Acrosser AR-B6051 - Manual (Page 43)

Chapter 6 Software Installation and
Programming Guide
6.1 CAN bus
6.1.1 Overview
The CAN bus APIs provide interfaces to CAN bus subsystem. By invoking these APIs, programmers
can implement the applications which have the functions listed below:
1. Set the BAUD rate.
2. Send the CAN packages over the CAN bus.
3. Receive the CAN packages via the CAN bus hardware interface.
4. Set the CAN package filter to selectively receive CAN packages with specific ID.
5. Set the mask bits to selectively make some filter bits take effect.
In folder ‘ARB6051\Utility\Source’ on the CD, we provides:
1. API header file.
2. API library in static library format and shared library format.
3. Test utility and its source code.
6.1.2 CAN Message Format
// TYPE DEFINITION
typedef char i8;
typedef unsigned char u8;
typedef short i16;
typedef unsigned short u16;
typedef unsigned long u32;
typedef int i32;
struct CanMsg {
u32 id;
u8 id_type;
u8 length;
u8 data[8];
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