive Buffer. Range 0-1
- BYTE	Return

	SetTxIDSimple
Set the Tx CAN ID as a generic number. Standard IDs only 0-2047.
- BYTE	Buffer
Transmit buffer to load. Range: 0-2
- UINT	ID
The ID value you wish to use. Range: 0-2047
- VOID	Return

	SendBuffer
Transmits one of the transmit buffers which should have already been populated with an ID and data.
- BYTE	Buffer
Specifies which transmit buffer to send
- VOID	Return

	GetRxDataCount
Returns last received message data length. Buffer parameter is currently ignored
- BYTE	Buffer

- BYTE	Return

	SetRxFilterID
sets the Filter Standard mode only (for V5 compatibility only)
- BYTE	Filter
Specifies which filter to modify. Range: 0-5
- BYTE	Hi
ID bits 3-10
- BYTE	Lo
ID bits 0-2 stored in the upper 3 bits of the byte
- VOID	Return

	GetRxIDLo
Gets the Lo byte Rx ID in register format. Standard ID only 0-2047. Compatible with v5 component and previous,
- BYTE	Buffer

- BYTE	Return

	SetRxMaskID
set the Mask Standard ID mode only (for V5 compatibility)
- BYTE	Mask
Specifies which receive mask to modify. Range: 0-1
- BYTE	Hi
ID bits 3-10
- BYTE	Lo
ID bits 0-2 stored in the upper 3 bits of the byte
- VOID	Return

	SetRxFilter
Allows the receive ID filter to be configured on the fly allowing different ID ranges to be received.
- BYTE	Filter
Specifies which receive filter to modify. Range: 0-5
- ULONG	ID
The ID filter value you wish to use
- VOID	Return

	SetTxIdent
Set the Tx CAN ID as a generic number. Standard and extended IDs Standard 0-2047 Extended 2048-536870911
- BYTE	Buffer
Transmit buffer to load. Range: 0-2
- ULONG	ID
The ID or Extended ID value you wish to use. Range: 0-536870911
- VOID	Return

	CheckRx
Checks to see if any messages are available for 'Buffer' specified
- BYTE	Buffer
Send buffer: 0 to 1
- BYTE	Return

	ChangeRate
Simple attempt to alter the bus rate of the CAN. External CAN channels only,
- BYTE	Rate
Rate: 0-3 where 0=125, 1=250, 2=500, 3=1000
- VOID	Return

	GetRxIDSimple
Gets the Rx ID as a Integer Standard ID only 0-2047.
- BYTE	Buffer
Receive Buffer. Range 0-1
- UINT	Return

	SetTxID
Set the Tx CAN ID in register format. Standard ID only 0-2047. Compatible with v5 component and previous,
- BYTE	Buffer
Transmit buffer to load. Range: 0-2
- BYTE	Hi
ID bits 3-10 e.g. ((ID & 0x7F8) >> 3)
- BYTE	Lo
ID bits 0-2 stored in the upper 3 bits of the byte e.g. ((ID & 0x7) << 5)
- VOID	Return

	ShowLEDs
Set LED state (External CAN only)
- BYTE	led1
Controls LED 1. Range: 0-1
- BYTE	led2
Controls LED 2. Range: 0-1
- VOID	Return

	GetRxIdent
Gets the Rx ID as a Integer Standard and Extended IDs.
- BYTE	Buffer

- ULONG	Return

	Initialise
Must be called before any other CAN component macros to enable and initialise the CAN peripheral.
- VOID	Return

Property reference

	Properties
	Channel
Switches between Internal CAN peripheral and External CAN controller IC MCP2515.
	Controller Osc

	Bus Rate
Data rate of the bus specified in thousand bits per second, Kbps.
	Sync Jump Width
Defines how far a resyncronisation may move the sample point
	Sample Point
Point in each bit period where the incoming data is sampled.
	ID Type
Switches between using Standard, or Standard and Extended CAN
	One Shot Mode
Disabled. Messages will reattempt transmission Enabled. Message will only attempt to transmit once
	Connections
	SPI
	CHANNEL
SPI Channel selector
	MOSI
SPI Data Out Pin SDO - Also Known as Master Out Slave In (MOSI) when used in Master mode.
	MISO
SPI Data In Pin SDI - Also Known as Master In Slave Out (MISO) when used in Master mode.
	CLK
SPI Clock Pin CLK - The Clock signal is driven by the SPI master.
	SS
Chip Select / Slave Select Pin Master Mode: General purpose output pin used to select the remote SPI device. Slave Mode: Hardware chip select pin input used to select the SPI device.
	Prescale
Prescale option selector
	Sample Point
Data bit read sample point
	Config Delay

