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The CAN peripheral is configured to send messages with four different CAN IDs. Two of the messages (with different CAN IDs) are sent using a shared message object. This shows how to reuse a message object for multiple messages. The other two messages are sent using their own message objects. All four messages are transmitted at random intervals. The content of each message is a test pattern. A CAN interrupt handler is used to confirm message transmission and count the number of messages that have been sent.
In this example, a total of five tasks are created. The first two tasks are mapped to message object 1 and message object 2. A changing test pattern is sent to its message object at a random interval. Once the data is written to the message object, the data is sent on the physical CAN bus. Two other tasks share the same message object 3. These two tasks do not write to message object 3 directly but rather send them through a queue. It is the task prvQueueReceiveTask1 that receives the data from the two tasks through the queue and then write to message object 3. Using queues prevents the two tasks from writing to message object 3 asynchronously to each other. The queue serves as a mutex or a gatekeeper.