{"id":43395,"date":"2021-04-02T15:42:00","date_gmt":"2021-04-02T15:42:00","guid":{"rendered":"https:\/\/imperix.com\/doc\/?p=43395"},"modified":"2026-03-23T07:32:35","modified_gmt":"2026-03-23T07:32:35","slug":"can-input-mailbox","status":"publish","type":"post","link":"https:\/\/imperix.com\/doc\/software\/can-input-mailbox","title":{"rendered":"CAN in &#8211; CAN input mailbox"},"content":{"rendered":"<div id=\"ez-toc-container\" class=\"ez-toc-v2_0_82_2 ez-toc-wrap-right-text counter-hierarchy ez-toc-counter ez-toc-grey ez-toc-container-direction\">\n<div class=\"ez-toc-title-container\">\n<p class=\"ez-toc-title\" style=\"cursor:inherit\">Table of Contents<\/p>\n<span class=\"ez-toc-title-toggle\"><\/span><\/div>\n<nav><ul class='ez-toc-list ez-toc-list-level-1 ' ><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-1\" href=\"https:\/\/imperix.com\/doc\/software\/can-input-mailbox\/#Parameters\" >Parameters<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-2\" href=\"https:\/\/imperix.com\/doc\/software\/can-input-mailbox\/#Addressing\" >Addressing<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-3\" href=\"https:\/\/imperix.com\/doc\/software\/can-input-mailbox\/#Communication-parameters\" >Communication parameters<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-4\" href=\"https:\/\/imperix.com\/doc\/software\/can-input-mailbox\/#CAN-bus-configuration\" >CAN bus configuration<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-5\" href=\"https:\/\/imperix.com\/doc\/software\/can-input-mailbox\/#Simulink-block\" >Simulink block<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-6\" href=\"https:\/\/imperix.com\/doc\/software\/can-input-mailbox\/#Signal-specification\" >Signal specification<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-7\" href=\"https:\/\/imperix.com\/doc\/software\/can-input-mailbox\/#Mask\" >Mask<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-8\" href=\"https:\/\/imperix.com\/doc\/software\/can-input-mailbox\/#PLECS-block\" >PLECS block<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-9\" href=\"https:\/\/imperix.com\/doc\/software\/can-input-mailbox\/#Signal-specification-2\" >Signal specification<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-10\" href=\"https:\/\/imperix.com\/doc\/software\/can-input-mailbox\/#Mask-2\" >Mask<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-11\" href=\"https:\/\/imperix.com\/doc\/software\/can-input-mailbox\/#C-functions\" >C++ functions<\/a><\/li><\/ul><\/nav><\/div>\n\n<p>The CAN_in block implements an input mailbox that supports receiving messages using the <a href=\"https:\/\/en.wikipedia.org\/wiki\/CAN_bus\">CAN bus<\/a> protocol. To send messages, the <a href=\"https:\/\/imperix.com\/doc\/software\/can-output-mailbox\">CAN out<\/a> block should be used instead. The supported CAN protocol variants are as follows:<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>CAN 2.0A<\/strong>: standard format (11-bit identifier), up to 8 bytes payload<\/li>\n\n\n\n<li><strong>CAN 2.0B<\/strong>: extended format (29-bit identifier), up to 8 bytes payload<\/li>\n\n\n\n<li><strong>CAN FD<\/strong>: standard and extended format, up to 64 bytes payload<\/li>\n<\/ul>\n\n\n\n<p>CAN 2.0A\/B are supported on all imperix controllers, provided that the related hardware exists. However, CAN FD (flexible data) is only supported on the <a href=\"https:\/\/imperix.com\/products\/control\/rcp-controller\/\">B-Box 4<\/a>. The detailed compatibility list is shown below.<\/p>\n\n\n\n<p>CANopen is a high-level protocol (OSI layer 7), which should not be confused with CAN (OSI layers 1 and 2). It is currently not supported on imperix equipment.<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table><thead><tr><th>Controller<\/th><th>Hardware resources<\/th><th>CAN 2.0A<\/th><th>CAN 2.0B<\/th><th>CAN FD<\/th><\/tr><\/thead><tbody><tr><td>B-Box 4<\/td><td>2x channels (one RJ45 socket for each)<br>Max. 5 Mbps (FD)<\/td><td>Yes<\/td><td>Yes<\/td><td>Yes<\/td><\/tr><tr><td>B-Box 3 (RCP)<\/td><td>1x  channel (one RJ45 socket)<br>Max. 1 Mbps<\/td><td>Yes<\/td><td>Yes<\/td><td>No<\/td><\/tr><tr><td>B-Board 3 (PRO)<\/td><td>1x channel (Tx\/Rx pins or D-sub on EVM)<br>Max. 1 Mbps<\/td><td>Yes<\/td><td>Yes<\/td><td>No<\/td><\/tr><tr><td>B-Box micro<\/td><td>N\/A<\/td><td>No<\/td><td>No<\/td><td>No<\/td><\/tr><tr><td>TPI 8032<\/td><td>1x  channel (two common RJ45 sockets)<br>Max. 1 Mbps<\/td><td>Yes<\/td><td>Yes<\/td><td>No<\/td><\/tr><\/tbody><\/table><figcaption class=\"wp-element-caption\">Supported variants of the CAN protocol on imperix controllers<\/figcaption><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Parameters\"><\/span>Parameters<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Addressing\"><\/span>Addressing<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>Physical port<\/strong>: selects the port on which the mailbox operate. <em>Port B<\/em> is only available for B-Box 4. For all the other devices, <em>Port A<\/em> must be selected.<\/li>\n\n\n\n<li><strong>Frame format<\/strong>: selects between <em>Standard (11-bit identifier)<\/em> and <em>Extended (29-bit identifier)<\/em>.<\/li>\n\n\n\n<li><strong>Identifier (ID)<\/strong>: sets the CAN identifier.<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Communication-parameters\"><\/span>Communication parameters<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>Signal(s) type<\/strong>: defines the data type accepted in the data&nbsp;input (<em>int8<\/em>, <em>int16<\/em>, <em>int32<\/em>, <em>uint8<\/em>, <em>uint16<\/em>, <em>uint32<\/em>, <em>float32<\/em>, or <em>float64<\/em>).<\/li>\n\n\n\n<li><strong>Number of signals<\/strong>: specifies the vector size of the data to be sent.<\/li>\n\n\n\n<li><strong>Byte order<\/strong>: defines the byte order in which the data will be sent. Either <em>little-endian<\/em> or <em>big-endian<\/em>.<\/li>\n\n\n\n<li><strong>Data transmission mode<\/strong>: selects when the data is sent.\n<ul class=\"wp-block-list\">\n<li><em>On-demand<\/em>: the user manually triggers the message transmissions.<\/li>\n\n\n\n<li><em>Periodically<\/em>: the message is sent periodically, whether the data has been changed or not.<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>Initial value<\/strong>: sets the initial data value of the data output before any data are received.<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"CAN-bus-configuration\"><\/span>CAN bus configuration<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p>In Simulink, the CAN bus configuration is performed from within the CAN block. In PLECS, the configuration is performed in the <strong>Target <\/strong>tab of <strong>Coder options<\/strong> windows (<em>Coder -&gt; Coder options<\/em>, or <em>Ctrl+Alt+B<\/em>).<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>The <strong>bitrate<\/strong> is the rate at which bits are transmitted on the bus (up to 1 Mbps),<\/li>\n\n\n\n<li>The <strong>data bitrate<\/strong> is the increased bitrate used to transmit the CAN FD frame payload when the <strong>Bit Rate Switch (BRS)<\/strong> is enabled  (up to 5 Mbps).<\/li>\n<\/ul>\n\n\n\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-is-layout-9d6595d7 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:33.33%\">\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"402\" height=\"628\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/04\/image-251.png\" alt=\"\" class=\"wp-image-37915\" srcset=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/04\/image-251.png 402w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/04\/image-251-192x300.png 192w\" sizes=\"auto, (max-width: 402px) 100vw, 402px\" \/><figcaption class=\"wp-element-caption\">CAN bus configuration in Simulink<\/figcaption><\/figure>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:66.66%\">\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"667\" height=\"542\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/04\/image-252.png\" alt=\"\" class=\"wp-image-37916\" srcset=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/04\/image-252.png 667w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/04\/image-252-300x244.png 300w\" sizes=\"auto, (max-width: 667px) 100vw, 667px\" \/><figcaption class=\"wp-element-caption\">CAN bus configuration in PLECS<\/figcaption><\/figure>\n<\/div>\n<\/div>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Simulink-block\"><\/span>Simulink block<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Signal-specification\"><\/span>Signal specification<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-is-layout-9d6595d7 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:66.66%\">\n<ul class=\"wp-block-list\">\n<li>The data output signal returns a vector containing the data read from the CAN bus. The vector length can be configured with the&nbsp; <strong>Number of signals<\/strong> parameter. The output data type is configured by the <strong>Signal type <\/strong>parameter.