	TX Buffer 0
	Message ID
TX Buffer 0 Message Identifier
	Length
TX Buffer 0 Number of data bytes
	D0
TX Buffer 0 Data Byte 0
	D1
TX Buffer 0 Data Byte 1
	D2
TX Buffer 0 Data Byte 2
	D3
TX Buffer 0 Data Byte 3
	D4
TX Buffer 0 Data Byte 4
	D5
TX Buffer 0 Data Byte 5
	D6
TX Buffer 0 Data Byte 6
	D7
TX Buffer 0 Data Byte 7
	TX Buffer 1
	Message ID
TX Buffer 1 Message Identifier
	Length
TX Buffer 1 Number of data bytes
	D0
TX Buffer 1 Data Byte 0
	D1
TX Buffer 1 Data Byte 1
	D2
TX Buffer 1 Data Byte 2
	D3
TX Buffer 1 Data Byte 3
	D4
TX Buffer 1 Data Byte 4
	D5
TX Buffer 1 Data Byte 5
	D6
TX Buffer 1 Data Byte 6
	D7
TX Buffer 1 Data Byte 7
	TX Buffer 2
	Message ID
TX Buffer 2 Message Identifier
	Length
TX Buffer 2 Number of data bytes
	D0
TX Buffer 2 Data Byte 0
	D1
TX Buffer 2 Data Byte 1
	D2
TX Buffer 2 Data Byte 2
	D3
TX Buffer 2 Data Byte 3
	D4
TX Buffer 2 Data Byte 4
	D5
TX Buffer 2 Data Byte 5
	D6
TX Buffer 2 Data Byte 6
	D7
TX Buffer 2 Data Byte 7
	RX Buffer 0
	Settings
RX Buffer 0 Message Receive Mode
	RX Buffer 1
	Settings
RX Buffer 1 Message Receive Mode
	Simulation
	Label
Comms Flasher Identification Label
	Simulate SPI Comms

==Macro reference==

	ReadSwitches
Returns switch input states from the external MCP2515 device. 0 = No Switch Pressed, 1 = Switch 1 Pressed, 2 = Switch 2 Pressed, 3 = Both Pressed (External CAN only)
- BYTE	Return

	SetTxData
Assigns one of the outgoing transmit buffers with data ready to be sent.
- BYTE	Buffer

- BYTE	Count

- BYTE	d0

- BYTE	d1

- BYTE	d2

- BYTE	d3

- BYTE	d4

- BYTE	d5

- BYTE	d6

- BYTE	d7

- VOID	Return

	SetRxMask
Allows the receive ID mask to be configured on the fly allowing different ID ranges to be received.
- BYTE	Mask
Specifies which receive mask to modify. Range: 0-1
- ULONG	ID
The ID mask value you wish to use
- VOID	Return

	GetRxData
Returns last received message data byte at position Index. Buffer parameter is currently ignored
- BYTE	Buffer

- BYTE	Index

- BYTE	Return

	GetRxIDHi
Gets the Hi byte Rx ID in register format. Standard ID only 0-2047. Compatible with v5 component and previous,
- BYTE	Buffer
Receive Buffer. Range 0-1
- BYTE	Return

	SetTxIDSimple
Set the Tx CAN ID as a generic number. Standard IDs only 0-2047.
- BYTE	Buffer
Transmit buffer to load. Range: 0-2
- UINT	ID
The ID value you wish to use. Range: 0-2047
- VOID	Return

	SendBuffer
Transmits one of the transmit buffers which should have already been populated with an ID and data.
- BYTE	Buffer
Specifies which transmit buffer to send
- VOID	Return

	GetRxDataCount
Returns last received message data length. Buffer parameter is currently ignored
- BYTE	Buffer

- BYTE	Return

	SetRxFilterID
sets the Filter Standard mode only (for V5 compatibility only)
- BYTE	Filter
Specifies which filter to modify. Range: 0-5
- BYTE	Hi
ID bits 3-10
- BYTE	Lo
ID bits 0-2 stored in the upper 3 bits of the byte
- VOID	Return

