CAN_RX Function for Receiving CAN Messages in C

This code defines a function named 'CAN_RX' that receives a CAN message with a specific ID. The function first initializes a message object configuration and assigns it to message object 1. The configuration includes the acceptance mask, frame type, message length, and matching ID. The function waits until the message object has a pending receive message. Once a message is received, the function reads the message and stores the ID and data in a 'IfxMultican_Message' struct named 'rxResult'. The function then returns the 'rxResult' struct.

IfxMultican_Message rxResult;
IfxMultican_Message CAN_RX(uint32 rx_ID)
{

		   {
		       // create message object config
		       IfxMultican_Can_MsgObjConfig canMsgObjConfig;
		       IfxMultican_Can_MsgObj_initConfig(&canMsgObjConfig, &canDstNode);
			// assigned message object:
		       canMsgObjConfig.msgObjId = 1;
		       canMsgObjConfig.messageId = rx_ID;
		       canMsgObjConfig.acceptanceMask = 0x7FFFFFFFUL;
		       canMsgObjConfig.frame = IfxMultican_Frame_receive;
		       canMsgObjConfig.control.messageLen = IfxMultican_DataLengthCode_8;
		       canMsgObjConfig.control.extendedFrame = FALSE;
		       canMsgObjConfig.control.matchingId = TRUE;
		       // initialize message object
		       IfxMultican_Can_MsgObj_init(&canDstMsgObj, &canMsgObjConfig);
		   }

	while (!IfxMultican_Can_MsgObj_isRxPending(&canDstMsgObj))
	{}
	IfxMultican_Message rxMsg;
	IfxMultican_Message_init(&rxMsg, 0xdead, 0xdeadbeef, 0xdeadbeef, IfxMultican_DataLengthCode_8); // start with invalid values
	// read message
	IfxMultican_Status readStatus = IfxMultican_Can_MsgObj_readMessage(&canDstMsgObj, &rxMsg);
	// if new data is been received report an error
	if((readStatus & IfxMultican_Status_newData))
	{
		rxResult.data[0] = rxMsg.data[0];
		rxResult.data[1] = rxMsg.data[1];
		rxResult.id = rxMsg.id;
	}
//			rxResult.data[0] = rxMsg.data[0];
//			rxResult.data[1] = rxMsg.data[1];
//			rxResult.id = rxMsg.id;

	return rxResult;
}

This code provides a basic framework for receiving CAN messages using the IfxMultican library. You will need to adapt this code to fit your specific application needs, including configuring the CAN module, defining the message object, and handling the received data.