NMEA 2000 User`s Manual
Contents
1. uint8_t p n2000_pinfo_t pi Description This function sets the protocol stack s internal product information field to the value pointed to by pi This function should be called inside of the n2000app_init function for every NMEA 2000 port The protocol stack automatically transmits the product information message every time a request for the production information message is received Parameters p Indicates which CAN port the NAME field is assigned pi Points to a product information structure Return Value Void ssNMEA2000 User s Manual z293 Chapter 5 Configuration Chapter 5 Configuration This chapter describes all configurable items of the NMEA 2000 module All of these configurations are defined in n2000cfg h NMEA 2000 Name Field See n2000_name_set function NMEA 2000 Tick Period The protocol stack needs to be called at a fixed periodic rate This defines approximately how often the stack will be called It is defined in units of 0 1 milliseconds By default the stack is configured for an update rate of 10 milliseconds define N2000CFG_TICK_PERIOD 100 CAN Ports Count The protocol stack can support multiple NMEA 2000 networks simultaneously This defines how many ports the stack will support define N2000CFG_PORTS_NUM 3 Transport Protocol RX Buffer Count Multipacket NMEA 2000 messages are split into multiple CAN frames and buffered inside of the NMEA 2000 module This configuratio2. Rights Client acknowledges and agrees that the Software and the documentation are proprietary products of Simma Software and are protected under U S copyright law Client further acknowledges and agrees that all right title and interest in and to the Software including associated intellectual property rights are and shall remain with Simma Software This License Agreement does not convey to Client an interest in or to the Software but only a limited right of use revocable in accordance with the terms of this License Agreement 3 License Fees The Client in consideration of the licenses granted under this License Agreement will pay a one time license fee 4 Term This License Agreement shall continue until terminated by either party Client may terminate this License Agreement at any time Simma Software may terminate this License Agreement only in the event of a material breach by Client of any term hereof provided that such shall take effect 60 days after receipt of a written notice from Simma Software of such termination and further provided that such written notice allows 60 days for Client to cure such breach and thereby avoid termination Upon termination of this License Agreement all rights granted to Client will terminate and revert to Simma Software Promptly upon termination of this Agreement for any reason or upon discontinuance or abandonment of Client s possession or use of the Software Client must return or destroy as requested by
3. 2000CFG_PORTS_NUM in n2000cfg h to the number of CAN ports in use Set your NAME and Product Information fields with n2000_name_set and n2000_pinfo_set set See n2000app_init for an example As needed adjust the number and size of the transport protocol buffers As needed place software in the function n2000app_process which is located in n2000app c to receive and process NMEA 2000 messages As needed call n2000_tx_sf n2000_tx_tpQ and n2000_tx_fpQ to transmit NMEA 2000 messages ssNMEA2000 User s Manual S Chapter 3 CAN Hardware Abstraction Layer Chapter 3 ssCAN Application Program Interface The hardware abstraction layer HAL is a software module that provides functions for receiving and transmitting controller area network CAN data frames Because CAN peripherals typically differ from one microcontroller to another this module is responsible for encompassing all platform depended aspects of CAN communications The HAL contains three functions that are responsible for initializing the CAN hardware and handling buffered reception and transmission of CAN frames across multiple ports Function Prototype Function Description void can_init void Initializes CAN hardware uint8_t can_rx uint8_t p can_t frame Receives CAN frame buffered I O uint8_t can_tx uint8_t p can_t frame Transmits CAN frame buffered I O Table 3 1 HAL functions 3 1 Data Type De