	GetRxIDLo
Gets the Lo byte Rx ID in register format. Standard ID only 0-2047. Compatible with v5 component and previous,
- BYTE	Buffer

- BYTE	Return

	SetRxMaskID
set the Mask Standard ID mode only (for V5 compatibility)
- BYTE	Mask
Specifies which receive mask to modify. Range: 0-1
- BYTE	Hi
ID bits 3-10
- BYTE	Lo
ID bits 0-2 stored in the upper 3 bits of the byte
- VOID	Return

	SetRxFilter
Allows the receive ID filter to be configured on the fly allowing different ID ranges to be received.
- BYTE	Filter
Specifies which receive filter to modify. Range: 0-5
- ULONG	ID
The ID filter value you wish to use
- VOID	Return

	SetTxIdent
Set the Tx CAN ID as a generic number. Standard and extended IDs Standard 0-2047 Extended 2048-536870911
- BYTE	Buffer
Transmit buffer to load. Range: 0-2
- ULONG	ID
The ID or Extended ID value you wish to use. Range: 0-536870911
- VOID	Return

	CheckRx
Checks to see if any messages are available for 'Buffer' specified
- BYTE	Buffer
Send buffer: 0 to 1
- BYTE	Return

	ChangeRate
Simple attempt to alter the bus rate of the CAN. External CAN channels only,
- BYTE	Rate
Rate: 0-3 where 0=125, 1=250, 2=500, 3=1000
- VOID	Return

	GetRxIDSimple
Gets the Rx ID as a Integer Standard ID only 0-2047.
- BYTE	Buffer
Receive Buffer. Range 0-1
- UINT	Return

	SetTxID
Set the Tx CAN ID in register format. Standard ID only 0-2047. Compatible with v5 component and previous,
- BYTE	Buffer
Transmit buffer to load. Range: 0-2
- BYTE	Hi
ID bits 3-10 e.g. ((ID & 0x7F8) >> 3)
- BYTE	Lo
ID bits 0-2 stored in the upper 3 bits of the byte e.g. ((ID & 0x7) << 5)
- VOID	Return

	ShowLEDs
Set LED state (External CAN only)
- BYTE	led1
Controls LED 1. Range: 0-1
- BYTE	led2
Controls LED 2. Range: 0-1
- VOID	Return

	GetRxIdent
Gets the Rx ID as a Integer Standard and Extended IDs.
- BYTE	Buffer

- ULONG	Return

	Initialise
Must be called before any other CAN component macros to enable and initialise the CAN peripheral.
- VOID	Return

Property reference

	Properties
	Channel
Switches between Internal CAN peripheral and External CAN controller IC MCP2515.
	Controller Osc

	Bus Rate
Data rate of the bus specified in thousand bits per second, Kbps.
	Sync Jump Width
Defines how far a resyncronisation may move the sample point
	Sample Point
Point in each bit period where the incoming data is sampled.
	ID Type
Switches between using Standard, or Standard and Extended CAN
	One Shot Mode
Disabled. Messages will reattempt transmission Enabled. Message will only attempt to transmit once
	Connections
	SPI
	CHANNEL
SPI Channel selector
	MOSI
SPI Data Out Pin SDO - Also Known as Master Out Slave In (MOSI) when used in Master mode.
	MISO
SPI Data In Pin SDI - Also Known as Master In Slave Out (MISO) when used in Master mode.
	CLK
SPI Clock Pin CLK - The Clock signal is driven by the SPI master.
	SS
Chip Select / Slave Select Pin Master Mode: General purpose output pin used to select the remote SPI device. Slave Mode: Hardware chip select pin input used to select the SPI device.
	Prescale
Prescale option selector
	Sample Point
Data bit read sample point
	Config Delay

