CANdriver Lib Docu

CAN Driver Library
for CANcardXL/CANboardXL/CANcaseXL/
CANcardX/CAN-AC2-PCI
User Interface Description
Version 4.3
Vector Informatik GmbH, Ingersheimer Str. 24, D-70499 Stuttgart

Tel. +49 711 80670-0, Fax +49 711 80670-111, Email can@vector-informatik.de
Internet http://www.vector-informatik.de
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Contents
1 Overview ................................................................................................................5
1.1 Features ......................................................................................................................6

1.1.1 Multi-Hardware......................................................................................................6
1.1.2 Multi-Application....................................................................................................6
1.1.3 Virtual Channels....................................................................................................7
1.2 Installation ..................................................................................................................7
1.3 Driver Library..............................................................................................................7
1.4 Important Notes..........................................................................................................8

1.4.1 Supported Operating Systems ..............................................................................8
2 Functions ...............................................................................................................9
2.1 Overview ...................................................................................................................12
2.2 Initialisation ..............................................................................................................13

2.2.1 ncdOpenDriver....................................................................................................13
2.2.2 ncdGetDriverConfig ............................................................................................13
2.2.3 ncdGetChannelIndex ..........................................................................................15
2.2.4 ncdGetChannelMask...........................................................................................16
2.2.5 ncdGetApplConfig...............................................................................................16
2.2.6 ncdSetApplConfig ...............................................................................................17
2.2.7 ncdOpenPort.......................................................................................................19
2.3 Configuration............................................................................................................21
2.3.1 ncdSetChannelBitrate .........................................................................................21
2.3.2 ncdSetChannelParams .......................................................................................21
2.3.3 ncdSetChannelParamsC200...............................................................................23
2.3.4 ncdSetChannelOutput.........................................................................................23
2.3.5 ncdSetChannelMode...........................................................................................24
2.3.6 ncdSetReceiveMode ...........................................................................................24
2.3.7 ncdSetChannelTransceiver .................................................................................25
2.3.7.1 Lowspeed ...................................................................................................25
2.3.7.2 Single Wire .................................................................................................25
2.3.7.3 CANcab EVA ..............................................................................................26
2.3.7.4 CANcab 10011 (Truck & Trailer).................................................................26
2.3.7.5 Highspeed ..................................................................................................27
2.3.8 ncdSetNotification ...............................................................................................27
2.3.9 ncdAddAcceptanceRange...................................................................................28
2.3.10 ncdRemoveAcceptanceRange ......................................................................28
2.3.11 ncdResetAcceptance ....................................................................................29
2.3.12 ncdSetChannelAcceptance ...........................................................................30
2.3.13 ncdActivateChannel ......................................................................................31
2.3.14 ncdSetTimerRate ..........................................................................................32
2.3.15 ncdResetClock ..............................................................................................32
2.4 General......................................................................................................................33
© Vector Informatik GmbH CAN Driver Library Version: 4.3

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2.4.1 ncdReceive1 .......................................................................................................33

2.4.2 ncdTransmit ........................................................................................................33
2.4.3 ncdReceive .........................................................................................................34
2.4.4 ncdGetEventString..............................................................................................35
2.4.5 ncdRequestChipState .........................................................................................36
2.4.6 ncdGetState........................................................................................................36
2.4.7 ncdFlushReceiveQueue ......................................................................................36
2.4.8 ncdFlushTransmitQueue.....................................................................................36
2.4.9 ncdGetReceiveQueueLevel ................................................................................36
2.4.10 ncdGetErrorString .........................................................................................37
2.4.11 ncdGetChannelVersion .................................................................................37
2.5 Deinitialisation..........................................................................................................38
2.5.1 ncdDeactivateChannel ........................................................................................38
2.5.2 ncdClosePort ......................................................................................................38
2.5.3 ncdCloseDriver ...................................................................................................38
3 Error Codes..........................................................................................................39
3.1 Overview ...................................................................................................................39

