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Reply of the modules to the command 'request TxIds':
Commands and Parameters
The reply of a Tx identifier depends on the value of the received sub command.
The following table shows the information which the module transmits onto the CAN.
Sub
command
Reply of the
parameter
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
$00 TxId 1 $02 $00 TxId1 - - - -
$01 TxId 2 $02 $01 TxId2 - - - -
$02 TxId 3 $02 $02 TxId3 - - - -
: : $02 : : - - - -
n TxId (n+1) $02 n TxId(n+1) - - - -
(-) Byte is not transmitted
Explanation of the bytes transmitted by the module:
Table 3.3.4: Transmitting the actual Tx identifiers
Byte 1... The first byte returns the contents of the received command byte
(here always $02).
Byte 2... The second byte returns the contents of the received sub command byte. The sub command
designates the selected identifier.
Byte 3,
Byte 4... In these two cells the actual Tx identifier is returned. The bits of the identifier are described
in byte 3 and 4 and returned in that form as they have to be entered at setting in byte 5 and
6. (See also table 'Bits of the Tx identifier in byte 5 and 6'.)
esd Protocol for CAN Modules Rev. 3.2 3 - 21