4. CAN frame should be stored Return Value 1 No CAN frame was read from the receive buffer 0 A CAN frame was successfully read from the receive buffer ssNMEA2000 User s Manual Chapter 3 CAN Hardware Abstraction Layer can_tx Function Prototype uint8_t can_tx uint8_t p can_t frame Description If memory is available inside the transmit buffer can_tx copies the memory pointed to by frame to the transmit buffer If transmission of CAN frames is not currently in progress then it will be initiated If the most significant bit of frame gt id i e bit 31 is set it indicates an extended CAN frame else it indicates a standard CAN frame Parameters p Indicates which port to access frame Points to the CAN frame that should be copied to the transmit buffer Return Value 1 No CAN frame was written to the transmit buffer 0 The CAN frame was successfully written to the transmit buffer ssNMEA2000 User s Manual Chapter 4 Chapter 4 ssNMEA2000 Application Program Interface ssNMEA2000 A pplication Program Interface This chapter describes the application program interface API for the NMEA 2000 module Function Prototypes Function Descriptions void n2000_init void Initializes protocol stack void n2000_update void Provides periodic time base void n2000app_process n2000_t msg Processes received messages uint8_t n2000_tx_sf n2000_t msg Transmits a
5. ME field of n and updates the internal memory of the protocol stack with a correctly formatted 64 bit ISO 11783 5 NAME Every NMEA 2000 CAN port needs to be assigned a NAME during the initialization processs These NAMEs may or may not be different depending on the controller application The NMEA 2000 name field is 64 bits long and is intended to uniquely describe all ECUs on a NMEA 2000 network i e no two ECUs on a NMEA 2000 network may have the same name field For more information see ISO 11783 5 Parameters p Indicates which CAN port the NAME field is assigned n Points to external version of a NAME field Return Value void Example n2000_name_t name table B1 of n2000 name aac 1 name ind_grp 1 name veh_sys_inst 0 name veh_sys 1 name func 130 name func_inst 0 name ecu_inst 0 name mfg_code 402 name identy_num 1009 bit Arbitrary Address Capable 3 bit Industry Group 1 on highway 4 bit Vehicle System Instance 7 bit Vehicle System 1 tractor 8 bit Function 130 data logger 5 bit Function Instance 3 bit ECU Instance 11 bit Manufacturer Code 402 SIMMA 21 bit Identity Number see below example to set NAME for network O n2000_name_set 0 amp name ssNMEA2000 User s Manual 22 Chapter 4 ssNMEA2000 Application Program Interface n2000_pinfo_set Function Prototype void n2000_pinfo_set
6. NAME external to the protocol stack The function n2000_name_set must be used to load the NAME field into the stack s internal memory Definition typedef struct uint8_t aac l bit Arbitrary Address Capable uint8_t ind_grp 3 bit Industry Group uint8_t dev_class_inst 4 bit Device Class Instance uint8_t dev_class 7 bit Device Class uint8_t func 8 bit Function uint8_t func_inst 5 bit Function Instance uint8_t ecu_inst 3 bit ECU Instance uint16_t mfg_code 11 bit Manufacturer Code uint32_tidenty_num 21 bit Identity Number n2000_name_t ssNMEA2000 User s Manual l11 Chapter 4 ssNMEA2000 Application Program Interface Data type n2000_pinfo_t Description n2000_pinfo_t is a data type used to store the product information message The function n2000_pinfo_set must be used to load the product information field into the stack s internal memory Definition typedef struct uint16_t db_ver NMEA 2000 Database Version 1 00 uint16_t prd_code Product Code char model_id Model ID char sw_ver Software Version char model_ver Model Version char model_scode Model Serial Code uint8_t cert_level Certification Level B uint8_t load_eqvalncy Load Equivalency 2 lt 100 milliamps n2000_pinfo_t ssNMEA2000 User s Manual 12 Chapter 4 ssNMEA2000 Application Program Interface n2000_init Fu
7. NMEA 2000 single frame message uint8_t n2000_tx_tp n2000_t msg uint8_t status Transmits a NMEA 2000 transport protocol message uint8_t n2000_tx_fp n2000_t msg uint8_t seq Transmits a NMEA 2000 fast packet message void n2000_bip_tx_rate_allowed_set uint8_t p uint8_t rate Sets max allowed transmit rate uint8_t n2000_bip_tx_rate_max_get uint8_t p Retrieves peak bus load usage uint8_t n2000app_sa_get uint8_t p Retrieves next source address void n2000_name_set uint8_t p n2000_name_t n Set internal NAME field void n2000_pinfo_set uint8_t p n2000_pfino_t pi Set internal Product Info field Table 4 1 API functions ssNMEA2000 User s Manual 10 Chapter 4 ssNMEA2000 Application Program Interface 4 1 Data Type Definitions Data type n2000_t Description n2000_t is a data type used to store NMEA 2000 messages It contains the NMEA 2000 message source destination PGN priority data and the size of data Definition typedef struct uint32_t pgn Parameter Group Number uint8_t buf Pointer to data uint16_t buf_len Size of data uint8_t dst Destination of message uint8_t src Source of message uint8_t pri Priority of message uint8_t port CAN port of message n2000_t Data type n2000_name_t Description n2000_name _t is a data type used to store a CA s NMEA 2000
