#include <rtx_can.h>

CAN_ERROR CAN_receive (
    U32 ctrl,        /* CAN Controller */
    CAN_msg *msg,    /* CAN Message */
    U16 timeout);    /* Time to Wait */

The CAN_receive function receives a message on the CAN controller specified by ctrl and copies it into msg.

The CAN_receive function does not clear hardware message FIFOs. So, if a message was received prior to invoking CAN_receive, that message is returned immediately. If the message FIFO is empty, CAN_receive waits (up to the specified timeout) for a message to be received.

If a message is not received by the specified time, an error is returned.

The CAN_receive function executes quickly since all data transfers use software buffers. Only in situations where the FIFO is empty is the CAN_receive function delayed.

The CAN_receive function is part of RL-CAN. The prototype is defined in RTX_CAN.h.

The CAN_receive function returns one of the following manifest constants.

• CAN_OK
  Success.
• CAN_DEALLOC_MEM_ERROR
  Indicates that the memory used by the received message was not correctly deallocated.
• CAN_TIMEOUT
  Indicates that the timeout expired before a message was received.

CAN_send

#include <rtx_can.h>

__task void task_rece_CAN (void) {
  CAN_msg msg_buf;

  for (;;) {
    // Wait to receive a message.
    // When the message arrives
    // activate LEDs using data[0]

    if (CAN_receive (1, &msg_buf, 0) == 0) {
      LED_Byte (msg_buf.data[0]);
    }
  }
}