<\/li>\n\n\n\n<li>The second signal is the data valid output. It is set to 1 each time new data are available.<\/li>\n<\/ul>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:33.33%\"><div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"109\" height=\"69\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/04\/image-260.png\" alt=\"\" class=\"wp-image-37932\"\/><\/figure>\n<\/div><\/div>\n<\/div>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"CANinputmailbox-Parameters\"><span class=\"ez-toc-section\" id=\"Mask\"><\/span>Mask<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-is-layout-9d6595d7 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"424\" height=\"661\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/04\/image-261.png\" alt=\"\" class=\"wp-image-37933\" srcset=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/04\/image-261.png 424w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/04\/image-261-192x300.png 192w\" sizes=\"auto, (max-width: 424px) 100vw, 424px\" \/><\/figure>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"424\" height=\"661\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/04\/image-262.png\" alt=\"\" class=\"wp-image-37934\" srcset=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/04\/image-262.png 424w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/04\/image-262-192x300.png 192w\" sizes=\"auto, (max-width: 424px) 100vw, 424px\" \/><\/figure>\n<\/div>\n<\/div>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"PLECS-block\"><\/span>PLECS block<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Signal-specification-2\"><\/span>Signal specification<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-is-layout-9d6595d7 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:66.66%\">\n<ul class=\"wp-block-list\">\n<li>The data output signal returns a vector containing the data read from the CAN bus. The vector length can be configured with the&nbsp; <strong>Number of signals<\/strong> parameter. The output data type is configured by the <strong>Signal type <\/strong>parameter.<\/li>\n\n\n\n<li>The second signal is the data valid output. It is set to 1 each time new data are available.<\/li>\n<\/ul>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:33.33%\"><div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"135\" height=\"101\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/04\/image-263.png\" alt=\"\" class=\"wp-image-37937\"\/><\/figure>\n<\/div><\/div>\n<\/div>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Mask-2\"><\/span>Mask<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-is-layout-9d6595d7 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"417\" height=\"448\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/04\/image-264.png\" alt=\"\" class=\"wp-image-37938\" srcset=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/04\/image-264.png 417w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/04\/image-264-279x300.png 279w\" sizes=\"auto, (max-width: 417px) 100vw, 417px\" \/><\/figure>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"417\" height=\"448\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/04\/image-265.png\" alt=\"\" class=\"wp-image-37939\" srcset=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/04\/image-265.png 417w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/04\/image-265-279x300.png 279w\" sizes=\"auto, (max-width: 417px) 100vw, 417px\" \/><\/figure>\n<\/div>\n<\/div>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"C-functions\"><\/span>C++ functions<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<h4 class=\"wp-block-heading\">Standard functions<\/h4>\n\n\n<style>.kt-accordion-id43395_3205aa-d2 .kt-accordion-inner-wrap{column-gap:var(--global-kb-gap-md, 2rem);row-gap:1px;}.kt-accordion-id43395_3205aa-d2 .kt-accordion-panel-inner{border-top:2px solid transparent;border-right:2px solid transparent;border-bottom:2px solid transparent;border-left:2px solid transparent;border-top-left-radius:2px;border-top-right-radius:2px;border-bottom-right-radius:2px;border-bottom-left-radius:2px;background:#ffffff;padding-top:20px;padding-right:20px;padding-bottom:20px;padding-left:20px;}.kt-accordion-id43395_3205aa-d2 > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header{border-top:2px solid #f2f2f2;border-right:2px solid #f2f2f2;border-bottom:2px solid #f2f2f2;border-left:2px solid #f2f2f2;border-top-left-radius:2px;border-top-right-radius:2px;border-bottom-right-radius:2px;border-bottom-left-radius:2px;background:#ffffff;font-size:16px;line-height:24px;letter-spacing:0px;font-weight:bold;text-transform:none;color:var(--global-palette3, #1A202C);padding-top:12px;padding-right:10px;padding-bottom:8px;padding-left:16px;}.kt-accordion-id43395_3205aa-d2:not( .kt-accodion-icon-style-basiccircle ):not( .kt-accodion-icon-style-xclosecircle ):not( .kt-accodion-icon-style-arrowcircle )  > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap .kt-blocks-accordion-icon-trigger:after, .kt-accordion-id43395_3205aa-d2:not( .kt-accodion-icon-style-basiccircle ):not( .kt-accodion-icon-style-xclosecircle ):not( .kt-accodion-icon-style-arrowcircle )  > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap .kt-blocks-accordion-icon-trigger:before{background:var(--global-palette3, #1A202C);}.kt-accordion-id43395_3205aa-d2:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-blocks-accordion-icon-trigger{background:var(--global-palette3, #1A202C);}.kt-accordion-id43395_3205aa-d2:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-blocks-accordion-icon-trigger:after, .kt-accordion-id43395_3205aa-d2:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-blocks-accordion-icon-trigger:before{background:#ffffff;}.kt-accordion-id43395_3205aa-d2 > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header:hover, \n\t\t\t\tbody:not(.hide-focus-outline) .kt-accordion-id43395_3205aa-d2 .kt-blocks-accordion-header:focus-visible{color:#444444;background:#ffffff;border-top:2px solid #eeeeee;border-right:2px solid #eeeeee;border-bottom:2px solid #eeeeee;border-left:2px solid #eeeeee;}.kt-accordion-id43395_3205aa-d2:not( .kt-accodion-icon-style-basiccircle ):not( .kt-accodion-icon-style-xclosecircle ):not( .kt-accodion-icon-style-arrowcircle ) .kt-accordion-header-wrap .kt-blocks-accordion-header:hover .kt-blocks-accordion-icon-trigger:after, .kt-accordion-id43395_3205aa-d2:not( .kt-accodion-icon-style-basiccircle ):not( .kt-accodion-icon-style-xclosecircle ):not( .kt-accodion-icon-style-arrowcircle ) .kt-accordion-header-wrap .kt-blocks-accordion-header:hover .kt-blocks-accordion-icon-trigger:before, body:not(.hide-focus-outline) .kt-accordion-id43395_3205aa-d2:not( .kt-accodion-icon-style-basiccircle ):not( .kt-accodion-icon-style-xclosecircle ):not( .kt-accodion-icon-style-arrowcircle ) .kt-blocks-accordion--visible .kt-blocks-accordion-icon-trigger:after, body:not(.hide-focus-outline) .kt-accordion-id43395_3205aa-d2:not( .kt-accodion-icon-style-basiccircle ):not( .kt-accodion-icon-style-xclosecircle ):not( .kt-accodion-icon-style-arrowcircle ) .kt-blocks-accordion-header:focus-visible .kt-blocks-accordion-icon-trigger:before{background:#444444;}.kt-accordion-id43395_3205aa-d2:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-accordion-header-wrap .kt-blocks-accordion-header:hover .kt-blocks-accordion-icon-trigger, body:not(.hide-focus-outline) .kt-accordion-id43395_3205aa-d2:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-accordion-header-wrap .kt-blocks-accordion-header:focus-visible .kt-blocks-accordion-icon-trigger{background:#444444;}.kt-accordion-id43395_3205aa-d2:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-accordion-header-wrap .kt-blocks-accordion-header:hover .kt-blocks-accordion-icon-trigger:after, .kt-accordion-id43395_3205aa-d2:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-accordion-header-wrap .kt-blocks-accordion-header:hover .kt-blocks-accordion-icon-trigger:before, body:not(.hide-focus-outline) .kt-accordion-id43395_3205aa-d2:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-accordion-header-wrap .kt-blocks-accordion-header:focus-visible .kt-blocks-accordion-icon-trigger:after, body:not(.hide-focus-outline) .kt-accordion-id43395_3205aa-d2:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-accordion-header-wrap .kt-blocks-accordion-header:focus-visible .kt-blocks-accordion-icon-trigger:before{background:#ffffff;}.kt-accordion-id43395_3205aa-d2 .kt-accordion-header-wrap .kt-blocks-accordion-header:focus-visible,\n\t\t\t\t.kt-accordion-id43395_3205aa-d2 > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header.kt-accordion-panel-active{color:var(--global-palette3, #1A202C);background:var(--global-palette9, #ffffff);border-top:2px solid var(--global-palette6, #718096);border-right:2px solid var(--global-palette6, #718096);border-bottom:2px solid var(--global-palette6, #718096);border-left:2px solid var(--global-palette6, #718096);}.kt-accordion-id43395_3205aa-d2:not( .kt-accodion-icon-style-basiccircle ):not( .kt-accodion-icon-style-xclosecircle ):not( .kt-accodion-icon-style-arrowcircle )  > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header.kt-accordion-panel-active .kt-blocks-accordion-icon-trigger:after, .kt-accordion-id43395_3205aa-d2:not( .kt-accodion-icon-style-basiccircle ):not( .kt-accodion-icon-style-xclosecircle ):not( .kt-accodion-icon-style-arrowcircle )  > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header.kt-accordion-panel-active .kt-blocks-accordion-icon-trigger:before{background:var(--global-palette3, #1A202C);}.kt-accordion-id43395_3205aa-d2:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-blocks-accordion-header.kt-accordion-panel-active .kt-blocks-accordion-icon-trigger{background:var(--global-palette3, #1A202C);}.kt-accordion-id43395_3205aa-d2:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-blocks-accordion-header.kt-accordion-panel-active .kt-blocks-accordion-icon-trigger:after, .kt-accordion-id43395_3205aa-d2:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-blocks-accordion-header.kt-accordion-panel-active .kt-blocks-accordion-icon-trigger:before{background:var(--global-palette9, #ffffff);}@media all and (max-width: 1024px){.kt-accordion-id43395_3205aa-d2 .kt-accordion-panel-inner{border-top:2px solid transparent;border-right:2px solid transparent;border-bottom:2px solid transparent;border-left:2px solid transparent;}}@media all and (max-width: 1024px){.kt-accordion-id43395_3205aa-d2 > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header{border-top:2px solid #f2f2f2;border-right:2px solid #f2f2f2;border-bottom:2px solid #f2f2f2;border-left:2px solid #f2f2f2;}}@media all and (max-width: 1024px){.kt-accordion-id43395_3205aa-d2 > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header:hover, \n\t\t\t\tbody:not(.hide-focus-outline) .kt-accordion-id43395_3205aa-d2 .kt-blocks-accordion-header:focus-visible{border-top:2px solid #eeeeee;border-right:2px solid #eeeeee;border-bottom:2px solid #eeeeee;border-left:2px solid #eeeeee;}}@media all and (max-width: 1024px){.kt-accordion-id43395_3205aa-d2 .kt-accordion-header-wrap .kt-blocks-accordion-header:focus-visible,\n\t\t\t\t.kt-accordion-id43395_3205aa-d2 > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header.kt-accordion-panel-active{border-top:2px solid var(--global-palette6, #718096);border-right:2px solid var(--global-palette6, #718096);border-bottom:2px solid var(--global-palette6, #718096);border-left:2px solid var(--global-palette6, #718096);}}@media all and (max-width: 767px){.kt-accordion-id43395_3205aa-d2 .kt-accordion-inner-wrap{display:block;}.kt-accordion-id43395_3205aa-d2 .kt-accordion-inner-wrap .kt-accordion-pane:not(:first-child){margin-top:1px;}.kt-accordion-id43395_3205aa-d2 .kt-accordion-panel-inner{border-top:2px solid transparent;border-right:2px solid transparent;border-bottom:2px solid transparent;border-left:2px solid transparent;}.kt-accordion-id43395_3205aa-d2 > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header{border-top:2px solid #f2f2f2;border-right:2px solid #f2f2f2;border-bottom:2px solid #f2f2f2;border-left:2px solid #f2f2f2;}.kt-accordion-id43395_3205aa-d2 > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header:hover, \n\t\t\t\tbody:not(.hide-focus-outline) .kt-accordion-id43395_3205aa-d2 .kt-blocks-accordion-header:focus-visible{border-top:2px solid #eeeeee;border-right:2px solid #eeeeee;border-bottom:2px solid #eeeeee;border-left:2px solid #eeeeee;}.kt-accordion-id43395_3205aa-d2 .kt-accordion-header-wrap .kt-blocks-accordion-header:focus-visible,\n\t\t\t\t.kt-accordion-id43395_3205aa-d2 > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header.kt-accordion-panel-active{border-top:2px solid var(--global-palette6, #718096);border-right:2px solid var(--global-palette6, #718096);border-bottom:2px solid var(--global-palette6, #718096);border-left:2px solid var(--global-palette6, #718096);}}<\/style>\n<div class=\"wp-block-kadence-accordion alignnone\"><div class=\"kt-accordion-wrap kt-accordion-id43395_3205aa-d2 kt-accordion-has-8-panes kt-active-pane-0 kt-accordion-block kt-pane-header-alignment-left kt-accodion-icon-style-arrow kt-accodion-icon-side-left\" style=\"max-width:none\"><div class=\"kt-accordion-inner-wrap\" data-allow-multiple-open=\"false\" data-start-open=\"none\">\n<div class=\"wp-block-kadence-pane kt-accordion-pane kt-accordion-pane-4 kt-pane43395_5d41ac-63\"><div class=\"kt-accordion-header-wrap\"><button class=\"kt-blocks-accordion-header kt-acccordion-button-label-show\" type=\"button\"><span class=\"kt-blocks-accordion-title-wrap\"><span class=\"kt-blocks-accordion-title\"><code><code>Can_ConfigureCanBus<\/code> <\/code><strong>\u2014 Configure the CAN bus baud rate<\/strong><\/span><\/span><span class=\"kt-blocks-accordion-icon-trigger\"><\/span><\/button><\/div><div class=\"kt-accordion-panel kt-accordion-panel-hidden\"><div class=\"kt-accordion-panel-inner\"><pre class=\"wp-block-code\" aria-describedby=\"shcb-language-1\" data-shcb-language-name=\"C++\" data-shcb-language-slug=\"cpp\"><span><code class=\"hljs language-cpp\"><span class=\"hljs-function\"><span class=\"hljs-keyword\">void<\/span> <span class=\"hljs-title\">Can_ConfigureCanBus<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> bitrate, tCanPort can_port, <span class=\"hljs-keyword\">bool<\/span> canfd, \n<span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> dataBitrate)<\/span><\/span>;<\/code><\/span><small class=\"shcb-language\" id=\"shcb-language-1\"><span class=\"shcb-language__label\">Code language:<\/span> <span class=\"shcb-language__name\">C++<\/span> <span class=\"shcb-language__paren\">(<\/span><span class=\"shcb-language__slug\">cpp<\/span><span class=\"shcb-language__paren\">)<\/span><\/small><\/pre>\n\n\n<p>Configures the  CAN bus. <\/p>\n\n\n\n<p>Can only be called in&nbsp;<code>UserInit()<\/code>.<\/p>\n\n\n\n<p><strong>Parameters<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><code>bitrate<\/code>: transfer rate of the CAN bus in bits\/s (up to 1 Mbit\/s)<\/li>\n\n\n\n<li><code>can_port<\/code>: CAN port to configure (CAN_A or CAN_B)<\/li>\n\n\n\n<li><code>canfd<\/code>: enable CAN FD mode (false = classic CAN, true = CAN FD)<\/li>\n\n\n\n<li><code>dataBitrate<\/code>: transfer rate of the data phase for CAN FD (only used if <code>canfd<\/code> = true, up to 5 Mbit\/s)<\/li>\n<\/ul>\n<\/div><\/div><\/div>\n\n\n\n<div class=\"wp-block-kadence-pane kt-accordion-pane kt-accordion-pane-3 kt-pane43395_4ac5f3-be\"><div class=\"kt-accordion-header-wrap\"><button class=\"kt-blocks-accordion-header kt-acccordion-button-label-show\" type=\"button\"><span class=\"kt-blocks-accordion-title-wrap\"><span class=\"kt-blocks-accordion-title\"><code><code>Can_ConfigureInputMailbox<\/code> <\/code><strong>\u2014 Configure a CAN input mailbox<\/strong><\/span><\/span><span class=\"kt-blocks-accordion-icon-trigger\"><\/span><\/button><\/div><div class=\"kt-accordion-panel kt-accordion-panel-hidden\"><div class=\"kt-accordion-panel-inner\"><pre class=\"wp-block-code\" aria-describedby=\"shcb-language-2\" data-shcb-language-name=\"C++\" data-shcb-language-slug=\"cpp\"><span><code class=\"hljs language-cpp shcb-wrap-lines\"><span class=\"hljs-function\"><span class=\"hljs-keyword\">bool<\/span> <span class=\"hljs-title\">Can_ConfigureInputMailbox<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> maildboxId, <span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> canIdentifier, \n<span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> dataLength, tEndianness endianness, <span class=\"hljs-keyword\">bool<\/span> extended, tCanPort can_port)<\/span><\/span>;<\/code><\/span><small class=\"shcb-language\" id=\"shcb-language-2\"><span class=\"shcb-language__label\">Code language:<\/span> <span class=\"shcb-language__name\">C++<\/span> <span class=\"shcb-language__paren\">(<\/span><span class=\"shcb-language__slug\">cpp<\/span><span class=\"shcb-language__paren\">)<\/span><\/small><\/pre>\n\n\n<p>Configures a CAN input mailbox.