8. Simma Software all copies of the Software in Client s possession and all other materials pertaining to the Software including all copies thereof Client agrees to certify compliance with such restriction upon Simma Software s request 5 Limited Warranty Simma Software warrants for Client s benefit alone for a period of one year called the Warranty Period from the date of delivery of the software that during this period the Software shall operate substantially in accordance with the functionality described in the User s Manual If during the Warranty Period a defect in the Software appears Simma Software will make all reasonable efforts to cure the defect at no cost to the Client Client agrees that the foregoing constitutes Client s sole and exclusive remedy for breach by Simma Software of any warranties made under this Agreement Simma Software is not responsible for obsolescence of the Software that may result from changes in Client s requirements The foregoing warranty shall apply only to the most current version of the Software issued from time to time by Simma Software Simma Software assumes no responsibility for the use of superseded outdated or uncorrected versions of the licensed software EXCEPT FOR THE WARRANTIES SET FORTH ABOVE THE SOFTWARE AND THE SOFTWARE CONTAINED THEREIN ARE LICENSED AS IS AND SIMMA SOFTWARE DISCLAIMS ANY AND ALL OTHER WARRANTIES WHETHER EXPRESS OR IMPLIED INCLUDING WITHOUT LIMITATION AN
9. TRODUCTION INTEGRATION SSCAN API SSNMEA2000 MULTI API CONFIGURATION EXAMPLES ssNMEA2000 User s Manual 10 24 26 Chapter 1 Introduction Chapter 1 Introduction ssNMEA2000 Multi is high performance NMEA 2000 protocol stack written in ANSI C sSNMEA2000 Multi referred to as sNMEA2000 from here on out adheres to both the NMEA 2000 specification and to the software development best practices described in the MISRA C guidelines ssNMEA2000 is a modularized design with an emphasis on software readability and performance ssNMEA2000 is easy to understand and platform independent allowing it to be used on any CPU or DSP with or without an RTOS ssNMEA2000 implements the data link layer described in ISO 11783 3 the network management layer described in ISO 11783 5 and the required features e g fast packet support specified in the NMEA 2000 Main specification The application layer described in Appendix B of the NMEA 2000 Main specification is the responsibility of the end user to implement Examples of application layer processing are provided in n2000app c Filenames File Description n2000 c Core source file for ssNMEA2000 Do not modify n2000 h Core header file for ssNMEA2000 Do not modify n2000tp c Transport protocol source file Do not modify n2000tp h Transport protocol header file Do not modify n2000fp c Fast packet protocol source file Do not modify n2000fp h Fast packet p
10. Y IMPLIED WARRANTIES OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE 6 Limitation of Liability Simma Software s cumulative liability to Client or any other party for any loss or damages resulting from any claims demands or actions arising out of or relating to this License Agreement shall not exceed the license fee paid to Simma Software for the use of the Software In no event shall Simma Software be liable for any indirect incidental consequential special or exemplary damages or lost profits even if Simma Software has been advised of the possibility of such damages SOME STATES DO NOT ALLOW THE LIMITATION OR EXCLUSION OF LIABILITY FOR INCIDENTAL OR CONSEQUENTIAL DAMAGES SO THE ABOVE LIMITATION OR EXCLUSION MAY NOT APPLY TO CLIENT 7 Governing Law This License Agreement shall be construed and governed in accordance with the laws of the State of Indiana 8 Severability Should any court of competent jurisdiction declare any term of this License Agreement void or unenforceable such declaration shall have no effect on the remaining terms hereof 9 No Waiver The failure of either party to enforce any rights granted hereunder or to take action against the other party in the event of any breach hereunder shall not be deemed a waiver by that party as to subsequent enforcement of rights or subsequent actions in the event of future breaches ssNMEA2000 User s Manual 1 0 2 0 3 0 4 0 5 0 6 0 TABLE OF CONTENTS IN
