CAN example

#include <io>
#include <read>
#include <float>
#include <string>
#include <core>
#include <write>
#include <define>
#include <can>

new CAN_Tx_buffer[11];                  // Transmission buffer for CAN
new CAN_Rx_buffer[11];                  // Receiving CAN buffer

#define CURRENT_CAN         CAN1        // This can be eithe CAN1 or CAN2, change it accordingly
#define CAN_BAUDRATE        500000      // Type your CAN baudrate here for the sake of example it's 500kbit/s
#define CAN_CONFIG_USING_ID             // Comment which CAN configuration you're not going to use, only one can be possible to use at once
//#define CAN_CONFIG_USING_MASK           // Comment which CAN configuration you're not going to use, only one can be possible to use at once

public callback (event)
{
    switch(event)
    {
       case CAN1:
       {
           ReadCANmsg(CURRENT_CAN, CAN_Rx_buffer);    // Incoming CAN message is received into CAN_Rx_buffer buffer
           CAN_message_parse(CAN_Rx_buffer[0]);       // Call function CAN_message_parse(). CAN_Rx_buffer[0] - Message ID.
       }
    }
    return 0;
}

CAN_buf_send(CAN_ID, CAN_TYPE, NO_OF_BYTES, DATA1, DATA2, DATA3, DATA4, DATA5, DATA6, DATA7, DATA8) // This function sends CAN message, there's an example on how to do it below
{
    CAN_Tx_buffer[0] = CAN_ID;                        // CAN ID
    CAN_Tx_buffer[1] = CAN_TYPE;                      // CAN ID type (STANDARD or EXTENDED)
    CAN_Tx_buffer[2] = NO_OF_BYTES;                   // CAN message Number of bytes of data (0-8)
    CAN_Tx_buffer[3] = DATA1;                         // CAN Data
    CAN_Tx_buffer[4] = DATA2;                         // CAN Data
    CAN_Tx_buffer[5] = DATA3;                         // CAN Data
    CAN_Tx_buffer[6] = DATA4;                         // CAN Data
    CAN_Tx_buffer[7] = DATA5;                         // CAN Data
    CAN_Tx_buffer[8] = DATA6;                         // CAN Data
    CAN_Tx_buffer[9] = DATA7;                         // CAN Data
    CAN_Tx_buffer[10] = DATA8;                        // CAN Data
    WriteCANmsg(CURRENT_CAN, CAN_Tx_buffer);          // Send CAN message
}

CAN_message_parse(CAN_ID) // This function created to parse incomming CAN messages, add your expected ID cases and parse them as you expect to (configure your ID's or filter accordingly)
{
    switch(CAN_ID)
    {
        case 0x100:     // If CAN received 0x100 ID message do this
        {
            // Parse your message here
        }
        case 0x215:     // If CAN received 0x215 ID message do this
        {
            // Parse your message here
        }
    }
}

main()
{
    Init(CURRENT_CAN, NORMAL, CAN_BAUDRATE);                                // Initialize CAN2, normal mode, speed: 500kbit/s
    CANconfig(CURRENT_CAN, RESET_FILTER);                                   // CAN configuration

    #if defined CAN_CONFIG_USING_ID
        CANconfig(CURRENT_CAN, ADD_ID, STANDARD, 0x100);                    // CAN configuration
        CANconfig(CURRENT_CAN, ADD_ID, STANDARD, 0x215);                    // CAN configuration
    #endif

    #if defined CAN_CONFIG_USING_MASK
        CANconfig(CURRENT_CAN, ADD_MASK_STD, 0x000, 0x000);                 // Receive all messages
    #endif

    while(1)
    {
        CAN_buf_send(0x315, STANDARD, 8, 0x21, 0x11, 0x01, 0x00, 0x00, 0x00, 0x00, 0x15);   // Send CAN message using created function above
        Delay(2000);    // Delay 2 sec.
    }
}