<\/p>\n\n\n\n<p>Can only be called in&nbsp;<code>UserInit()<\/code>.<\/p>\n\n\n\n<p id=\"CANinputmailbox-Parameters.2\"><strong>Parameters<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><code>mailboxId<\/code>: a CAN input mailbox unique identifier. This ID must be unique throughout all UDP and CAN input\/output mailboxes<\/li>\n\n\n\n<li><code>canIdentifier<\/code>: the identifier of the CAN input mailbox. The CAN identifier range is 0 to 2047<\/li>\n\n\n\n<li><code>dataLength<\/code>: number of bytes of data to read from the CAN bus (1 to 8 bytes)<\/li>\n\n\n\n<li><code>endianness<\/code>: defines the bytes order (BIG_ENDIAN or LITTLE_ENDIAN)<\/li>\n\n\n\n<li><code>extended<\/code>: enable the extended frame format (true = 29-bit identifier, false = 11-bit identifier)<\/li>\n\n\n\n<li><code>can_port<\/code>: the target CAN port (CAN_A or CAN_B)<\/li>\n<\/ul>\n\n\n\n<p id=\"CANinputmailbox-Returnvalue\"><strong>Return value<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Returns <strong>false<\/strong> if the maximum input mailbox limit is reached or if the <code>canIdentifier<\/code> is invalid.<\/li>\n<\/ul>\n<\/div><\/div><\/div>\n\n\n\n<div class=\"wp-block-kadence-pane kt-accordion-pane kt-accordion-pane-5 kt-pane43395_8f205f-7e\"><div class=\"kt-accordion-header-wrap\"><button class=\"kt-blocks-accordion-header kt-acccordion-button-label-show\" type=\"button\"><span class=\"kt-blocks-accordion-title-wrap\"><span class=\"kt-blocks-accordion-title\"><code><code>Can_ConfigureInputMailboxInitialValue<\/code> <\/code><strong>\u2014 Configure a CAN input mailbox<\/strong> initial value<\/span><\/span><span class=\"kt-blocks-accordion-icon-trigger\"><\/span><\/button><\/div><div class=\"kt-accordion-panel kt-accordion-panel-hidden\"><div class=\"kt-accordion-panel-inner\"><pre class=\"wp-block-code\" aria-describedby=\"shcb-language-3\" data-shcb-language-name=\"C++\" data-shcb-language-slug=\"cpp\"><span><code class=\"hljs language-cpp\"><span class=\"hljs-function\"><span class=\"hljs-keyword\">void<\/span> <span class=\"hljs-title\">Can_ConfigureInputMailboxInitialValue<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> mailbox_id, <span class=\"hljs-keyword\">void<\/span> *data, <span class=\"hljs-keyword\">int<\/span> size)<\/span><\/span>;<\/code><\/span><small class=\"shcb-language\" id=\"shcb-language-3\"><span class=\"shcb-language__label\">Code language:<\/span> <span class=\"shcb-language__name\">C++<\/span> <span class=\"shcb-language__paren\">(<\/span><span class=\"shcb-language__slug\">cpp<\/span><span class=\"shcb-language__paren\">)<\/span><\/small><\/pre>\n\n\n<p>Configures the initial value returned by the&nbsp;<code>Can_Read()<\/code>&nbsp;function before any CAN frame is received in the mailbox.<\/p>\n\n\n\n<p>Can only be called in&nbsp;<code>UserInit()<\/code>.<\/p>\n\n\n\n<p id=\"CANinputmailbox-Parameters.3\"><strong>Parameters<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><code>mailboxId<\/code>: the CAN input mailbox unique identifier<\/li>\n\n\n\n<li><code>data<\/code>: pointer to the default data returned by <code>Can_Read()<\/code> before the arrival of data on the CAN input mailbox<\/li>\n\n\n\n<li><code>size<\/code>: number of bytes of the default data (1 to 8 bytes)<\/li>\n<\/ul>\n<\/div><\/div><\/div>\n\n\n\n<div class=\"wp-block-kadence-pane kt-accordion-pane kt-accordion-pane-6 kt-pane43395_5f03cd-6d\"><div class=\"kt-accordion-header-wrap\"><button class=\"kt-blocks-accordion-header kt-acccordion-button-label-show\" type=\"button\"><span class=\"kt-blocks-accordion-title-wrap\"><span class=\"kt-blocks-accordion-title\"><code><code>Can_Read<\/code> <\/code><strong>\u2014 Read received value<\/strong><\/span><\/span><span class=\"kt-blocks-accordion-icon-trigger\"><\/span><\/button><\/div><div class=\"kt-accordion-panel kt-accordion-panel-hidden\"><div class=\"kt-accordion-panel-inner\"><pre class=\"wp-block-code\" aria-describedby=\"shcb-language-4\" data-shcb-language-name=\"C++\" data-shcb-language-slug=\"cpp\"><span><code class=\"hljs language-cpp\"><span class=\"hljs-function\"><span class=\"hljs-keyword\">int<\/span> <span class=\"hljs-title\">Can_Read<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> maildboxId, <span class=\"hljs-keyword\">void<\/span>* data, <span class=\"hljs-keyword\">int<\/span> size)<\/span><\/span>;<\/code><\/span><small class=\"shcb-language\" id=\"shcb-language-4\"><span class=\"shcb-language__label\">Code language:<\/span> <span class=\"shcb-language__name\">C++<\/span> <span class=\"shcb-language__paren\">(<\/span><span class=\"shcb-language__slug\">cpp<\/span><span class=\"shcb-language__paren\">)<\/span><\/small><\/pre>\n\n\n<p>Reads data from the input mailbox. The stored value persists until overwritten by a subsequent data read.<\/p>\n\n\n\n<p>Can only be called in the interrupt routine.<\/p>\n\n\n\n<p id=\"CANinputmailbox-Parameters.4\"><strong>Parameters<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><code>mailboxId<\/code>: the CAN input mailbox unique identifier<\/li>\n\n\n\n<li><code>data<\/code>: pointer to the buffer where data read from the CAN bus will be stored<\/li>\n\n\n\n<li><code>size<\/code>: number of bytes of data to read (must correspond to the configured <code>dataLength<\/code> for the selected mailbox<\/li>\n<\/ul>\n\n\n\n<p id=\"CANinputmailbox-Returnvalue.1\"><strong>Return value<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Returns <strong>1<\/strong> if a new data is available since the previous read operation, returns <strong>0<\/strong> otherwise.<\/li>\n<\/ul>\n\n\n\n<p><strong>Example of use<\/strong><\/p>\n\n\n\n<p>This example shows how to configure and use <strong>CAN Port A<\/strong> in <strong>Classic CAN<\/strong> mode with a baud rate of <strong>1 Mb\/s<\/strong>. Two mailboxes are initialized using an <strong>unique ID of 0<\/strong> and <strong>1<\/strong>, a <strong>CAN identifier of 128<\/strong> and <strong>129<\/strong>, and a fixed <strong>data length of 8 bytes<\/strong> and <strong>8 bytes<\/strong> (total size of the structure). <\/p>\n\n\n\n<p>Upon receipt of data, it can be read and stored into an array (or any other data type or structure) as long as it matches the data length defined in the configuration.<\/p>\n\n\n\n<p><\/p>\n\n\n<pre class=\"wp-block-code\" aria-describedby=\"shcb-language-5\" data-shcb-language-name=\"C++\" data-shcb-language-slug=\"cpp\"><span><code class=\"hljs language-cpp\"><span class=\"hljs-meta\">#<span class=\"hljs-meta-keyword\">include<\/span> <span class=\"hljs-meta-string\">\"user.h\"<\/span><\/span>\n\n<span class=\"hljs-meta\">#<span class=\"hljs-meta-keyword\">define<\/span> MAILBOX_ID_A   0<\/span>\n<span class=\"hljs-meta\">#<span class=\"hljs-meta-keyword\">define<\/span> MAILBOX_ID_B   1<\/span>\n<span class=\"hljs-meta\">#<span class=\"hljs-meta-keyword\">define<\/span> CAN_ID_A       128<\/span>\n<span class=\"hljs-meta\">#<span class=\"hljs-meta-keyword\">define<\/span> CAN_ID_B       129<\/span>\n\n<span class=\"hljs-keyword\">uint8_t<\/span> data_a&#91;<span class=\"hljs-number\">8<\/span>];\n\n<span class=\"hljs-class\"><span class=\"hljs-keyword\">struct<\/span> {<\/span>\n  <span class=\"hljs-keyword\">float<\/span>   field_0;\n  <span class=\"hljs-keyword\">uint8_t<\/span> field_1;\n} data_b;\n\n<span class=\"hljs-function\">tUserSafe <span class=\"hljs-title\">UserInit<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">void<\/span>)<\/span>\n<\/span>{\n  Clock_SetFrequency(CLOCK_0, SW_FREQ);\n  ConfigureMainInterrupt(UserInterrupt, CLOCK_0, <span class=\"hljs-number\">0.5<\/span>);\n\n  Can_ConfigureCanBus(<span class=\"hljs-number\">1000000<\/span>, CAN_A, <span class=\"hljs-literal\">false<\/span>, <span class=\"hljs-number\">0<\/span>);\n  Can_ConfigureInputMailbox(MAILBOX_ID_A, CAN_ID_A, <span class=\"hljs-keyword\">sizeof<\/span>(data_a), LITTLE_ENDIAN, <span class=\"hljs-literal\">false<\/span>, CAN_A);\n  Can_ConfigureInputMailbox(MAILBOX_ID_B, CAN_ID_B, <span class=\"hljs-keyword\">sizeof<\/span>(data_b), LITTLE_ENDIAN, <span class=\"hljs-literal\">false<\/span>, CAN_A);\n  <span class=\"hljs-keyword\">return<\/span> SAFE;\n}\n \n<span class=\"hljs-function\">tUserSafe <span class=\"hljs-title\">UserInterrupt<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">void<\/span>)<\/span>\n<\/span>{\n  Can_Read(MAILBOX_ID_A, (<span class=\"hljs-keyword\">void<\/span> *)data_a, <span