	TX Buffer 0
	Message ID
TX Buffer 0 Message Identifier
	Length
TX Buffer 0 Number of data bytes
	D0
TX Buffer 0 Data Byte 0
	D1
TX Buffer 0 Data Byte 1
	D2
TX Buffer 0 Data Byte 2
	D3
TX Buffer 0 Data Byte 3
	D4
TX Buffer 0 Data Byte 4
	D5
TX Buffer 0 Data Byte 5
	D6
TX Buffer 0 Data Byte 6
	D7
TX Buffer 0 Data Byte 7
	TX Buffer 1
	Message ID
TX Buffer 1 Message Identifier
	Length
TX Buffer 1 Number of data bytes
	D0
TX Buffer 1 Data Byte 0
	D1
TX Buffer 1 Data Byte 1
	D2
TX Buffer 1 Data Byte 2
	D3
TX Buffer 1 Data Byte 3
	D4
TX Buffer 1 Data Byte 4
	D5
TX Buffer 1 Data Byte 5
	D6
TX Buffer 1 Data Byte 6
	D7
TX Buffer 1 Data Byte 7
	TX Buffer 2
	Message ID
TX Buffer 2 Message Identifier
	Length
TX Buffer 2 Number of data bytes
	D0
TX Buffer 2 Data Byte 0
	D1
TX Buffer 2 Data Byte 1
	D2
TX Buffer 2 Data Byte 2
	D3
TX Buffer 2 Data Byte 3
	D4
TX Buffer 2 Data Byte 4
	D5
TX Buffer 2 Data Byte 5
	D6
TX Buffer 2 Data Byte 6
	D7
TX Buffer 2 Data Byte 7
	RX Buffer 0
	Settings
RX Buffer 0 Message Receive Mode
	RX Buffer 1
	Settings
RX Buffer 1 Message Receive Mode
	Simulation
	Label
Comms Flasher Identification Label
	Simulate SPI Comms

==Macro reference==

	ReadSwitches
Returns switch input states from the external MCP2515 device. 0 = No Switch Pressed, 1 = Switch 1 Pressed, 2 = Switch 2 Pressed, 3 = Both Pressed (External CAN only)
- BYTE	Return

	SetTxData
Assigns one of the outgoing transmit buffers with data ready to be sent.
- BYTE	Buffer

- BYTE	Count

- BYTE	d0

- BYTE	d1

- BYTE	d2

- BYTE	d3

- BYTE	d4

- BYTE	d5

- BYTE	d6

- BYTE	d7

- VOID	Return

	SetRxMask
Allows the receive ID mask to be configured on the fly allowing different ID ranges to be received.
- BYTE	Mask
Specifies which receive mask to modify. Range: 0-1
- ULONG	ID
The ID mask value you wish to use
- VOID	Return

	GetRxData
Returns last received message data byte at position Index. Buffer parameter is currently ignored
- BYTE	Buffer

- BYTE	Index

- BYTE	Return

	GetRxIDHi
Gets the Hi byte Rx ID in register format. Standard ID only 0-2047. Compatible with v5 component and previous,
- BYTE	Buffer
Receive Buffer. Range 0-1
- BYTE	Return

	SetTxIDSimple
Set the Tx CAN ID as a generic number. Standard IDs only 0-2047.
- BYTE	Buffer
Transmit buffer to load. Range: 0-2
- UINT	ID
The ID value you wish to use. Range: 0-2047
- VOID	Return

	SendBuffer
Transmits one of the transmit buffers which should have already been populated with an ID and data.
- BYTE	Buffer
Specifies which transmit buffer to send
- VOID	Return

	GetRxDataCount
Returns last received message data length. Buffer parameter is currently ignored
- BYTE	Buffer

- BYTE	Return

	SetRxFilterID
sets the Filter Standard mode only (for V5 compatibility only)
- BYTE	Filter
Specifies which filter to modify. Range: 0-5
- BYTE	Hi
ID bits 3-10
- BYTE	Lo
ID bits 0-2 stored in the upper 3 bits of the byte
- VOID	Return

	GetRxIDLo
Gets the Lo byte Rx ID in register format. Standard ID only 0-2047. Compatible with v5 component and previous,
- BYTE	Buffer

- BYTE	Return

	SetRxMaskID
set the Mask Standard ID mode only (for V5 compatibility)
- BYTE	Mask
Specifies which receive mask to modify. Range: 0-1
- BYTE	Hi
ID bits 3-10
- BYTE	Lo
ID bits 0-2 stored in the upper 3 bits of the byte
- VOID	Return

	SetRxFilter
Allows the receive ID filter to be configured on the fly allowing different ID ranges to be received.
- BYTE	Filter
Specifies which receive filter to modify. Range: 0-5
- ULONG	ID
The ID filter value you wish to use
- VOID	Return

	SetTxIdent
Set the Tx CAN ID as a generic number. Standard and extended IDs Standard 0-2047 Extended 2048-536870911
- BYTE	Buffer
Transmit buffer to load. Range: 0-2
- ULONG	ID
The ID or Extended ID value you wish to use. Range: 0-536870911
- VOID	Return