3.1.1 VSUCCESS ........................................................................................................39
3.1.2 VPENDING .........................................................................................................39
3.1.3 VERR_QUEUE_IS_EMPTY................................................................................39
3.1.4 VERR_QUEUE_IS_FULL ...................................................................................39
3.1.5 VERR_TX_NOT_POSSIBLE ..............................................................................39
3.1.6 VERR_WRONG_PARAMETER..........................................................................39
3.1.7 VERR_INVALID_CHAN_INDEX .........................................................................39
3.1.8 VERR_INVALID_ACCESS..................................................................................39
3.1.9 VERR_PORT_IS_OFFLINE................................................................................40
3.1.10 VERR_CHAN_IS_ONLINE............................................................................40
3.1.11 VERR_NOT_IMPLEMENTED .......................................................................40
3.1.12 VERR_INVALID_PORT ................................................................................40
3.1.13 VERR_CMD_TIMEOUT ................................................................................40
3.1.14 VERR_HW_NOT_PRESENT ........................................................................40
3.1.15 VERR_NOTIFY_ALREADY_ACTIVE............................................................40
3.1.16 VERR_CANNOT_OPEN_DRIVER................................................................40
3.1.17 VERROR.......................................................................................................40
4 Events...................................................................................................................41
4.1 Overview ...................................................................................................................41

4.1.1 V_RECEIVE_MESSAGE - V_TRANSMIT_MESSAGE......................................42
4.1.2 V_CHIP_STATE .................................................................................................43
4.1.3 V_TIMER ............................................................................................................43
5 Programming Examples .....................................................................................44
5.1 Overview ...................................................................................................................44

5.1.1 CANvbas.............................................................................................................45
5.1.2 CANlogDyn .........................................................................................................46
5.1.3 CANlog ...............................................................................................................46
5.1.4 CANgen ..............................................................................................................47

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5.1.5 CANdemo ...........................................................................................................47

5.1.6 CANcount ...........................................................................................................48
5.1.7 CANtrace ............................................................................................................49
5.1.8 CANsing..............................................................................................................49
5.1.9 CANlatw..............................................................................................................50
5.1.10 CANtracD......................................................................................................50
5.1.11 LabView ........................................................................................................50
5.1.12 Load vcand32.dll dynamically........................................................................51
5.1.13 General .........................................................................................................51

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1 Overview
If you want to write your own CAN (Controller Area Network) applications instead of
using the Vector tools like CANoe and CANalyzer and so on, then you can use the
CAN Driver Library with their API functions. The library can be linked with your pro-
gram and thus allows access to the CAN bus. Then you can initialize the CAN chips
and transmit or receive CAN messages. There are a lot of samples, which give a
good overview what’s possible with the library and source code that can be used for
your own application.
The CAN Driver Library and the corresponding CAN driver is available for different
Vector CAN hardware and operating systems.
It is designed to run multiple CAN applications using the same CAN hardware con-
currently by virtualizing the CAN hardware interfaces. Also it is possible to build ap-
plications which run on different CAN hardware without code changes.

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1.1 Features
1.1.1 Multi-Hardware
The interface is hardware independent and is designed to support various CAN
hardware. Currently supported are the CANcardXL, CANcardX, and CAN-AC2-PCI.
You will find special information in the manual of the corresponding hardware.
Several CAN hardware (CAN-AC2-PCI with CANcardX for example) may be used
simultaneously.
1.1.2 Multi-Application
The driver is designed for Windows 98/ME/NT/2000/XP multi-processing (multi-
tasking) operating systems. Multiple applications can use the CAN hardware at the
same time.
To get driver access an application must open a driver port and retrieve a port han-
dle. This port handle is used for all subsequent calls to the driver. If a second
application is demanding driver access, it gets the handle to another port. It is possi-
ble for an application to open multiple ports.
Application 1 Application 2
CAN - Driver
Port 1 Port 2 Port 3
Receive Receive Receive

Queue Queue Queue
Transmit Transmit
Queue Queue
Channel 1 Channel 2
CAN Controller CAN Controller

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The application then selects the CAN hardware channels it wants to use via the
port. Applications may use the same hardware channel simultaneously. This involves
virtualizing the hardware channels. From the application‘s perspective it appears as
though it alone were using the hardware channel.
To send a message from an application, the application chooses one or more chan-
nels connected to the port and calls the driver. Channels are identified by bit masks.
The message is passed to every selected channel and is transmitted when possible.
When a hardware channel receives a message it is passed to every port that is using
this channel. Each port maintains its own receive queue. The application at this port
can poll the queue to determine whether there are incoming messages, or make
asynchronous receive calls, which will be completed when a message arrives and
the application will be notified.
Nevertheless, multi-processing can also cause some problems. For example, two
applications might require different settings for the same channel. Consequently, an
application may demand initialisation access for a channel. A channel allows only
one port to have this access.
1.1.3 Virtual Channels