class=\"hljs-keyword\">sizeof<\/span>(data_a));\n  Can_Read(MAILBOX_ID_B, (<span class=\"hljs-keyword\">void<\/span> *)&amp;data_b, <span class=\"hljs-keyword\">sizeof<\/span>(data_b));\n\n  <span class=\"hljs-keyword\">return<\/span> SAFE;\n}\n\n<span class=\"hljs-function\"><span class=\"hljs-keyword\">void<\/span> <span class=\"hljs-title\">UserError<\/span><span class=\"hljs-params\">(tErrorSource source)<\/span>\n<\/span>{\n\n}<\/code><\/span><small class=\"shcb-language\" id=\"shcb-language-5\"><span class=\"shcb-language__label\">Code language:<\/span> <span class=\"shcb-language__name\">C++<\/span> <span class=\"shcb-language__paren\">(<\/span><span class=\"shcb-language__slug\">cpp<\/span><span class=\"shcb-language__paren\">)<\/span><\/small><\/pre><\/div><\/div><\/div>\n<\/div><\/div><\/div>\n\n\n\n<h4 class=\"wp-block-heading\">Legacy functions<\/h4>\n\n\n<style>.kt-accordion-id43395_eb699c-1c .kt-accordion-inner-wrap{column-gap:var(--global-kb-gap-md, 2rem);row-gap:1px;}.kt-accordion-id43395_eb699c-1c .kt-accordion-panel-inner{border-top:2px solid transparent;border-right:2px solid transparent;border-bottom:2px solid transparent;border-left:2px solid transparent;border-top-left-radius:2px;border-top-right-radius:2px;border-bottom-right-radius:2px;border-bottom-left-radius:2px;background:#ffffff;padding-top:20px;padding-right:20px;padding-bottom:20px;padding-left:20px;}.kt-accordion-id43395_eb699c-1c > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header{border-top:2px solid #f2f2f2;border-right:2px solid #f2f2f2;border-bottom:2px solid #f2f2f2;border-left:2px solid #f2f2f2;border-top-left-radius:2px;border-top-right-radius:2px;border-bottom-right-radius:2px;border-bottom-left-radius:2px;background:#ffffff;font-size:16px;line-height:24px;letter-spacing:0px;font-weight:bold;text-transform:none;color:var(--global-palette3, #1A202C);padding-top:12px;padding-right:10px;padding-bottom:8px;padding-left:16px;}.kt-accordion-id43395_eb699c-1c:not( .kt-accodion-icon-style-basiccircle ):not( .kt-accodion-icon-style-xclosecircle ):not( .kt-accodion-icon-style-arrowcircle )  > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap .kt-blocks-accordion-icon-trigger:after, .kt-accordion-id43395_eb699c-1c:not( .kt-accodion-icon-style-basiccircle ):not( .kt-accodion-icon-style-xclosecircle ):not( .kt-accodion-icon-style-arrowcircle )  > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap .kt-blocks-accordion-icon-trigger:before{background:var(--global-palette3, #1A202C);}.kt-accordion-id43395_eb699c-1c:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-blocks-accordion-icon-trigger{background:var(--global-palette3, #1A202C);}.kt-accordion-id43395_eb699c-1c:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-blocks-accordion-icon-trigger:after, .kt-accordion-id43395_eb699c-1c:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-blocks-accordion-icon-trigger:before{background:#ffffff;}.kt-accordion-id43395_eb699c-1c > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header:hover, \n\t\t\t\tbody:not(.hide-focus-outline) .kt-accordion-id43395_eb699c-1c .kt-blocks-accordion-header:focus-visible{color:#444444;background:#ffffff;border-top:2px solid #eeeeee;border-right:2px solid #eeeeee;border-bottom:2px solid #eeeeee;border-left:2px solid #eeeeee;}.kt-accordion-id43395_eb699c-1c:not( .kt-accodion-icon-style-basiccircle ):not( .kt-accodion-icon-style-xclosecircle ):not( .kt-accodion-icon-style-arrowcircle ) .kt-accordion-header-wrap .kt-blocks-accordion-header:hover .kt-blocks-accordion-icon-trigger:after, .kt-accordion-id43395_eb699c-1c:not( .kt-accodion-icon-style-basiccircle ):not( .kt-accodion-icon-style-xclosecircle ):not( .kt-accodion-icon-style-arrowcircle ) .kt-accordion-header-wrap .kt-blocks-accordion-header:hover .kt-blocks-accordion-icon-trigger:before, body:not(.hide-focus-outline) .kt-accordion-id43395_eb699c-1c:not( .kt-accodion-icon-style-basiccircle ):not( .kt-accodion-icon-style-xclosecircle ):not( .kt-accodion-icon-style-arrowcircle ) .kt-blocks-accordion--visible .kt-blocks-accordion-icon-trigger:after, body:not(.hide-focus-outline) .kt-accordion-id43395_eb699c-1c:not( .kt-accodion-icon-style-basiccircle ):not( .kt-accodion-icon-style-xclosecircle ):not( .kt-accodion-icon-style-arrowcircle ) .kt-blocks-accordion-header:focus-visible .kt-blocks-accordion-icon-trigger:before{background:#444444;}.kt-accordion-id43395_eb699c-1c:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-accordion-header-wrap .kt-blocks-accordion-header:hover .kt-blocks-accordion-icon-trigger, body:not(.hide-focus-outline) .kt-accordion-id43395_eb699c-1c:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-accordion-header-wrap .kt-blocks-accordion-header:focus-visible .kt-blocks-accordion-icon-trigger{background:#444444;}.kt-accordion-id43395_eb699c-1c:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-accordion-header-wrap .kt-blocks-accordion-header:hover .kt-blocks-accordion-icon-trigger:after, .kt-accordion-id43395_eb699c-1c:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-accordion-header-wrap .kt-blocks-accordion-header:hover .kt-blocks-accordion-icon-trigger:before, body:not(.hide-focus-outline) .kt-accordion-id43395_eb699c-1c:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-accordion-header-wrap .kt-blocks-accordion-header:focus-visible .kt-blocks-accordion-icon-trigger:after, body:not(.hide-focus-outline) .kt-accordion-id43395_eb699c-1c:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-accordion-header-wrap .kt-blocks-accordion-header:focus-visible .kt-blocks-accordion-icon-trigger:before{background:#ffffff;}.kt-accordion-id43395_eb699c-1c .kt-accordion-header-wrap .kt-blocks-accordion-header:focus-visible,\n\t\t\t\t.kt-accordion-id43395_eb699c-1c > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header.kt-accordion-panel-active{color:var(--global-palette3, #1A202C);background:var(--global-palette9, #ffffff);border-top:2px solid var(--global-palette6, #718096);border-right:2px solid var(--global-palette6, #718096);border-bottom:2px solid var(--global-palette6, #718096);border-left:2px solid var(--global-palette6, #718096);}.kt-accordion-id43395_eb699c-1c:not( .kt-accodion-icon-style-basiccircle ):not( .kt-accodion-icon-style-xclosecircle ):not( .kt-accodion-icon-style-arrowcircle )  > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header.kt-accordion-panel-active .kt-blocks-accordion-icon-trigger:after, .kt-accordion-id43395_eb699c-1c:not( .kt-accodion-icon-style-basiccircle ):not( .kt-accodion-icon-style-xclosecircle ):not( .kt-accodion-icon-style-arrowcircle )  > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header.kt-accordion-panel-active .kt-blocks-accordion-icon-trigger:before{background:var(--global-palette3, #1A202C);}.kt-accordion-id43395_eb699c-1c:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-blocks-accordion-header.kt-accordion-panel-active .kt-blocks-accordion-icon-trigger{background:var(--global-palette3, #1A202C);}.kt-accordion-id43395_eb699c-1c:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-blocks-accordion-header.kt-accordion-panel-active .kt-blocks-accordion-icon-trigger:after, .kt-accordion-id43395_eb699c-1c:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-blocks-accordion-header.kt-accordion-panel-active .kt-blocks-accordion-icon-trigger:before{background:var(--global-palette9, #ffffff);}@media all and (max-width: 1024px){.kt-accordion-id43395_eb699c-1c .kt-accordion-panel-inner{border-top:2px solid transparent;border-right:2px solid transparent;border-bottom:2px solid transparent;border-left:2px solid transparent;}}@media all and (max-width: 1024px){.kt-accordion-id43395_eb699c-1c > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header{border-top:2px solid #f2f2f2;border-right:2px solid #f2f2f2;border-bottom:2px solid #f2f2f2;border-left:2px solid #f2f2f2;}}@media all and (max-width: 1024px){.kt-accordion-id43395_eb699c-1c > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header:hover, \n\t\t\t\tbody:not(.hide-focus-outline) .kt-accordion-id43395_eb699c-1c .kt-blocks-accordion-header:focus-visible{border-top:2px solid #eeeeee;border-right:2px solid #eeeeee;border-bottom:2px solid #eeeeee;border-left:2px solid #eeeeee;}}@media all and (max-width: 1024px){.kt-accordion-id43395_eb699c-1c .kt-accordion-header-wrap .kt-blocks-accordion-header:focus-visible,\n\t\t\t\t.kt-accordion-id43395_eb699c-1c > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header.kt-accordion-panel-active{border-top:2px solid var(--global-palette6, #718096);border-right:2px solid