11. ered for transmission 0 Message was buffered for transmission ssNMEA2000 User s Manual 16 Chapter 4 ssNMEA2000 Application Program Interface n2000_tx_tp Function Prototype uint8_t n2000_tx_tp n2000_t msg uint8_t status Description Buffers a NMEA 2000 transport protocol i e BAM RTS CTS message for transmission This function is used for non single frame messages as defined by the NMEA 2000 application layer status will be equal to N2000TP_INPROCESS while the message is being transmitted N2000TP_DONE if the message transmission is complete or N2000TP_FAILED if there was an error Parameters msg Points to the NMEA 2000 message that should be transmitted status Points to application RAM Return Value 1 Message was not buffered for transmission 0 Message was buffered for transmission ssNMEA2000 User s Manual 17 Chapter 4 ssNMEA2000 Application Program Interface n2000_tx_fp Function Prototype uint8_t n2000_tx_fp n2000_t msg uint8_t seq Description Buffers a NMEA 2000 fast packet message for transmission This function is used for non single frame messages as defined by the NMEA 2000 application layer Parameters msg Points to the NMEA 2000 message that should be transmitted seq 8 bit sequence number ranging from 0 to 255 seq needs to be unique for each fast packet PGN and is to be incremented for each successful transmission of a fast packet message Return Val
12. finitions Data type can_t Description can_t is a data type used to store CAN frames It contains the CAN frame identifier the CAN frame data and the size of data NOTE If the most significant bit of id i e bit 31 is set it indicates an extended CAN frame else it indicates a standard CAN frame Definition typedef struct uint32_t id uint8_t buf 8 uint8_t buf_len can_t ssNMEA2000 User s Manual 6 Chapter 3 CAN Hardware Abstraction Layer 3 2 Function APIs can_init Function Prototype void can_init void Description can_init initializes the CAN peripheral for reception and transmission of CAN frames at a network speed of 250 kbps Any external hardware that needs to be initialized can be done inside of can_init The sample point should be as close to 0 875 as possible but should not exceed it Parameters void Return Value void ssNMEA2000 User s Manual Chapter 3 CAN Hardware Abstraction Layer can_rx Function Prototype uint8_t can_rx uint8_t p can_t frame Description can_rx checks to see if there is a CAN data frame available in the receive buffer If one is available it is copied into the can_t structure that is pointed to by frame If the most significant bit of frame gt id i e bit 31 is set it indicates an extended CAN frame else it indicates a standard CAN frame Parameters p Indicates which port to access frame Points to memory where the received
13. mples This chapter gives examples of how to receive decode NMEA 2000 messages and how to transmit a NMEA 2000 message Per the NMEA 2000 specification all NMEA 2000 messages have an associated PGN followed by data The below examples show how to filter based on the PGN of interest and decode the data 6 1 Receive and Decode NMEA 2000 Messages Example void n2000app_process n2000_t msg switch msg gt pgn PGN CUSTOMER VARIABLE BUFFER CONVERSION case 129284 n2000_dist_to_waypoint btou32 amp msg gt buf 1 break case 126992 n2000_time btou32 amp msg gt buf 4 break case 128267 n2000_water_depth btou32 amp msg gt buf 1 break case 129025 n2000_latitude btou32 amp msg gt buf 0 n2000_longitude btou32 amp msg gt buf 4 break ssNMEA2000 User s Manual 26 Chapter 6 Examples 6 2 Transmit NMEA 2000 Message Example Single Frame void n2000_transmit_example void n2000_t msg uint8_t buf 8 0 1 2 3 4 5 6 7 load message msg pgn 65215 msg buf buf msg buf_len 8 msg dst 255 msg pri 7 msg port 0 transmit message if n2000_tx_sf amp msg 0 printf Message transmitted n else printf Message not transmitted n 6 3 Transmit NMEA 2000 Message Fast Packet void n2000_transmit_example void n2000_t msg static uint8_t seq 0 uint8_t buf 16 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 l