	CheckRx
Checks to see if any messages are available for 'Buffer' specified
- BYTE	Buffer
Send buffer: 0 to 1
- BYTE	Return

	ChangeRate
Simple attempt to alter the bus rate of the CAN. External CAN channels only,
- BYTE	Rate
Rate: 0-3 where 0=125, 1=250, 2=500, 3=1000
- VOID	Return

	GetRxIDSimple
Gets the Rx ID as a Integer Standard ID only 0-2047.
- BYTE	Buffer
Receive Buffer. Range 0-1
- UINT	Return

	SetTxID
Set the Tx CAN ID in register format. Standard ID only 0-2047. Compatible with v5 component and previous,
- BYTE	Buffer
Transmit buffer to load. Range: 0-2
- BYTE	Hi
ID bits 3-10 e.g. ((ID & 0x7F8) >> 3)
- BYTE	Lo
ID bits 0-2 stored in the upper 3 bits of the byte e.g. ((ID & 0x7) << 5)
- VOID	Return

	ShowLEDs
Set LED state (External CAN only)
- BYTE	led1
Controls LED 1. Range: 0-1
- BYTE	led2
Controls LED 2. Range: 0-1
- VOID	Return

	GetRxIdent
Gets the Rx ID as a Integer Standard and Extended IDs.
- BYTE	Buffer

- ULONG	Return

	Initialise
Must be called before any other CAN component macros to enable and initialise the CAN peripheral.
- VOID	Return

Property reference

	Properties
	Channel
Switches between Internal CAN peripheral and External CAN controller IC MCP2515.
	Controller Osc

	Bus Rate
Data rate of the bus specified in thousand bits per second, Kbps.
	Sync Jump Width
Defines how far a resyncronisation may move the sample point
	Sample Point
Point in each bit period where the incoming data is sampled.
	ID Type
Switches between using Standard, or Standard and Extended CAN
	One Shot Mode
Disabled. Messages will reattempt transmission Enabled. Message will only attempt to transmit once
	Connections
	SPI
	CHANNEL
SPI Channel selector
	MOSI
SPI Data Out Pin SDO - Also Known as Master Out Slave In (MOSI) when used in Master mode.
	MISO
SPI Data In Pin SDI - Also Known as Master In Slave Out (MISO) when used in Master mode.
	CLK
SPI Clock Pin CLK - The Clock signal is driven by the SPI master.
	SS
Chip Select / Slave Select Pin Master Mode: General purpose output pin used to select the remote SPI device. Slave Mode: Hardware chip select pin input used to select the SPI device.
	Prescale
Prescale option selector
	Sample Point
Data bit read sample point
	Config Delay

	TX Buffer 0
	Message ID
TX Buffer 0 Message Identifier
	Length
TX Buffer 0 Number of data bytes
	D0
TX Buffer 0 Data Byte 0
	D1
TX Buffer 0 Data Byte 1
	D2
TX Buffer 0 Data Byte 2
	D3
TX Buffer 0 Data Byte 3
	D4
TX Buffer 0 Data Byte 4
	D5
TX Buffer 0 Data Byte 5
	D6
TX Buffer 0 Data Byte 6
	D7
TX Buffer 0 Data Byte 7
	TX Buffer 1
	Message ID
TX Buffer 1 Message Identifier
	Length
TX Buffer 1 Number of data bytes
	D0
TX Buffer 1 Data Byte 0
	D1
TX Buffer 1 Data Byte 1
	D2
TX Buffer 1 Data Byte 2
	D3
TX Buffer 1 Data Byte 3
	D4
TX Buffer 1 Data Byte 4
	D5
TX Buffer 1 Data Byte 5
	D6
TX Buffer 1 Data Byte 6
	D7
TX Buffer 1 Data Byte 7
	TX Buffer 2
	Message ID
TX Buffer 2 Message Identifier
	Length
TX Buffer 2 Number of data bytes
	D0
TX Buffer 2 Data Byte 0
	D1
TX Buffer 2 Data Byte 1
	D2
TX Buffer 2 Data Byte 2
	D3
TX Buffer 2 Data Byte 3
	D4
TX Buffer 2 Data Byte 4
	D5
TX Buffer 2 Data Byte 5
	D6
TX Buffer 2 Data Byte 6
	D7
TX Buffer 2 Data Byte 7
	RX Buffer 0
	Settings
RX Buffer 0 Message Receive Mode
	RX Buffer 1
	Settings
RX Buffer 1 Message Receive Mode
	Simulation
	Label
Comms Flasher Identification Label
	Simulate SPI Comms