var(--global-palette6, #718096);border-bottom:2px solid var(--global-palette6, #718096);border-left:2px solid var(--global-palette6, #718096);}}@media all and (max-width: 767px){.kt-accordion-id43395_eb699c-1c .kt-accordion-inner-wrap{display:block;}.kt-accordion-id43395_eb699c-1c .kt-accordion-inner-wrap .kt-accordion-pane:not(:first-child){margin-top:1px;}.kt-accordion-id43395_eb699c-1c .kt-accordion-panel-inner{border-top:2px solid transparent;border-right:2px solid transparent;border-bottom:2px solid transparent;border-left:2px solid transparent;}.kt-accordion-id43395_eb699c-1c > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header{border-top:2px solid #f2f2f2;border-right:2px solid #f2f2f2;border-bottom:2px solid #f2f2f2;border-left:2px solid #f2f2f2;}.kt-accordion-id43395_eb699c-1c > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header:hover, \n\t\t\t\tbody:not(.hide-focus-outline) .kt-accordion-id43395_eb699c-1c .kt-blocks-accordion-header:focus-visible{border-top:2px solid #eeeeee;border-right:2px solid #eeeeee;border-bottom:2px solid #eeeeee;border-left:2px solid #eeeeee;}.kt-accordion-id43395_eb699c-1c .kt-accordion-header-wrap .kt-blocks-accordion-header:focus-visible,\n\t\t\t\t.kt-accordion-id43395_eb699c-1c > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header.kt-accordion-panel-active{border-top:2px solid var(--global-palette6, #718096);border-right:2px solid var(--global-palette6, #718096);border-bottom:2px solid var(--global-palette6, #718096);border-left:2px solid var(--global-palette6, #718096);}}<\/style>\n<div class=\"wp-block-kadence-accordion alignnone\"><div class=\"kt-accordion-wrap kt-accordion-id43395_eb699c-1c kt-accordion-has-8-panes kt-active-pane-0 kt-accordion-block kt-pane-header-alignment-left kt-accodion-icon-style-arrow kt-accodion-icon-side-left\" style=\"max-width:none\"><div class=\"kt-accordion-inner-wrap\" data-allow-multiple-open=\"false\" data-start-open=\"none\">\n<div class=\"wp-block-kadence-pane kt-accordion-pane kt-accordion-pane-6 kt-pane43395_9fc233-72\"><div class=\"kt-accordion-header-wrap\"><button class=\"kt-blocks-accordion-header kt-acccordion-button-label-show\" type=\"button\"><span class=\"kt-blocks-accordion-title-wrap\"><span class=\"kt-blocks-accordion-title\"><code><code>Can_Read<\/code> <\/code><strong>\u2014 Read received value<\/strong><\/span><\/span><span class=\"kt-blocks-accordion-icon-trigger\"><\/span><\/button><\/div><div class=\"kt-accordion-panel kt-accordion-panel-hidden\"><div class=\"kt-accordion-panel-inner\"><pre class=\"wp-block-code\" aria-describedby=\"shcb-language-6\" data-shcb-language-name=\"C++\" data-shcb-language-slug=\"cpp\"><span><code class=\"hljs language-cpp\"><span class=\"hljs-comment\">\/\/ 64-bit (8 bytes) types: uint64, int64 and double<\/span>\n<span class=\"hljs-function\"><span class=\"hljs-keyword\">int<\/span> <span class=\"hljs-title\">Can_Read<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> maildboxId, <span class=\"hljs-keyword\">uint64_t<\/span>&amp; data)<\/span><\/span>; <span class=\"hljs-comment\">\/\/8 bytes<\/span>\n<span class=\"hljs-function\"><span class=\"hljs-keyword\">int<\/span> <span class=\"hljs-title\">Can_Read<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> maildboxId, <span class=\"hljs-keyword\">int64_t<\/span>&amp; data)<\/span><\/span>; <span class=\"hljs-comment\">\/\/8 bytes<\/span>\n<span class=\"hljs-function\"><span class=\"hljs-keyword\">int<\/span> <span class=\"hljs-title\">Can_Read<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> maildboxId, <span class=\"hljs-keyword\">double<\/span>&amp; data)<\/span><\/span>; <span class=\"hljs-comment\">\/\/8 bytes<\/span><\/code><\/span><small class=\"shcb-language\" id=\"shcb-language-6\"><span class=\"shcb-language__label\">Code language:<\/span> <span class=\"shcb-language__name\">C++<\/span> <span class=\"shcb-language__paren\">(<\/span><span class=\"shcb-language__slug\">cpp<\/span><span class=\"shcb-language__paren\">)<\/span><\/small><\/pre>\n\n<pre class=\"wp-block-code\" aria-describedby=\"shcb-language-7\" data-shcb-language-name=\"C++\" data-shcb-language-slug=\"cpp\"><span><code class=\"hljs language-cpp\"><span class=\"hljs-comment\">\/\/ 32-bit (4 bytes) types: int32, uint32 and float<\/span>\n<span class=\"hljs-comment\">\/\/ dataLow represents the bytes 0, 1, 2 and 3<\/span>\n<span class=\"hljs-comment\">\/\/ dataHigh represents the bytes 4, 5, 6 and 7<\/span>\n<span class=\"hljs-function\"><span class=\"hljs-keyword\">int<\/span> <span class=\"hljs-title\">Can_Read<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> maildboxId, <span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span>&amp; dataLow, <span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span>&amp; dataHigh)<\/span><\/span>; <span class=\"hljs-comment\">\/\/8 bytes<\/span>\n<span class=\"hljs-function\"><span class=\"hljs-keyword\">int<\/span> <span class=\"hljs-title\">Can_Read<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> maildboxId, <span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span>&amp; dataLow)<\/span><\/span>; <span class=\"hljs-comment\">\/\/4 bytes<\/span>\n<span class=\"hljs-function\"><span class=\"hljs-keyword\">int<\/span> <span class=\"hljs-title\">Can_Read<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> maildboxId, <span class=\"hljs-keyword\">int<\/span>&amp; dataLow, <span class=\"hljs-keyword\">int<\/span>&amp; dataHigh)<\/span><\/span>; <span class=\"hljs-comment\">\/\/8 bytes<\/span>\n<span class=\"hljs-function\"><span class=\"hljs-keyword\">int<\/span> <span class=\"hljs-title\">Can_Read<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> maildboxId, <span class=\"hljs-keyword\">int<\/span>&amp; dataLow)<\/span><\/span>; <span class=\"hljs-comment\">\/\/4 bytes<\/span>\n<span class=\"hljs-function\"><span class=\"hljs-keyword\">int<\/span> <span class=\"hljs-title\">Can_Read<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> maildboxId, <span class=\"hljs-keyword\">float<\/span>&amp; dataLow, <span class=\"hljs-keyword\">float<\/span>&amp; dataHigh)<\/span><\/span>; <span class=\"hljs-comment\">\/\/8 bytes<\/span>\n<span class=\"hljs-function\"><span class=\"hljs-keyword\">int<\/span> <span class=\"hljs-title\">Can_Read<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> maildboxId, <span class=\"hljs-keyword\">float<\/span>&amp; dataLow)<\/span><\/span>; <span class=\"hljs-comment\">\/\/4 bytes<\/span><\/code><\/span><small class=\"shcb-language\" id=\"shcb-language-7\"><span class=\"shcb-language__label\">Code language:<\/span> <span class=\"shcb-language__name\">C++<\/span> <span class=\"shcb-language__paren\">(<\/span><span class=\"shcb-language__slug\">cpp<\/span><span class=\"shcb-language__paren\">)<\/span><\/small><\/pre>\n\n<pre class=\"wp-block-code\" aria-describedby=\"shcb-language-8\" data-shcb-language-name=\"C++\" data-shcb-language-slug=\"cpp\"><span><code class=\"hljs language-cpp\"><span class=\"hljs-comment\">\/\/ 16-bit (2 bytes) types: int16 and uint16<\/span>\n<span class=\"hljs-comment\">\/\/ dataLow represents the bytes 0 and 1<\/span>\n<span class=\"hljs-comment\">\/\/ dataMedLow represents the bytes 2 and 3<\/span>\n<span class=\"hljs-comment\">\/\/ dataMedHigh represents the bytes 4 and 5<\/span>\n<span class=\"hljs-comment\">\/\/ dataHigh represents the bytes 6 and 7<\/span>\n<span class=\"hljs-function\"><span class=\"hljs-keyword\">int<\/span> <span class=\"hljs-title\">Can_Read<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> maildboxId, <span class=\"hljs-keyword\">uint16_t<\/span>&amp; dataLow, <span class=\"hljs-keyword\">uint16_t<\/span>&amp; dataMedLow, <span class=\"hljs-keyword\">uint16_t<\/span>&amp; dataMedHigh, <span class=\"hljs-keyword\">uint16_t<\/span>&amp; dataHigh)<\/span><\/span>; <span class=\"hljs-comment\">\/\/8 bytes<\/span>\n<span class=\"hljs-function\"><span class=\"hljs-keyword\">int<\/span> <span class=\"hljs-title\">Can_Read<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> maildboxId, <span class=\"hljs-keyword\">uint16_t<\/span>&amp; dataLow, <span class=\"hljs-keyword\">uint16_t<\/span>&amp; dataMedLow, <span class=\"hljs-keyword\">uint16_t<\/span>&amp; dataMedHigh)<\/span><\/span>; <span class=\"hljs-comment\">\/\/6 bytes<\/span>\n<span class=\"hljs-function\"><span class=\"hljs-keyword\">int<\/span> <span class=\"hljs-title\">Can_Read<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> maildboxId, <span class=\"hljs-keyword\">uint16_t<\/span>&amp; dataLow, <span class=\"hljs-keyword\">uint16_t<\/span>&amp; dataMedLow)<\/span><\/span>; <span class=\"hljs-comment\">\/\/4 