The driver features a special kind of channel, the virtual channel. It has no connected
hardware, it is just a software channel. There are two virtual channels which are con-
nected by a virtual CAN bus. Virtual channels are virtualised like any other hardware
channel. This allows the user to build and test CAN applications without having a real
CAN bus available.
1.2 Installation
The installation procedure is described in a separate manual.
1.3 Driver Library

Applications can get driver access by using a Windows DLL and a C header file.
VCAND32.DLL 32 bit DLL for Windows 98/ME/NT/2000/XP
VCAND.H C header

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1.4 Important Notes
1.4.1 Supported Operating Systems
Windows Windows Windows Windows Windows
98 ME NT4 2000 XP
CANcardXL X X X X X
CANcardX X X X X X
CAN-AC2-PCI X X X X X
CANpari X - X X X

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2 Functions
Initialisation Description
ncdOpenDriver ( ) The driver is loaded if this has not already
been done.
ncdGetApplConfig ( ) Gets the application configuration from the
CAN hardware control panel.
ncdSetApplConfig ( ) Sets the application configuration
ncdGetChannelIndex() This function looks for an available channel of
the given type and returns its index.
ncdGetChannelMask() This function looks for an available channel of
the given type and returns its mask.
ncdGetDriverConfig ( ) The driver configuration is returned in a struc-
ture containing the number of channels and
their characteristics.
ncdOpenPort ( ) The application tells the driver which channels
it wants to access and for which of these chan-
nels it wants permission to initialise the chan-
nel. Only one port can get permission to
initialise a channel.
Configuration Description
ncdSetChannelParams ( ) Bit timing parameters of the CAN channel are
set.
ncdSetChannelBitrate provides a simplified
ncdSetChannelBitrate ( )
way to specify the bit rate.
ncdSetChannelParamsC200 offers C200 Ba-
ncdSetChannelParamsC200 ( ) sic-CAN controller settings.
ncdSetChannelMode ( ) Sets optional generation of TX and TXRQ
events when transmitting messages.
ncdSetChannelOutput ( ) To decide if the CAN chip should generate an
acknowledge when a CAN message is re-
ceived.
ncdSetReceiveMode ( ) Suppress error frame’s and chipstate events.
ncdSetChannelTransceiver ( ) This function is used to set the transceiver
modes.

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Configuration Description
ncdSetNotification( ) Sets up an event to notify the application if
there are messages in the port‘s receive
queue.
ncdAddAcceptanceRange ( ) Open the acceptance filter for a ID range.
ncdRemoveAcceptanceRange ( ) Remove the acceptance filter for a ID range
ncdResetAcceptance ( ) Reset the acceptance filter -> acceptance fil-
ters closed.
ncdSetChannelAcceptance ( ) Sets the acceptance filters used at the port for
a channel.
ncdActivateChannel ( ) A number of channels connected to the port
are activated.
ncdSetTimerRate ( ) Sets the timer rate for cyclic timer events at the
port.
ncdResetClock ( ) The port‘s clock is reset.
General Description
ncdTransmit ( ) A CAN message to be transmitted is put to the
designated channels.
ncdReceive ( ) The driver is asked to retrieve events from the
port’s receive queue. You can choose whether
to poll the port or wait for an incoming event. It
is possible to read multiple events at a time,
but the caller must provide the memory.
ncdReceive1 ( ) The driver is asked to retrieve a single event

from the application‘s receive queue.
ncdGetEventString ( ) Used to get information of an event as string.
ncdRequestChipState ( ) The state of a CAN controller is requested.
ncdGetState ( ) The last error code of the port is returned.
ncdFlushReceiveQueue ( ) The receive queue of a port is flushed.
ncdFlushTransmitQueue ( ) The transmit queue of a channel is flushed.
ncdGetReceiveQueueLevel ( ) The number of elements in a port’s receive
queue is returned.
ncdGetErrorString ( ) Used to get a description of an error code as
string.
ncdGetChannelVersion ( ) Get version information of a channel.

