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-----------------------------------------------------------------------------------------------------*)
Activation_BUS_CAN_HYDAC(
	xEnable:= Activation_CAN_HYDAC, 
	xError=> Error_BUS_CAN, 
	eDiagInfo=> Retour_Para_CAN_HYDAC, 
	eChannel:= Channel_CAN_HYDAC, 
	eBaudrate:= 250);
	
Fonction: Consigne de braquage 1 => braquage 
 gauche   2 => braquage 
 droite
		IF (signe_consigne_angle_braquage = 1) THEN
			TAB_TRANSMIT_HYDAC[0].2 := 1;
			TAB_TRANSMIT_HYDAC[0].3 := 0;	
		ELSIF (signe_consigne_angle_braquage = 2) THEN
			TAB_TRANSMIT_HYDAC[0].2 := 0;
			TAB_TRANSMIT_HYDAC[0].3 := 1;
			TAB_TRANSMIT_HYDAC[0].3 := 0;
	TAB_TRANSMIT_HYDAC[0].2 := 0;
	TAB_TRANSMIT_HYDAC[0].3 := 0;
Fonction: Demande de calibration
		IF (demande_calibration = 1) THEN
			TAB_TRANSMIT_HYDAC[0].4 := 1;
			TAB_TRANSMIT_HYDAC[0].5 := 0;
		ELSIF (demande_calibration = 2) THEN
			TAB_TRANSMIT_HYDAC[0].4 := 0;
			TAB_TRANSMIT_HYDAC[0].5 := 1;
	TAB_TRANSMIT_HYDAC[0].4 := 0;
	TAB_TRANSMIT_HYDAC[0].5 := 0;
Fonction: Validation point de calibration
	IF (demande_validation_calibration = 1) THEN
		TAB_TRANSMIT_HYDAC[0].6 := 1;
		TAB_TRANSMIT_HYDAC[0].7 := 0;
	ELSIF (demande_validation_calibration = 2) THEN
		TAB_TRANSMIT_HYDAC[0].6 := 0;
		TAB_TRANSMIT_HYDAC[0].7 := 1;
	ELSE
	END_IF
		TAB_TRANSMIT_HYDAC[1].0 := 1;
		TAB_TRANSMIT_HYDAC[1].1 := 0;
		TAB_TRANSMIT_HYDAC[1].0 := 0;
		TAB_TRANSMIT_HYDAC[1].1 := 1;
	END_IF	
Fonction: Ecriture de la consigne de braquage
	TAB_TRANSMIT_HYDAC[2] := WORD_TO_BYTE(consigne_braquage);
	TAB_TRANSMIT_HYDAC[5] := WORD_TO_BYTE(SHR(valeur_absolu_vitesse,8));
Fonction: Cadencement de la trame