Difference between revisions of "Component: CAN (Internal, MCP2515) (Comms: Interface)"

Revision as of 09:52, 27 January 2023

Contents

CAN (Internal, MCP2515) component

Component Source Code

Detailed description

Examples

Macro reference

Property reference

Property reference

Property reference

Property reference

Navigation menu

Page actions

Page actions

Personal tools

Navigation

Search

Tools

@@ Line 17: / Line 17: @@
 ==Component Source Code==
-Please click here to download the component source project: [https://www.flowcode.co.uk/wikicopy/componentsource/FC_Comp_Source_CAN.fcfx FC_Comp_Source_CAN.fcfx]
+Please click here to download the component source project: [https://www.flowcode.co.uk/wiki/componentsource/FC_Comp_Source_CAN.fcfx FC_Comp_Source_CAN.fcfx]
 Please click here to view the component source code (Beta): [https://www.flowcode.co.uk/FlowchartView/?wfile=componentsource/FC_Comp_Source_CAN.fcfx FC_Comp_Source_CAN.fcfx]
 ==Detailed description==
@@ Line 32: / Line 34: @@
 ==Examples==
@@ Line 42: / Line 46: @@
 ==Macro reference==
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadSwitches'''
+|-
+| colspan="2" | Returns switch input states from the external MCP2515 device. 0 = No Switch Pressed, 1 = Switch 1 Pressed, 2 = Switch 2 Pressed, 3 = Both Pressed (External CAN only) &nbsp;
+|-
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetTxData'''
+|-
+| colspan="2" | Assigns one of the outgoing transmit buffers with data ready to be sent.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Buffer
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Count
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | d0
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | d1
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | d2
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | d3
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | d4
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | d5
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | d6
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | d7
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetRxMask'''
+|-
+| colspan="2" | Allows the receive ID mask to be configured on the fly allowing different ID ranges to be received.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Mask
+|-
+| colspan="2" | Specifies which receive mask to modify. Range: 0-1&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u32-icon.png]] - ULONG
+| width="90%" | ID
+|-
+| colspan="2" | The ID mask value you wish to use&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetRxData'''
+|-
+| colspan="2" | Returns last received message data byte at position Index. Buffer parameter is currently ignored&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Buffer
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Index
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetRxIDHi'''
+|-
+| colspan="2" | Gets the Hi byte Rx ID in register format. Standard ID only 0-2047. Compatible with v5 component and previous, &nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Buffer
+|-
+| colspan="2" | Receive Buffer. Range 0-1&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetTxIDSimple'''
+|-
+| colspan="2" | Set the Tx CAN ID as a generic number. Standard IDs only 0-2047. &nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Buffer
+|-
+| colspan="2" | Transmit buffer to load. Range: 0-2&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="90%" | ID
+|-
+| colspan="2" | The ID value you wish to use. Range: 0-2047&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SendBuffer'''
+|-
+| colspan="2" | Transmits one of the transmit buffers which should have already been populated with an ID and data.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Buffer
+|-
+| colspan="2" | Specifies which transmit buffer to send&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetRxDataCount'''
+|-
+| colspan="2" | Returns last received message data length. Buffer parameter is currently ignored&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Buffer
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetRxFilterID'''
+|-
+| colspan="2" | sets the Filter Standard mode only  (for V5 compatibility only)&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Filter
+|-
+| colspan="2" | Specifies which filter to modify. Range: 0-5&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Hi
+|-
+| colspan="2" | ID bits 3-10&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Lo
+|-
+| colspan="2" | ID bits 0-2 stored in the upper 3 bits of the byte&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetRxIDLo'''
+|-
+| colspan="2" | Gets the Lo byte Rx ID in register format. Standard ID only 0-2047. Compatible with v5 component and previous, &nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Buffer
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetRxMaskID'''
+|-
+| colspan="2" | set the Mask Standard ID mode only (for V5 compatibility) &nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Mask
+|-
+| colspan="2" | Specifies which receive mask to modify. Range: 0-1&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Hi
+|-
+| colspan="2" | ID bits 3-10&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Lo
+|-
+| colspan="2" | ID bits 0-2 stored in the upper 3 bits of the byte&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetRxFilter'''
+|-