bytes<\/span>\n<span class=\"hljs-function\"><span class=\"hljs-keyword\">int<\/span> <span class=\"hljs-title\">Can_Read<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> maildboxId, <span class=\"hljs-keyword\">uint16_t<\/span>&amp; dataLow)<\/span><\/span>; <span class=\"hljs-comment\">\/\/2 bytes<\/span>\n<span class=\"hljs-function\"><span class=\"hljs-keyword\">int<\/span> <span class=\"hljs-title\">Can_Read<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> maildboxId, <span class=\"hljs-keyword\">int16_t<\/span>&amp; dataLow, <span class=\"hljs-keyword\">int16_t<\/span>&amp; dataMedLow, <span class=\"hljs-keyword\">int16_t<\/span>&amp; dataMedHigh, <span class=\"hljs-keyword\">int16_t<\/span>&amp; dataHigh)<\/span><\/span>; <span class=\"hljs-comment\">\/\/8 bytes<\/span>\n<span class=\"hljs-function\"><span class=\"hljs-keyword\">int<\/span> <span class=\"hljs-title\">Can_Read<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> maildboxId, <span class=\"hljs-keyword\">int16_t<\/span>&amp; dataLow, <span class=\"hljs-keyword\">int16_t<\/span>&amp; dataMedLow, <span class=\"hljs-keyword\">int16_t<\/span>&amp; dataMedHigh)<\/span><\/span>; <span class=\"hljs-comment\">\/\/6 bytes<\/span>\n<span class=\"hljs-function\"><span class=\"hljs-keyword\">int<\/span> <span class=\"hljs-title\">Can_Read<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> maildboxId, <span class=\"hljs-keyword\">int16_t<\/span>&amp; dataLow, <span class=\"hljs-keyword\">int16_t<\/span>&amp; dataMedLow)<\/span><\/span>; <span class=\"hljs-comment\">\/\/4 bytes<\/span>\n<span class=\"hljs-function\"><span class=\"hljs-keyword\">int<\/span> <span class=\"hljs-title\">Can_Read<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> maildboxId, <span class=\"hljs-keyword\">int16_t<\/span>&amp; dataLow)<\/span><\/span>; <span class=\"hljs-comment\">\/\/2 bytes<\/span><\/code><\/span><small class=\"shcb-language\" id=\"shcb-language-8\"><span class=\"shcb-language__label\">Code language:<\/span> <span class=\"shcb-language__name\">C++<\/span> <span class=\"shcb-language__paren\">(<\/span><span class=\"shcb-language__slug\">cpp<\/span><span class=\"shcb-language__paren\">)<\/span><\/small><\/pre>\n\n<pre class=\"wp-block-code\" aria-describedby=\"shcb-language-9\" data-shcb-language-name=\"C++\" data-shcb-language-slug=\"cpp\"><span><code class=\"hljs language-cpp\"><span class=\"hljs-comment\">\/\/ array of uint8<\/span>\n<span class=\"hljs-keyword\">typedef<\/span> <span class=\"hljs-class\"><span class=\"hljs-keyword\">struct<\/span> {<\/span>\n  <span class=\"hljs-keyword\">uint8_t<\/span> data&#91;<span class=\"hljs-number\">8<\/span>];\n} tCanMsg;\n \n<span class=\"hljs-function\"><span class=\"hljs-keyword\">int<\/span> <span class=\"hljs-title\">Can_Read<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> maildboxId, tCanMsg&amp; canMsg)<\/span><\/span>; <span class=\"hljs-comment\">\/\/1 to 8 bytes<\/span><\/code><\/span><small class=\"shcb-language\" id=\"shcb-language-9\"><span class=\"shcb-language__label\">Code language:<\/span> <span class=\"shcb-language__name\">C++<\/span> <span class=\"shcb-language__paren\">(<\/span><span class=\"shcb-language__slug\">cpp<\/span><span class=\"shcb-language__paren\">)<\/span><\/small><\/pre>\n\n\n<p>Reads data from the input mailbox. The stored value persist until overwritten by a subsequent data read.<\/p>\n\n\n\n<p>Can only be called in the interrupt routine.<\/p>\n\n\n\n<p id=\"CANinputmailbox-Parameters.4\"><strong>Parameters<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><code>mailboxId<\/code>: the CAN input mailbox unique identifier<\/li>\n\n\n\n<li><code>data<\/code>: data read from the input mailbox<\/li>\n<\/ul>\n\n\n\n<div class=\"wp-block-simple-alerts-for-gutenberg-alert-boxes sab-alert sab-alert-info\" role=\"alert\">Various data types and prototypes are provided; however, the chosen prototype does not determine the received data length. The length is strictly defined by the <code>dataLength<\/code> parameter in <code>Can_ConfigureInputMailbox()<\/code>.<\/div>\n\n\n\n<p id=\"CANinputmailbox-Returnvalue.1\"><strong>Return value<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Returns <strong>1<\/strong> if a new data is available since the previous read operation, returns <strong>0<\/strong> otherwise.<\/li>\n<\/ul>\n<\/div><\/div><\/div>\n\n\n\n<div class=\"wp-block-kadence-pane kt-accordion-pane kt-accordion-pane-8 kt-pane43395_b0e227-2d\"><div class=\"kt-accordion-header-wrap\"><button class=\"kt-blocks-accordion-header kt-acccordion-button-label-show\" type=\"button\"><span class=\"kt-blocks-accordion-title-wrap\"><span class=\"kt-blocks-accordion-title\"><code><code>Can_ConfigureInputMailboxInitialValue<\/code> <\/code><strong>\u2014 Configure a CAN input mailbox<\/strong> initial value<\/span><\/span><span class=\"kt-blocks-accordion-icon-trigger\"><\/span><\/button><\/div><div class=\"kt-accordion-panel kt-accordion-panel-hidden\"><div class=\"kt-accordion-panel-inner\"><pre class=\"wp-block-code\" aria-describedby=\"shcb-language-10\" data-shcb-language-name=\"C++\" data-shcb-language-slug=\"cpp\"><span><code class=\"hljs language-cpp\"><span class=\"hljs-comment\">\/\/ 64-bit (8 bytes) types: uint64, int64 and double<\/span>\n<span class=\"hljs-function\"><span class=\"hljs-keyword\">void<\/span> <span class=\"hljs-title\">Can_ConfigureInputMailboxInitialValue<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> mailbox_id, <span class=\"hljs-keyword\">uint64_t<\/span> data)<\/span><\/span>;\n<span class=\"hljs-function\"><span class=\"hljs-keyword\">void<\/span> <span class=\"hljs-title\">Can_ConfigureInputMailboxInitialValue<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> mailbox_id, <span class=\"hljs-keyword\">int64_t<\/span> data)<\/span><\/span>;\n<span class=\"hljs-function\"><span class=\"hljs-keyword\">void<\/span> <span class=\"hljs-title\">Can_ConfigureInputMailboxInitialValue<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> mailbox_id, <span class=\"hljs-keyword\">double<\/span> data)<\/span><\/span>;<\/code><\/span><small class=\"shcb-language\" id=\"shcb-language-10\"><span class=\"shcb-language__label\">Code language:<\/span> <span class=\"shcb-language__name\">C++<\/span> <span class=\"shcb-language__paren\">(<\/span><span class=\"shcb-language__slug\">cpp<\/span><span class=\"shcb-language__paren\">)<\/span><\/small><\/pre>\n\n<pre class=\"wp-block-code\" aria-describedby=\"shcb-language-11\" data-shcb-language-name=\"C++\" data-shcb-language-slug=\"cpp\"><span><code class=\"hljs language-cpp\"><span class=\"hljs-comment\">\/\/ 32-bit (4 bytes) types: int32, uint32 and float<\/span>\n<span class=\"hljs-comment\">\/\/ dataLow represents the bytes 0, 1, 2 and 3<\/span>\n<span class=\"hljs-comment\">\/\/ dataHigh represents the bytes 4, 5, 6 and 7<\/span>\n<span class=\"hljs-function\"><span class=\"hljs-keyword\">void<\/span> <span class=\"hljs-title\">Can_ConfigureInputMailboxInitialValue<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> mailbox_id, <span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> dataLow)<\/span><\/span>; <span class=\"hljs-comment\">\/\/4 bytes<\/span>\n<span class=\"hljs-function\"><span class=\"hljs-keyword\">void<\/span> <span class=\"hljs-title\">Can_ConfigureInputMailboxInitialValue<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> mailbox_id, <span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> dataLow, <span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> dataHigh)<\/span><\/span>; <span class=\"hljs-comment\">\/\/8 bytes<\/span>\n<span class=\"hljs-function\"><span class=\"hljs-keyword\">void<\/span> <span class=\"hljs-title\">Can_ConfigureInputMailboxInitialValue<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> mailbox_id, <span class=\"hljs-keyword\">int<\/span> dataLow)<\/span><\/span>; <span class=\"hljs-comment\">\/\/4 bytes<\/span>\n<span class=\"hljs-function\"><span class=\"hljs-keyword\">void<\/span> <span class=\"hljs-title\">Can_ConfigureInputMailboxInitialValue<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> mailbox_id, <span class=\"hljs-keyword\">int<\/span> dataLow, <span class=\"hljs-keyword\">int<\/span> dataHigh)<\/span><\/span>; <span class=\"hljs-comment\">\/\/8 bytes<\/span>\n<span class=\"hljs-function\"><span class=\"hljs-keyword\">void<\/span> <span class=\"hljs-title\">Can_ConfigureInputMailboxInitialValue<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> mailbox_id, <span class=\"hljs-keyword\">float<\/span> dataLow)<\/span><\/span>; <span class=\"hljs-comment\">\/\/4 