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Deinitialization Description
ncdDeactivateChannel ( ) A number of channels connected to the port
are deactivated.
ncdClosePort ( ) The application’s driver access port is closed.
ncdCloseDriver ( ) The driver is closed.
Port functions for which channel ncdSetChannelMode ( )

must be deactivated. ncdSetChannelOutput ( )
ncdSetChannelParams ( )
ncdSetChannelParamsC200 ( )
ncdSetChannelAcceptance ( )
ncdAddAcceptanceRange ( )
ncdRemoveAcceptanceRange ( )
ncdResetAcceptance ( )
Port functions for which init. ac- ncdSetChannelOutput ( )
cess is required. ncdSetChannelParams ( )
ncdSetChannelParamsC200 ( )
ncdSetChannelTransceiver ( )

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2.1 Overview
start
ncdOpenDriver()
ncdGetDriverConfig() ncdGetApplConfig()
ncdGetChannelMask()
ncdSetApplConfig()
ncdGetChannelIndex()
ncdOpenPort()
yes
init access?
no ncdSetChannelParams() ncdSetChannelBitrate() ncdSetChannelParamsC200()
ncdSetChannelOutput()
ncdSetChannelTransceiver()
ncdSetChannelMode()
ncdSetReceiveMode()
ncdSetNotification()
ncdAddAcceptanceRange() ncdRemoveAcceptanceRange() ncdResetAcceptance() ncdSetAcceptance()
ncdActivateChannel()
ncdSetTimerRate()
ncdResetClock()
ncdReceive1()
ncdTransmit()
ncdReceive()
ncdGetEventString()
ncdRequestChipstate()
ncdGetState()
ncdFlushReceiveQueue()
ncdFlushTransmitQueue()
ncdGetReceiveQueueLevel()
ncdGetErrorString()
ncdGetChannelVersion()
ncdDeactivateChannel()
ncdClosePort()
ncdCloseDriver()
end

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2.2 Initialisation
2.2.1 ncdOpenDriver
Syntax :
Vstatus ncdOpenDriver ( void )
Description :
Each application must call this function to load the driver. If this call is unsuccessful,
no other API calls are possible.
2.2.2 ncdGetDriverConfig
Syntax :
Vstatus ncdGetDriverConfig ( int* pChanCount,
VDriverConfig* pDriverConfig)
Parameters :
Name Description
pChanCount Points to a variable, where the number of channels is returned
pDriverConfig Points to a user buffer for the information the driver returns. If a
NULL pointer is passed, the driver will only return the number of
channels supported.
The driver returns the following structure containing the information:

typedef struct _VDriverConfig {
char driverName[MAX_DRIVER_NAME+1];
unsigned short driverVersion;
void* dispatcher;
unsigned char channelCount;
VChannelConfig channel[1];
} VDriverConfig;
Name Description
driverName [ ] Array of ASCII characters containing the driver name.
driverVersion Version of the driver (example: 0x0300 means 3.0)
dispatcher Internal use

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Name Description
channelCount Number indicating how many channels of information follow.
channel [ ] The structure containing information for the first channel. If there
are more channels, the information will follow directly after this
structure.
typedef struct _VChannelConfig {

char name[MAX_CHAN_NAME+1];
unsigned char hwType;
unsigned char hwIndex;
unsigned char hwChannel;
unsigned char tranceiverType;
unsigned char channelIndex;
unsigned long channelMask;
// Channel
unsigned char isOnBus;
VchipParams chipParams;
unsigned char outputMode;
unsigned char flags;
}
Name Description
name [ ] Array of ASCII characters containing the channel’s name.
hwType HWTYPE_CANCARDXL, HWTYPE_VIRTUAL, ... (see vcand.h)
hwIndex Index of the hardware (same type) (0,1,...)
hwChannel Index of the channel (same hardware) (0,1,...)
tranceiverType TRANSCEIVER_TYPE_W210, TRANSCEIVER_TYPE_251, ...
channelIndex Global channel index (0,1,...)
channelMask Global channel mask (1<<channelIndex)
isOnBus The Flag specifies whether the channel is on the bus.
chipParams Currently active bit timing
outputMode Currently active output mode
flags Currently active options MSGFLAG_TX,MSGFLAG_TXRQ

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Description :
This function can be called at any time after a successful ncdOpenDriver().