+| colspan="2" | Allows the receive ID filter to be configured on the fly allowing different ID ranges to be received.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Filter
+|-
+| colspan="2" | Specifies which receive filter to modify. Range: 0-5&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u32-icon.png]] - ULONG
+| width="90%" | ID
+|-
+| colspan="2" | The ID filter value you wish to use&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetTxIdent'''
+|-
+| colspan="2" | Set the Tx CAN ID as a generic number. Standard and extended IDs Standard 0-2047 Extended 2048-536870911 &nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Buffer
+|-
+| colspan="2" | Transmit buffer to load. Range: 0-2&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u32-icon.png]] - ULONG
+| width="90%" | ID
+|-
+| colspan="2" | The ID or Extended ID value you wish to use. Range: 0-536870911&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CheckRx'''
+|-
+| colspan="2" | Checks to see if any messages are available for 'Buffer' specified &nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Buffer
+|-
+| colspan="2" | Send buffer: 0  to 1&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ChangeRate'''
+|-
+| colspan="2" | Simple attempt to alter the bus rate of the CAN. External CAN channels only,&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Rate
+|-
+| colspan="2" | Rate: 0-3 where 0=125, 1=250, 2=500, 3=1000&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetRxIDSimple'''
+|-
+| colspan="2" | Gets the Rx ID as a Integer Standard ID only 0-2047.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Buffer
+|-
+| colspan="2" | Receive Buffer. Range 0-1&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetTxID'''
+|-
+| colspan="2" | Set the Tx CAN ID in register format. Standard ID only 0-2047. Compatible with v5 component and previous,&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Buffer
+|-
+| colspan="2" | Transmit buffer to load. Range: 0-2&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Hi
+|-
+| colspan="2" | ID bits 3-10 e.g. ((ID & 0x7F8) >> 3)&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Lo
+|-
+| colspan="2" | ID bits 0-2 stored in the upper 3 bits of the byte e.g. ((ID & 0x7) << 5)&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ShowLEDs'''
+|-
+| colspan="2" | Set LED state (External CAN only) &nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | led1
+|-
+| colspan="2" | Controls LED 1. Range: 0-1&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | led2
+|-
+| colspan="2" | Controls LED 2. Range: 0-1&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetRxIdent'''
+|-
+| colspan="2" | Gets the Rx ID as a Integer Standard and Extended IDs.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Buffer
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u32-icon.png]] - ULONG
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Initialise'''
+|-
+| colspan="2" | Must be called before any other CAN component macros to enable and initialise the CAN peripheral. &nbsp;
+|-
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+==Property reference==
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" | [[File:Fc9-prop-icon.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Properties'''
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
+| width="90%" | Channel
+|-
+| colspan="2" | Switches between Internal CAN peripheral and External CAN controller IC MCP2515.&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
+| width="90%" | Controller Osc
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
+| width="90%" | Bus Rate
+|-
+| colspan="2" | Data rate of the bus specified in thousand bits per second, Kbps.&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
+| width="90%" | Sync Jump Width
+|-
+| colspan="2" | Defines how far a resyncronisation may move the sample point&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
+| width="90%" | Sample Point
+|-
+| colspan="2" | Point in each bit period where the incoming data is sampled.&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
+| width="90%" | ID Type
+|-
+| colspan="2" | Switches between using Standard, or Standard and Extended CAN&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
+| width="90%" | One Shot Mode
+|-
+| colspan="2" | Disabled. Messages will reattempt transmission Enabled. Message will only attempt to transmit once&nbsp;
+|-
+| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
+| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Connections
+|-
+|-
+| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
+| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | SPI
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
+| width="90%" | CHANNEL
+|-
+| colspan="2" | SPI Channel selector&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
+| width="90%" | MOSI
+|-
+| colspan="2" | SPI Data Out Pin SDO - Also Known as Master Out Slave In (MOSI) when used in Master mode.&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
+| width="90%" | MISO
+|-
+| colspan="2" | SPI Data In Pin SDI - Also Known as Master In Slave Out (MISO) when used in Master mode.&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
+| width="90%" | CLK
+|-
+| colspan="2" | SPI Clock Pin CLK - The Clock signal is driven by the SPI master.&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
+| width="90%" | SS
+|-
+| colspan="2" | Chip Select / Slave Select Pin  Master Mode: General purpose output pin used to select the remote SPI device. Slave Mode: Hardware chip select pin input used to select the SPI device. &nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
