Set CAN Baud Rate - Allows you to change what speed you want the CAN Bus to operate at. The default is 1Mbps.

Send Contents: Command tag followed by 8 bits of data [2 words].

Command Tag = 0x28

Data:

0x01 – 1 Mbps

0x02 – 500 Kbps

0x03 – 250 Kbps

0x04 – 125 Kbps

Response Contents: Response Tag only [1 word].

Response Tag = 0x29

Description: When the command is sent to change the CAN Bus bit rate, first the reply will be sent, and then the CAN module will be

disabled. It is then reconfigured with the new bit rate, and brought back into an active state. From then on the new bit rate will be used

exclusively. To return to default settings the CAN reset pin can be used or commands can be sent at the new baud rate. The value is

stored in non-volatile memory and does not have to be re-introduced every time the device is powered up.

Default Data Value: 0x01

APPLICATION NOTES CONT'D

APPLICATION NOTES CONT'D

Set CAN Message Standard ID - This sets the Standard ID used to transmit messages.

Send Contents: Command Tag followed by 16 bits of data. The uppermost 5 bits are ignored (bits 16-12), as only 11 bits are

allowed in a standard identifier [3 words].

Command Tag: 0x2A

Data: 0x0000 – 0x07FF

Response Contents: Response Tag only [1 word].

Response Tag: 0x2B

Description: This command is sent to the device to set the Message ID used when Standard ID mode is selected. If the CAN Message Mode

is set to Extended ID, this value will not be used. The value is stored in non-volatile memory and does not have to be re-introduced every time

the device is powered up.

Default Data Value: 0x0555

Set CAN Message Extended ID - This sets the Extended ID used to transmit messages.

Send Contents: Command Tag followed by 32 bits of data. The uppermost 3 bits are ignored, and the following 29 bits are used as

the message ID [5 words].

Command Tag: 0x2C

Data: 0x0000 0000 – 0x1FFF FFFF

Response Contents: Response Tag only [1 word].

Response Tag: 0x2D

Description: This command is sent to the device to set the Message ID used when Extended ID mode is selected. If the CAN Message Mode

is set to Standard ID, this value will not be used. The value is stored in non-volatile memory and does not have to be re-introduced every time

the device is powered up.

Default Data Value: 0x0000 0000

Set CAN Message Mode - This sets device to use a Standard ID or Extended ID when transmitting messages.

Send Contents: Command Tag followed by 8 bits of data [2 words].

Command Tag: 0x30

Data:

0x01 - Standard ID

0x02 –Extended ID

Response Contents: Response Tag only [1 word].

Response Tag: 0x31

Description: This command is sent to the device to say whether it should send a Standard ID or Extended ID. The actual IDs are set via their

own commands. The value is stored in non-volatile memory and does not have to be re-introduced every time the device is powered up.

Default Data Value: 0x01

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