CAN發送函數與CAN接收函數：

voidCAN0SendFrame(CAN_MESSAGEMsg/*,unsignedlongid,unsignedcharlength,unsignedchar*txdata*/)

{

INT8Uindex;/*numberforreadmessage*/

INT8Utbsel;/*symbolforCAN0TBSEL*/

CAN0TBSEL=CAN0T**;/*Selectlowestemptybuffer*/

tbsel=CAN0TBSEL;/*Backupselectedbuffer*/

*((INT32U*)((INT32U)(&CAN0TXIDR0)))=Msg.ulID.ulVal;/*lint!e923MISRA2004Rule11.3castfrompointertounsignedlong*/

if(Msg.ubLen>8U)

{

Msg.ubLen=8U;

}

for(index=0U;index=CAN0_RXBUF_SIZE)

{

g_can0RxBuf.RxInptr=0U;

}

g_can0RxBuf.RxCounter++;

}

}

rte_release_Semaphore(rte_can0_MsgRxSem);

CAN0R**_RXF=1U;/*清中斷標志*/

}