The caller gets information how many channels are currently available.
First there might be a call passing the NULL pointer for pDriverConfig to obtain the
total number of channels; then the user allocates enough memory for all of the chan-
nel’s information and calls pDriverConfig again pointing to the allocated memory.
There are two functions ncdGetChannelMask and ncdGetChannelIndex, which sim-
plify looking for an appropriate channel. The hardware type, hardware index and
hardware channel may be entered, and the functions return the channel index or
mask if there is one.
Example :
vErr = ncdGetDriverConfig(&n,NULL); // Get the number of chan-
nels
if (vErr) __leave;
printf(“ %u channels found\n”,n);
gDriverConfig = malloc(SIZEOF_VDRIVERCONFIG(n));
if (!gDriverConfig) __leave;
// Get information about all channels
vErr = ncdGetDriverConfig(&n,gDriverConfig);
if (vErr) __leave;
// build a channel mask for all channels
for (i=0; i<n; i++) {
gChannelMask |= gDriverConfig->channel[i].channelMask;
}
2.2.3 ncdGetChannelIndex
Syntax :
int ncdGetChannelIndex( int hwType,
int hwIndex,
int hwChannel );
Parameters :
Name Description
hwType -1, HWTYPE_CANCARDXL,... (see vcand.h)
hwIndex -1,0,1 ( to distinguish between two cards of same type)
hwChannel -1,0,1 ( which hardware channel of the selected device )

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Return value :
channelIndex
Description :
Gets the channel index for one channel of a particular hardware.
Parameter -1 means all possibilities were checked.
Return value -1 means no such channel was found.
2.2.4 ncdGetChannelMask
Syntax :
Vaccess ncdGetChannelMask( int hwType,
int hwIndex,
int hwChannel );
Parameters :
Name Description
hwType -1, HWTYPE_CANCARDXL,... (see vcand.h)
hwIndex -1,0,1 ( to distinguish between two cards of same type)
hwChannel -1,0,1 ( which hardware channel of the selected device )
Return value :
channelmask
Description :
Gets the channel mask for one channel of a particular hardware.
Parameter -1 means all possibilities were checked.
Return value 0 means no channel was found.
2.2.5 ncdGetApplConfig
Syntax :
Vstatus ncdGetApplConfig( char* appName,
int appChannel,
int* hwType,
int* hwIndex,
int* hwChannel)

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Parameters :
Name Description
appName Name of Application
appChannel 0,1,...
hwIndex Index of the hardware (0,1,...)
hwChannel Index of the channel (connector) (0,1,...)
Description :
ncdGetApplConfig returns the hwIndex, hwChannel and hwType for a specific Appli-
cation and application channel. This gives the ability to register own applications into
the Vector CAN DRIVER CONFIGURATION found in the control panel.
The values hwIndex and hwChannel, which contains the hardware information, can
be used in a subsequent call to ncdGetChannelMask or ncdGetChannelIndex.
m_hwType = HWTYPE_CANCARDX;
m_channel = 0;
m_hwIndex = 0;
ncdGetApplConfig("CANlogDyn",0,(int *)&m_hwType,
&m_hwIndex,&m_channel);
ncdSetApplConfig("CANlogDyn",0,m_hwType,m_hwIndex,
m_channel);
m_channelMask = ncdGetChannelMask(m_hwType,0,m_channel);
ncdOpenPort ( &m_portHandle, "CANlogDyn" , m_channelMask ,
m_channelMask, &m_permissionMask,128);
2.2.6 ncdSetApplConfig
Syntax :
Vstatus ncdSetApplConfig( char* appName,
int appChannel,
int hwType,
int hwIndex,
int hwChannel)

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Parameters :
Name Description
appName Name of Application
appChannel 0,1,...
hwIndex Index of the hardware (slot) (0,1,...)
hwChannel Index of the channel (connector) (0,1,...)
Description :
Correspondig to ncdGetApplConfig( ) this function sets the application configuration,
but it can also done in the CAN DRIVER CONFIGURATION. If the application name
does not exist, a new one is generated.

