Transmission of CAN messages

Collaboration diagram for Transmission of CAN messages:

Data Structures
struct	CO_CANtx_t
	Configuration object for CAN transmit message for specific CANopenNode Object. More...

Detailed Description

Target specific definitions and description of CAN message transmission

If CANopenNode Object needs transmitting CAN message, it must first configure its own CO_CANtx_t object with the CO_CANtxBufferInit() function. CAN message can then be sent with CO_CANsend() function. If at that moment CAN transmit buffer inside microcontroller's CAN module is free, message is copied directly to the CAN module. Otherwise CO_CANsend() function sets bufferFull flag to true. Message will be then sent by CAN TX interrupt as soon as CAN module is freed. Until message is not copied to CAN module, its contents must not change. If there are multiple CO_CANtx_t objects with bufferFull flag set to true, then CO_CANtx_t with lower index will be sent first.