Short summary

Name	`CAN_init`
→POU type	→function
Category	more system blocks, Blocks for CAN , block with internal error diagnostic
Graphical interface
Available since	version 1.111.0 (for logi.CAD 3) and version 3.19.0 of logi.RTS This block is supported for →phyBOARD-Regor, →phyBOARD-Wega and →µMIC.200.

Functionality

The block initializes a CAN interface and gets a handle for it.

Inputs, outputs

	Identifier	→Data type	Description
Inputs:	`CANDEVICE`	`STRING[20]`	name of the interface, e.g. `can0`
Outputs:	`HANDLE`	`DINT`	handle to use with the other blocks for CAN
Outputs:	`RC`	`CAN_RETURN_CODE`	return code of the block call as specified in data type `CAN_RETURN_CODE` with the following values: `CAN_OK`, `CAN_SYSTEM_SERVICE_NOT_LOADED`, `CAN_NO_INTERFACE_NAME`, `CAN_NO_FREE_INTERFACE_SLOT`, `CAN_INTERFACE_ALREADY_IN_USE`

Input EN and output ENO are available when →calling the block. See "Execution control: EN, ENO" for information on input EN and output ENO.

See:

"Blocks for safe logic" whether this block is supported for developing safety-relevant applications.
"Highlighting safe logic in the FBD-editor" for the effects when using the block as a block for safe logic .

Internal error diagnostic for block

The block checks the following error cases and – if they occur – the block sets the output ENO of the block value FALSE (or an equivalent): The return code of the block has not been 0 (see the above table under RC).

Example for usage within ST-editor

Best practice in order to get to know the usage of the CAN blocks: Create a new project based on the project template Simple logi.CAD 3 CANopen Project for PHYTEC phyBOARD-Regor and study this sample project. This project contains a usage of this block.