Innovate Motorsports OT-2 SDK - Manual (Page 39)

39
Can
The general flow with Can Expert Mode (‘e’<1>), is:
1. Select a rate (250 Kbit or 500 Kbit)
2. Set up filters for the CAN identifiers that you are interested in
3. Output a packet and (optionally) wait for a designated number of response packets
Can mode is unique in that there are actually two types of filters. Normal ‘pass’ filters
(see the ‘F’ and ‘f’ commands below), which simply identify packets to be passed on and
Handshake filters (see the ‘E’ and ‘e’ commands below). Handshake filters instruct the
OT-1b/2 to automatically deal with ISO 15765 flow control responses for a given
identifier.
The export mode commands to accomplish these tasks are:
Command ‘R’ – Set the Protocol Rate
Sent: 2 bytes
{
U8 Cmd; // ‘R’
U8 Rate; // 1 = 250 Kbit
// 2 = 500 Kbit
}
Responds:
1 byte
{
U8 Result; // Should match ‘Rate’ requested
}
Notes:
The default rate when you enter this Expert Mode is 250K
bit. The two rates provided are the two that are covered in
the ISO specification. However, if non standard rates would
be useful, let us know.