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User API

This section presents a set of user-defined functions implemented in the unican_ard.h library.

Functions​

Initialization​

uint8_t UCanArd.Init();
``
_ Returns 0 if executed successfully._

### Changing your own UniCAN ID
```cpp
uint8_t UCanArd.ChangeSelfId(uint8_t self_id);
info

A new ID in the range from 0x1 to 0x1F is passed as an argument. It is not recommended to use ID=0x1 or an identifier that can be used by other devices. Default value: 0x1A.

Returns 0 if successful.

Changing the UniCAN ID of the head unit​

uint8_t UCanArd.ChangeMasterId(uint8_t master_id);
info

A new ID in the range from 0x1 to 0x1F is passed as an argument. It is not recommended to use ID=0x1 or an identifier that can be used by other devices. The default value is 0x05.

Returns 0 if successful.

Deinitialization​

uint8_t UCanArd.DeInit();
``
_ Returns 0 if executed successfully._

### Receiving a CAN message
```cpp   
uint8_t UCanArd.ReceiveTask();
``
:::infofunction must be executed in a loop. Receiving UniCAN messages consisting of several frames is possible only with a short cycle period (on the order of several ms or less). When creating a protocol, it is recommended to limit yourself to single-frame incoming messages.
:::

_ Returns 0 if successful._

### Sending a UniCAN message:
``cpp
uint8_t UCanArd.SendMessage(uint8_t receiver_id, uint16_t msg_id, uint8_t* data, uint8_t length);

Arguments:

  • Recipient's UniCAN ID;
  • MSGid;
  • a pointer to the first byte of data and the size of the data in bytes.

Returns 0 if successful.

Sending a UniCAN message to the head unit​

uint8_t UCanArd.SendMessageToMaster(uint16_t msg_id, uint8_t* data, uint8_t length);

Arguments:

  • MSGid;
  • a pointer to the first byte of data and the size of the data in bytes.

Returns 0 if successful.

Read the last saved message​

uint8_t UCanArd.ReadMessage(uint8_t* sender_id, uint16_t* msg_id, uint8_t* data, uint8_t* length);

Arguments:

  • pointer to variables for the recipient's UniCAN ID;
  • MSGid;
  • a pointer to the first byte of data and a pointer to a variable for the size of the data in bytes.

Returns 0 if successful, 1 if there is no new message._

Reply with confirmation​

uint8_t UCanArd.SendAck(uint8_t receiver_id);
info

The standard MSGid 0x0118 is used.

Arguments:

  • UniCAN ID of the recipient.

Returns 0 if successful.

Reply with a refusal​

uint8_t UCanArd.SendNack(uint8_t receiver_id);
info

The standard MSGid 0x0119 is used.

Arguments:

  • UniCAN ID of the recipient.

Returns 0 if successful.