+| width="90%" | Prescale
+|-
+| colspan="2" | Prescale option selector&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
+| width="90%" | Sample Point
+|-
+| colspan="2" | Data bit read sample point&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
+| width="90%" | Config Delay
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
+| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | TX Buffer 0
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
+| width="90%" | Message ID
+|-
+| colspan="2" | TX Buffer 0 Message Identifier&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
+| width="90%" | Length
+|-
+| colspan="2" | TX Buffer 0 Number of data bytes&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
+| width="90%" | D0
+|-
+| colspan="2" | TX Buffer 0 Data Byte 0&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
+| width="90%" | D1
+|-
+| colspan="2" | TX Buffer 0 Data Byte 1&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
+| width="90%" | D2
+|-
+| colspan="2" | TX Buffer 0 Data Byte 2&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
+| width="90%" | D3
+|-
+| colspan="2" | TX Buffer 0 Data Byte 3&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
+| width="90%" | D4
+|-
+| colspan="2" | TX Buffer 0 Data Byte 4&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
+| width="90%" | D5
+|-
+| colspan="2" | TX Buffer 0 Data Byte 5&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
+| width="90%" | D6
+|-
+| colspan="2" | TX Buffer 0 Data Byte 6&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
+| width="90%" | D7
+|-
+| colspan="2" | TX Buffer 0 Data Byte 7&nbsp;
+|-
+| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
+| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | TX Buffer 1
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
+| width="90%" | Message ID
+|-
+| colspan="2" | TX Buffer 1 Message Identifier&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
+| width="90%" | Length
+|-
+| colspan="2" | TX Buffer 1 Number of data bytes&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
+| width="90%" | D0
+|-
+| colspan="2" | TX Buffer 1 Data Byte 0&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
+| width="90%" | D1
+|-
+| colspan="2" | TX Buffer 1 Data Byte 1&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
+| width="90%" | D2
+|-
+| colspan="2" | TX Buffer 1 Data Byte 2&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
+| width="90%" | D3
+|-
+| colspan="2" | TX Buffer 1 Data Byte 3&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
+| width="90%" | D4
+|-
+| colspan="2" | TX Buffer 1 Data Byte 4&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
+| width="90%" | D5
+|-
+| colspan="2" | TX Buffer 1 Data Byte 5&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
+| width="90%" | D6
+|-
+| colspan="2" | TX Buffer 1 Data Byte 6&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
+| width="90%" | D7
+|-
+| colspan="2" | TX Buffer 1 Data Byte 7&nbsp;
+|-
+| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
+| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | TX Buffer 2
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
+| width="90%" | Message ID
+|-
+| colspan="2" | TX Buffer 2 Message Identifier&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
+| width="90%" | Length
+|-
+| colspan="2" | TX Buffer 2 Number of data bytes&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
+| width="90%" | D0
+|-
+| colspan="2" | TX Buffer 2 Data Byte 0&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
+| width="90%" | D1
+|-
+| colspan="2" | TX Buffer 2 Data Byte 1&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
+| width="90%" | D2
+|-
+| colspan="2" | TX Buffer 2 Data Byte 2&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
+| width="90%" | D3
+|-
+| colspan="2" | TX Buffer 2 Data Byte 3&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
+| width="90%" | D4
+|-
+| colspan="2" | TX Buffer 2 Data Byte 4&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
+| width="90%" | D5
+|-
+| colspan="2" | TX Buffer 2 Data Byte 5&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
+| width="90%" | D6
+|-
+| colspan="2" | TX Buffer 2 Data Byte 6&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
+| width="90%" | D7
+|-
+| colspan="2" | TX Buffer 2 Data Byte 7&nbsp;
+|-
+| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
+| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | RX Buffer 0
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
+| width="90%" | Settings
+|-
+| colspan="2" | RX Buffer 0 Message Receive Mode&nbsp;
+|-
+| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
+| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | RX Buffer 1
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
+| width="90%" | Settings
+|-
+| colspan="2" | RX Buffer 1 Message Receive Mode&nbsp;
+|-
+| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
+| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Simulation
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-type-10-icon.png]]
+| width="90%" | Label
+|-
+| colspan="2" | Comms Flasher Identification Label&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-7-icon.png]]
+| width="90%" | Simulate SPI Comms
+|-
+| colspan="2" | &nbsp;
+|}==Macro reference==
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"