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CanMessage Class

Namespace: GHIElectronics.TinyCLR.Devices.Can · Assembly: GHIElectronics.TinyCLR.Devices.Can

One CAN (or CAN-FD) frame. Set ArbitrationId, optionally ExtendedId for 29-bit IDs, and the payload via Data / Length. For CAN-FD, set FdCan and optionally BitRateSwitch.

public class CanMessage

Constructors​

CanMessage()​

public CanMessage() : this(0, new byte[8], 0, 0, false, false)

Constructs an empty 8-byte classic CAN message with ID 0.

CanMessage(int arbitrationId)​

public CanMessage(int arbitrationId) : this(arbitrationId, null, 0, 0)

Constructs an empty message with the given arbitration ID.

ParameterTypeDescription
arbitrationIdint

CanMessage(int arbitrationId, byte[] data)​

public CanMessage(int arbitrationId, byte[] data) : this(arbitrationId, data, 0, data != null ? data.Length : 0)

Constructs a message carrying data in full.

ParameterTypeDescription
arbitrationIdint
databyte[]

CanMessage(int arbitrationId, byte[] data, int offset, int count)​

public CanMessage(int arbitrationId, byte[] data, int offset, int count) : this(arbitrationId, data, offset, count, false, false)

Constructs a message from a slice of data.

ParameterTypeDescription
arbitrationIdint
databyte[]
offsetint
countint

CanMessage(int arbitrationId, byte[] data, int offset, int count, bool isRemoteTransmissionRequesti, bool isExtendedId)​

public CanMessage(int arbitrationId, byte[] data, int offset, int count, bool isRemoteTransmissionRequesti, bool isExtendedId) : this(arbitrationId, data, offset, count, isRemoteTransmissionRequesti, isExtendedId, false, false)

Constructs a message with explicit RTR and extended-ID flags.

ParameterTypeDescription
arbitrationIdint
databyte[]
offsetint
countint
isRemoteTransmissionRequestibool
isExtendedIdbool

CanMessage(int arbitrationId, byte[] data, int offset, int count, bool isRemoteTransmissionRequesti, bool isExtendedId, bool isFdCan)​

public CanMessage(int arbitrationId, byte[] data, int offset, int count, bool isRemoteTransmissionRequesti, bool isExtendedId, bool isFdCan) : this(arbitrationId, data, offset, count, isRemoteTransmissionRequesti, isExtendedId, isFdCan, false)

Constructs a possibly-CAN-FD message.

ParameterTypeDescription
arbitrationIdint
databyte[]
offsetint
countint
isRemoteTransmissionRequestibool
isExtendedIdbool
isFdCanbool

CanMessage(int arbitrationId, byte[] data, int offset, int count, bool isRemoteTransmissionRequesti, bool isExtendedId, bool isFdCan, bool isBitRateSwitch)​

public CanMessage(int arbitrationId, byte[] data, int offset, int count, bool isRemoteTransmissionRequesti, bool isExtendedId, bool isFdCan, bool isBitRateSwitch)

Constructs a fully specified message including bit-rate switch.

ParameterTypeDescription
arbitrationIdint
databyte[]
offsetint
countint
isRemoteTransmissionRequestibool
isExtendedIdbool
isFdCanbool
isBitRateSwitchbool

Properties​

ArbitrationId​

public int ArbitrationId { get; set; }

The CAN arbitration ID. Limited to 11 bits when ExtendedId is false, 29 bits otherwise.

ExtendedId​

public bool ExtendedId { get; set; }

True when ArbitrationId is a 29-bit extended identifier.

Timestamp​

public DateTime Timestamp { get; set; }

For received messages: driver-captured arrival time. For TX: not used.

BitRateSwitch​

public bool BitRateSwitch { get; set; }

CAN-FD only: switch to data-phase bit timing for the payload.

ErrorStateIndicator​

public ErrorStateIndicator ErrorStateIndicator { get; }

Reports whether a received message was sent by an error-active or error-passive node.

RemoteTransmissionRequest​

public bool RemoteTransmissionRequest { get; set; }

True when this is a remote-transmission-request (RTR) frame. Not allowed in CAN-FD.

Length​

public int Length { get; set; }

Payload length in bytes. 0..8 for classic CAN; for CAN-FD also accepts 12, 16, 20, 24, 32, 48, or 64. Larger classic values are clamped to 8.

FdCan​

public bool FdCan { get; set; }

True if this is a CAN-FD (flexible-data) frame.

Data​

public byte[] Data { get; set; }

The payload buffer. Up to 64 bytes for CAN-FD, 8 for classic CAN.