bytes<\/span>\n<span class=\"hljs-function\"><span class=\"hljs-keyword\">void<\/span> <span class=\"hljs-title\">Can_ConfigureInputMailboxInitialValue<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> mailbox_id, <span class=\"hljs-keyword\">float<\/span> dataLow, <span class=\"hljs-keyword\">float<\/span> dataHigh)<\/span><\/span>; <span class=\"hljs-comment\">\/\/8 bytes<\/span><\/code><\/span><small class=\"shcb-language\" id=\"shcb-language-11\"><span class=\"shcb-language__label\">Code language:<\/span> <span class=\"shcb-language__name\">C++<\/span> <span class=\"shcb-language__paren\">(<\/span><span class=\"shcb-language__slug\">cpp<\/span><span class=\"shcb-language__paren\">)<\/span><\/small><\/pre>\n\n<pre class=\"wp-block-code\" aria-describedby=\"shcb-language-12\" data-shcb-language-name=\"C++\" data-shcb-language-slug=\"cpp\"><span><code class=\"hljs language-cpp\"><span class=\"hljs-comment\">\/\/ 16-bit (2 bytes) types: int16 and uint16<\/span>\n<span class=\"hljs-comment\">\/\/ dataLow represents the bytes 0 and 1<\/span>\n<span class=\"hljs-comment\">\/\/ dataMedLow represents the bytes 2 and 3<\/span>\n<span class=\"hljs-comment\">\/\/ dataMedHigh represents the bytes 4 and 5<\/span>\n<span class=\"hljs-comment\">\/\/ dataHigh represents the bytes 6 and 7<\/span>\n<span class=\"hljs-function\"><span class=\"hljs-keyword\">void<\/span> <span class=\"hljs-title\">Can_ConfigureInputMailboxInitialValue<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> mailbox_id, <span class=\"hljs-keyword\">uint16_t<\/span> dataLow, <span class=\"hljs-keyword\">uint16_t<\/span> dataMedLow, <span class=\"hljs-keyword\">uint16_t<\/span> dataMedHigh, <span class=\"hljs-keyword\">uint16_t<\/span> dataHigh)<\/span><\/span>; <span class=\"hljs-comment\">\/\/8 bytes<\/span>\n<span class=\"hljs-function\"><span class=\"hljs-keyword\">void<\/span> <span class=\"hljs-title\">Can_ConfigureInputMailboxInitialValue<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> mailbox_id, <span class=\"hljs-keyword\">uint16_t<\/span> dataLow, <span class=\"hljs-keyword\">uint16_t<\/span> dataMedLow, <span class=\"hljs-keyword\">uint16_t<\/span> dataMedHigh)<\/span><\/span>; <span class=\"hljs-comment\">\/\/6 bytes<\/span>\n<span class=\"hljs-function\"><span class=\"hljs-keyword\">void<\/span> <span class=\"hljs-title\">Can_ConfigureInputMailboxInitialValue<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> mailbox_id, <span class=\"hljs-keyword\">uint16_t<\/span> dataLow, <span class=\"hljs-keyword\">uint16_t<\/span> dataMedLow)<\/span><\/span>; <span class=\"hljs-comment\">\/\/4 bytes<\/span>\n<span class=\"hljs-function\"><span class=\"hljs-keyword\">void<\/span> <span class=\"hljs-title\">Can_ConfigureInputMailboxInitialValue<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> mailbox_id, <span class=\"hljs-keyword\">uint16_t<\/span> dataLow)<\/span><\/span>; <span class=\"hljs-comment\">\/\/2 bytes<\/span>\n<span class=\"hljs-function\"><span class=\"hljs-keyword\">void<\/span> <span class=\"hljs-title\">Can_ConfigureInputMailboxInitialValue<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> mailbox_id, <span class=\"hljs-keyword\">int16_t<\/span> dataLow, <span class=\"hljs-keyword\">int16_t<\/span> dataMedLow, <span class=\"hljs-keyword\">int16_t<\/span> dataMedHigh, <span class=\"hljs-keyword\">int16_t<\/span> dataHigh)<\/span><\/span>; <span class=\"hljs-comment\">\/\/8 bytes<\/span>\n<span class=\"hljs-function\"><span class=\"hljs-keyword\">void<\/span> <span class=\"hljs-title\">Can_ConfigureInputMailboxInitialValue<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> mailbox_id, <span class=\"hljs-keyword\">int16_t<\/span> dataLow, <span class=\"hljs-keyword\">int16_t<\/span> dataMedLow, <span class=\"hljs-keyword\">int16_t<\/span> dataMedHigh)<\/span><\/span>; <span class=\"hljs-comment\">\/\/6 bytes<\/span>\n<span class=\"hljs-function\"><span class=\"hljs-keyword\">void<\/span> <span class=\"hljs-title\">Can_ConfigureInputMailboxInitialValue<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> mailbox_id, <span class=\"hljs-keyword\">int16_t<\/span> dataLow, <span class=\"hljs-keyword\">int16_t<\/span> dataMedLow)<\/span><\/span>; <span class=\"hljs-comment\">\/\/4 bytes<\/span>\n<span class=\"hljs-function\"><span class=\"hljs-keyword\">void<\/span> <span class=\"hljs-title\">Can_ConfigureInputMailboxInitialValue<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> mailbox_id, <span class=\"hljs-keyword\">int16_t<\/span> dataLow)<\/span><\/span>; <span class=\"hljs-comment\">\/\/2 bytes<\/span>\n<\/code><\/span><small class=\"shcb-language\" id=\"shcb-language-12\"><span class=\"shcb-language__label\">Code language:<\/span> <span class=\"shcb-language__name\">C++<\/span> <span class=\"shcb-language__paren\">(<\/span><span class=\"shcb-language__slug\">cpp<\/span><span class=\"shcb-language__paren\">)<\/span><\/small><\/pre>\n\n<pre class=\"wp-block-code\" aria-describedby=\"shcb-language-13\" data-shcb-language-name=\"C++\" data-shcb-language-slug=\"cpp\"><span><code class=\"hljs language-cpp\"><span class=\"hljs-comment\">\/\/ array of uint8<\/span>\n<span class=\"hljs-keyword\">typedef<\/span> <span class=\"hljs-class\"><span class=\"hljs-keyword\">struct<\/span> {<\/span>\n  <span class=\"hljs-keyword\">uint8_t<\/span> data&#91;<span class=\"hljs-number\">8<\/span>];\n} tCanMsg;\n \n<span class=\"hljs-function\"><span class=\"hljs-keyword\">void<\/span> <span class=\"hljs-title\">Can_ConfigureInputMailboxInitialValue<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> mailbox_id, tCanMsg &amp;can_msg)<\/span><\/span>; <span class=\"hljs-comment\">\/\/1 to 8 bytes<\/span><\/code><\/span><small class=\"shcb-language\" id=\"shcb-language-13\"><span class=\"shcb-language__label\">Code language:<\/span> <span class=\"shcb-language__name\">C++<\/span> <span class=\"shcb-language__paren\">(<\/span><span class=\"shcb-language__slug\">cpp<\/span><span class=\"shcb-language__paren\">)<\/span><\/small><\/pre>\n\n\n<p>Configures the initial value returned by the&nbsp;<code>Can_Read()<\/code>&nbsp;function before any CAN frame is received in the mailbox.<\/p>\n\n\n\n<p>Can only be called in&nbsp;<code>UserInit()<\/code>.<\/p>\n\n\n\n<p id=\"CANinputmailbox-Parameters.3\"><strong>Parameters<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><code>mailboxId<\/code>: the CAN input mailbox unique identifier<\/li>\n\n\n\n<li><code>data<\/code>: default data which will be returned by any call of&nbsp;<code>Can_Read()<\/code>&nbsp;before the arrival of data on the CAN input mailbox<\/li>\n<\/ul>\n\n\n\n<div class=\"wp-block-simple-alerts-for-gutenberg-alert-boxes sab-alert sab-alert-info\" role=\"alert\">Various data types and prototypes are provided; however, the chosen prototype does not determine the default data length. The length is strictly defined by the <code>dataLength<\/code> parameter in <code>Can_ConfigureInputMailbox()<\/code>.<\/div>\n<\/div><\/div><\/div>\n<\/div><\/div><\/div>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>The CAN_in block implements an input mailbox that supports receiving messages using the CAN bus protocol. To send messages, the CAN out block should be&#8230;<\/p>\n","protected":false},"author":7,"featured_media":33315,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_acf_changed":false,"_kad_post_transparent":"","_kad_post_title":"","_kad_post_layout":"","_kad_post_sidebar_id":"","_kad_post_content_style":"","_kad_post_vertical_padding":"","_kad_post_feature":"","_kad_post_feature_position":"","_kad_post_header":false,"_kad_post_footer":false,"_kad_post_classname":"","footnotes":""},"categories":[16],"tags":[],"software-environments":[105,103,104],"provided-results":[],"related-products":[50,31,32,92,166,51,110],"guidedreadings":[],"tutorials":[],"user-manuals":[],"coauthors":[71],"class_list":["post-43395","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-software","software-environments-c-plus-plus","software-environments-matlab","software-environments-plecs","related-products-acg-sdk","related-products-b-board-pro","related-products-b-box-rcp","related-products-b-box-micro","related-products-b-box-rcp-3-0","related-products-cpp-sdk","related-products-tpi"],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.3 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>CAN input mailbox - imperix Simulink, PLECS and C++ documentation<\/title>\n<meta name=\"description\" content=\"The CAN input mailbox block allows receiving CAN messages with up to 8 bytes payloads. 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