14. n defines how many incoming multipacket messages can be received simultaneously define N2000CFG_TP_RX_BUF_NUM 10 Transport Protocol RX Buffer Size Multipacket NMEA 2000 messages are split into multiple CAN frames and buffered inside of the NMEA 2000 module This configuration defines in bytes the largest message which can be received The maximum buffer size is1 785 bytes ssNMEA2000 User s Manual 24 Chapter 5 Configuration define N2000CFG_TP_RX_BUF_SIZE 128 Transport Protocol TX Buffer Count Multipacket NMEA 2000 messages are split into multiple CAN frames and buffered inside of the NMEA 2000 module This configuration defines how many outgoing multipacket messages can be transmitted simultaneously define N2000CFG_TP_TX_BUF_NUM 3 Transport Protocol TX Buffer Size Multipacket NMEA 2000 messages are split into multiple CAN frames and buffered inside of the NMEA 2000 module This configuration defines in bytes the largest message which can be transmitted The maximum buffer size is1 785 bytes define N2000CFG_TP_TX_BUF_SIZE 128 Fast Packet RX Buffer Size Fast packet NMEA 2000 messages are split into multiple CAN frames and buffered inside of the NMEA 2000 module This configuration defines in bytes the largest fast packet message which can be received The maximum buffer size is 223 bytes define N2000CFG_FP_RX_BUF_SIZE 128 ssNMEA2000 User s Manual 5s Chapter 6 Examples Chapter 6 Exa
15. nction Prototype void n2000_init void Description Initializes the NMEA 2000 module Parameters void Return Value void ssNMEA2000 User s Manual ea kee Chapter 4 ssNMEA2000 Application Program Interface n2000_update Function Prototype void n2000_update void Description Provides the periodic time base for the NMEA 2000 module Parameters void Return Value void ssNMEA2000 User s Manual 14 Chapter 4 ssNMEA2000 Application Program Interface n2000app_process Function Prototype void n2000app_process n2000_t msg Description Processes received NMEA 2000 message This function is called by the NMEA 2000 module with a complete NMEA 2000 message and is the intended location for the application layer to handle received NMEA 2000 messages For multipacket messages this function isn t called until all packets have been received and assembled into a complete NMEA 2000 message Parameters msg Pointer to received NMEA 2000 message Return Value void ssNMEA2000 User s Manual 15 Chapter 4 ssNMEA2000 Application Program Interface n2000_tx_sf Function Prototype uint8_t n2000_tx_sf n2000_t msg Description Buffers a NMEA 2000 single frame message for transmission For messages that are larger than 8 bytes use n2000_tx_tpQ or n2000_tx_fp0 Parameters msg Points to the NMEA 2000 message that should be transmitted Return Value 1 Message was not buff
16. oad message msg pgn 65215 msg buf buf msg buf_len 16 msg pri 7 msg port 0 255 sends a to global msg dst 255 transmit message if n2000_tx_fp amp msg 0 0 seq printf Message transmitted n else printf Message not transmitted n ssNMEA2000 User s Manual 27 Chapter 6 Examples 6 4 Periodically Request NMEA 2000 Parameters Example The below example shows how to transmit requests for PGNs 65253 65244 and 65257 periodically using the built in example function n2000app_tx_request The requests are sent every 5 seconds with a 1 second spacing The below routine assumes the protocol stack s update function is called every 1 millisecond void n2000app_update void static uint16_t time 0 transmit requests every 5 seconds on network O switch time case 1000 n2000app_tx_request 0 65253 255 break case 2000 n2000app_tx_request 0 65244 255 break case 3000 n2000app_tx_request 0 65257 255 break case 5000 time 0 ssNMEA2000 User s Manual 28
17. rcent ssNMEA2000 User s Manual 20 Chapter 4 ssNMEA2000 Application Program Interface n2000app_sa_get Function Prototype uint8_t n2000app_sa_get uint8_t p Description This function returns the next source address that the protocol stack should attempt to claim It is called by the protocol stack and is the responsibility of the application layer to maintain The protocol stack calls this function during the initialization process and also when the protocol stack has failed to claim an address The protocol stack fails to claim an address when it identifies a higher priority ECU that is using the current attempted address Since the protocol stack has no knowledge of what additional addresses it may claim it calls this routine to determine what address is should attempt When the application layer has no more addresses to claim this function should return 255 The source address is a 8 bit field and identifies a unique NMEA 2000 device on the network Possible values are listed in the NMEA 2000 parent document Parameters p Indicates which CAN port the source address should be returned for Return Value Next source address 255 indicates no more addresses are available ssNMEA2000 User s Manual Chapter 4 n2000_name_set Function Prototype ssNMEA2000 Application Program Interface void n2000_name_set uint8_t p n2000_name_t n Description This function uses the externally pointed to NA
