Send timeout is set to 10 ms. Without timeout PLC can be blocked by CAN driver: if CAN bus is not connected to controller CAN driver never returns and therfore PLC application halts. This is a temporary solution.
// ----------------------------------------------------------------------------
// ATMEL Microcontroller Software Support - ROUSSET -
// ----------------------------------------------------------------------------
// DISCLAIMER: THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR
// IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
// MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT ARE
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// EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
// ----------------------------------------------------------------------------
// File Name : AT91SAM7X-EK.h
// Object : AT91SAM7X-EK Evaluation Board Features Definition File
//
// ----------------------------------------------------------------------------
#ifndef AT91SAM7X_EK_H
#define AT91SAM7X_EK_H
/*-----------------*/
/* LEDs Definition */
/*-----------------*/
#define AT91B_LED1 (1<<19) // AT91C_PIO_PB19 AT91C_PB19_PWM0 AT91C_PB19_TCLK1
#define AT91B_LED2 (1<<20) // AT91C_PIO_PB20 AT91C_PB20_PWM1 AT91C_PB20_PWM1
#define AT91B_LED3 (AT91C_PIO_PB21) // AT91C_PIO_PB21 AT91C_PB21_PWM2 AT91C_PB21_PCK1
#define AT91B_LED4 (AT91C_PIO_PB22) // AT91C_PIO_PB22 AT91C_PB22_PWM3 AT91C_PB22_PCK2
#define AT91B_NB_LEB 4
#define AT91B_LED_MASK (AT91B_LED1|AT91B_LED2|AT91B_LED3|AT91B_LED4)
#define AT91D_BASE_PIO_LED (AT91C_BASE_PIOB)
#define AT91B_POWERLED (1<<25) // PB25
/*-------------------------------*/
/* JOYSTICK Position Definition */
/*-------------------------------*/
#define AT91B_SW1 (1<<21) // PA21 Up Button AT91C_PA21_TF AT91C_PA21_NPCS10
#define AT91B_SW2 (1<<22) // PA22 Down Button AT91C_PA22_TK AT91C_PA22_SPCK1
#define AT91B_SW3 (1<<23) // PA23 Left Button AT91C_PA23_TD AT91C_PA23_MOSI1
#define AT91B_SW4 (1<<24) // PA24 Right Button AT91C_PA24_RD AT91C_PA24_MISO1
#define AT91B_SW5 (1<<25) // PA25 Push Button AT91C_PA25_RK AT91C_PA25_NPCS11
#define AT91B_SW_MASK (AT91B_SW1|AT91B_SW2|AT91B_SW3|AT91B_SW4|AT91B_SW5)
#define AT91D_BASE_PIO_SW (AT91C_BASE_PIOA)
/*------------------*/
/* CAN Definition */
/*------------------*/
#define AT91B_CAN_TRANSCEIVER_RS (1<<2) // PA2
/*--------------*/
/* Clocks */
/*--------------*/
#define AT91B_MAIN_OSC 18432000 // Main Oscillator MAINCK
#define AT91B_MCK ((18432000*73/14)/2) // Output PLL Clock
#endif /* AT91SAM7X-EK_H */