GetTransmitPoolSize (FUN) ¶ FUNCTION GetTransmitPoolSize : CAA.COUNT Returns the number of free transmit messages in the transmit message pool of the current driver. Should be greater 0. Otherwise no more messages can be sent. Diagnostic Information can be also read by GetDiagnosis . InOut: Scope Name Type Comment Return GetTransmitPoolSize CAA.COUNT number of free transmit messages in transmit pool. Input hDriver CAA.HANDLE handle of CAN interface peError POINTER TO ERROR optional pointer to error enum

GetTransmitQueueLength (FUN) ¶ FUNCTION GetTransmitQueueLength : CAA.COUNT Returns number of messages in transmit queue waiting for being processed by CAN Minidriver. Diagnostic Information can be also read by GetDiagnosis . InOut: Scope Name Type Comment Return GetTransmitQueueLength CAA.COUNT number of messages in transmit queue. Input hDriver CAA.HANDLE handle of CAN interface peError POINTER TO ERROR optional pointer to error enum

IsSendingActive (FUN) ¶ FUNCTION IsSendingActive : BOOL This function specifies whether the CAN hardware is busy sending CAN messages or whether further messages are stored and waiting to be sent. InOut: Scope Name Type Comment Return IsSendingActive BOOL FALSE if the sending queue is empty and the CAN hardware is actually not transmitting a message. Input hDriver CAA.HANDLE handle of CAN interface peError POINTER TO ERROR optional pointer to error enum

ResetBusAlarm (FUN) ¶ FUNCTION ResetBusAlarm : ERROR In case of a Bus Alarm ( GetBusAlarm returns TRUE ) this function can be called to reset the CAN Hardware. InOut: Scope Name Type Comment Return ResetBusAlarm ERROR ERROR.NO_ERROR or appropriate error code Input hDriver CAA.HANDLE handle of CAN interface

Extended Functionality ¶ DisableSyncService (Function) EnableSyncService (Function)

DisableSyncService (FUN) ¶ FUNCTION DisableSyncService : ERROR Disables the SYNC service for a given driver. InOut: Scope Name Type Comment Return DisableSyncService ERROR ERROR.NO_ERROR or appropriate error code Input hDriver CAA.HANDLE handle of CAN interface

EnableSyncService (FUN) ¶ FUNCTION EnableSyncService : ERROR Enables the SYNC service for a given network. The CANopen Stack uses this function for better SYNC accuracy. If service is enabled SYNC message will be sent by the CAN driver implementation. Note Sync Service is not supported by all CAN drivers. InOut: Scope Name Type Comment Return EnableSyncService ERROR ERROR.NO_ERROR or appropriate error code Input hDriver CAA.HANDLE handle of CAN interface cobID CL2I.COBID id of SYNC message xSyncProducer BOOL TRUE: sync producer; FALSE: consumer xEnableSyncEvent BOOL TRUE: fire event udiSyncCycle UDINT SYNC cycle udiSyncWindowLength UDINT SYNC window udiSyncForewarnTime UDINT SYNC forewarn time in µs

Indicator Services ¶ Functions for setting/getting the CiA LED state according to CiA 303-3. GetCiAState (Function) SetCiAState (Function)

GetCiAState (FUN) ¶ FUNCTION GetCiAState : USINT Returns the current CiA LED state according to CiA 303-3. Interpretation of returned USINT see IndicatorConstants . InOut: Scope Name Type Comment Return GetCiAState USINT current CiA state (see IndicatorConstants ) Input hDriver CAA.HANDLE handle of CAN interface peError POINTER TO ERROR optional pointer to error enum

SetCiAState (FUN) ¶ FUNCTION SetCiAState : ERROR Sets the current CiA LED state according to CiA 303-3. Interpretation of usiState see IndicatorConstants . InOut: Scope Name Type Comment Return SetCiAState ERROR ERROR.NO_ERROR or appropriate error code Input hDriver CAA.HANDLE handle of CAN interface usiState USINT new CiA State (see IndicatorConstants )