18. rotocol header file Do not modify n2000app c ee source file for ssNMEA2000 Modification n2000app h S header file for sNMEA2000 Modification n2000cfg h ssNMEA2000 configuration file Modification allowed Table 1 1 sNMEA2000 files ssNMEA2000 User s Manual Chapter 2 Integration of ssNMEA2000 Chapter 2 Integration of ssNMEA2000 This chapter describes how to integrate ssNMEA2000 into your application After this is complete you will be able to receive and transmit NMEA 2000 messages over CAN For implementation details please see the chapters covering the APIs for ssNMEA2000 and ssCAN Integration Steps l 10 Develop or purchase a CAN device driver that adheres to the CAN API specified in Chapter 3 Before using any of the NMEA 2000 module features make sure the CAN driver has been initialized by calling can_init Typically it is called shortly after power on reset and before the application is started Before using any of the ssNMEA2000 module features make sure the ssNMEA2000 as been initialized by calling n2000_init Typically it is called after can_init and before the application is started Call n2000_update at a fixed periodic interval e g every 10 ms This provides the time base for the NMEA 2000 module It is recommended that this function be called at least every 25 ms Set N2000CFG_TICK_PERIOD in n2000cfg h to your systems fixed periodic interval described above in step 4 Set N
19. ssSNMEA2000 Multi User s Manual Version 1 3 Revised April 23 2013 Created by the NMEA 2000 Experts Simma Software SSNMEA2000 Protocol Stack License READ THE TERMS AND CONDITIONS OF THIS LICENSE AGREEMENT CAREFULLY BEFORE OPENING THE PACKAGE CONTAINING THE PROGRAM DISTRIBUTION MEDIA DISKETTES CD ELECTRONIC MAIL THE COMPUTER SOFTWARE THEREIN AND THE ACCOMPANYING USER DOCUMENTATION THIS SOURCE CODE IS COPYRIGHTED AND LICENSED NOT SOLD BY OPENING THE PACKAGE CONTAINING THE SOURCE CODE YOU ARE ACCEPTING AND AGREEING TO THE TERMS OF THIS LICENSE AGREEMENT IF YOU ARE NOT WILLING TO BE BOUND BY THE TERMS OF THIS LICENSE AGREEMENT YOU SHOULD PROMPTLY RETURN THE PACKAGE IN UNOPENED FORM AND YOU WILL RECEIVE A REFUND OF YOUR MONEY THIS LICENSE AGREEMENT REPRESENTS THE ENTIRE AGREEMENT CONCERNING THE NMEA 2000 PROTOCOL STACK BETWEEN YOU AND SIMMA SOFTWARE INC REFERRED TO AS LICENSOR AND IT SUPERSEDES ANY PRIOR PROPOSAL REPRESENTATION OR UNDERSTANDING BETWEEN THE PARTIES 1 Corporate License Grant Simma Software hereby grants to the purchaser herein referred to as the Client a royalty free non exclusive license to use the NMEA 2000 protocol stack source code collectively referred to as the Software as part of Client s product Except as provided above Client agrees to not assign sublicense transfer pledge lease rent or share the Software Code under this License Agreement 2 Simma Software s
20. ue 1 Message was not buffered for transmission 0 Message was buffered for transmission ssNMEA2000 User s Manual 18 Chapter 4 ssNMEA2000 Application Program Interface n2000_bip_tx_rate_allowed_set Function Prototype void n2000_bip_tx_rate_allowed_set uint8_t p uint8_t rate Description In order to implement babbling idiot protection the NMEA 2000 module tracks how many messages are transmitted by the application in a 250 ms window If the NMEA 2000 module detects the application has transmitted more messages than is allowed it will permanently disable transmission The application should use this function to set the NMEA 2000 module s allowable transmission rate default of 25 Set rate to 100 to disable babbling idiot protection Parameters p Indicates which port to access rate Max allowed transmission rate Range from 0 to 100 percent Return Value void ssNMEA2000 User s Manual 19 Chapter 4 ssNMEA2000 Application Program Interface n2000_bip_tx_rate_max_get Function Prototype uint8_t n2000_bip_tx_rate_max_get uint8_t p Description In order to implement babbling idiot protection the NMEA 2000 module tracks how many messages are transmitted by the application in a 250 ms window The application can use this function to retrieve the max bus load that has been imposed on the bus by the application Parameters p Indicates which port to access Return Value 0 to 100 pe
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