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2.2.7 ncdOpenPort
Syntax :
Vstatus ncdOpenPort ( VportHandle *portHandle,
char *userName,
Vaccess accessMask,
Vaccess initMask,
Vaccess *permissionMask,
int rxQueueSize)
Parameters :
Name Description
portHandle Pointer to a variable where the port handle is returned. This
handle must be used for any further calls to the port. If -1 is
returned, the port was neither created nor opened.
userName The name of the application which uses the port must be
unique on each call.
accessMask Mask specifying which channels shall be used with this port.
initMask Mask specifying the channels for which the ports wants addi-
tional access for initialisation (e.g. to set the bit timing). Only
one port can have init access to a channel.
permissionMask Pointer to a variable where the mask is returned for the chan-
nel for which init access is granted.
rxQueueSize Size of the port’s receive queue allocated by the driver. Speci-
fies how many events can be stored in the queue. The value
should be a power of 2. If not, the value is rounded up to the
next power of 2. (max. queue size is 32k)
If the call is unsuccessful, check permissionMask. Some channels may have been
opened successfully; they are returned in permissionMask.
Vstatus Meaning
VSUCCESS Access to all requested channels, but init access only for channels
returned in permission mask.
VERROR Open failed, no access.
The application tells the driver the channels it wants to access and for which of these
channels it wants permission to initialise the channel. Only one port can get init per-
mission to initialise a channel. The permitted init access is returned.

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Example :
This example should help you to understand the meanings of channel index and
channel mask.
The following example is a possible configuration.
Index Mask
virtual channel1 0 0x0001
channel2 1 0x0002
CANcardX channel1 2 0x0004
channel2 3 0x0008
Channels are identified by their channel index. Most functions expect a bit mask to
identify multiple channels.
The bit mask is constructed by channelMask = 1<< channelIndex.
Channel mask :
CANcardX channel1
............ 0 0 1 0 0
CANcardX channel2
............ 0 1 0 0 0
channel mask for CANcardX channel1 and channel2

............ 0 1 1 0 0
// select CANcardX channel 1

gChannelMask = ncdGetChannelMask(HWTYPE_CANCARDX,-1,0);
if(!gChannelMask) return VERR_HW_NOT_PRESENT;
// try to get init access to all channels
gInitMask = gChannelMask;
vErr = ncdOpenPort(&gPortHandle,„CANDEMO„,gChannelMask,gInitMask,
&gPermissionMask,1024);

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2.3 Configuration
2.3.1 ncdSetChannelBitrate
Syntax :
Vstatus ncdSetChannelBitrate (VportHandle portHandle,
Vaccess accessMask,
unsigned long bitrate)
Parameters :
Name Description
bitrate Bit rate in BPS. May be in the range 5000 - 1000000
Description :
ncdSetChannelBitrate provides a simple way to specify the bit rate.
2.3.2 ncdSetChannelParams
Syntax :
Vstatus ncdSetChannelParams ( VportHandle portHandle,
Vaccess accessMask,
VchipParams* pChipParams )
Parameters :
Name Description
pChipParams Pointer to an array of chip parameters. There must be a parame-
ter structure for each channel selected by accessMask. The first
structure belongs to the least significant bit that is set at access-
Mask.
The structure for the chip parameters has the following format.
struct _Vchip_params {
unsigned long bitRate;
unsigned char sjw;
unsigned char tseg1;
unsigned char tseg2;
unsigned char sam;
};

22
Name Description
bitRate This value specifies the real bit rate, e.g. 125,000.
Sjw The ‘sjw’ value of CAN bus timing.
tseg1 The ‘tseg1’ value of CAN bus timing.
tseg2 The ‘tseg2’ value of CAN bus timing.
Sam The ‘sam’ value of CAN bus timing.
Samples may be 1 or 3.
For more information about the bit timing of the CAN controller please refer to some
of the CAN literature or CAN controller data sheets.
Description :
This initialises the channels defined by accessMask with the given parameters. To
call this function the port must have init access and the selected channels must be
deactivated.
Return value :
VERR_WRONG_PARAMETER The parameter are not valid.
Example :
To calculate your baudrate use following formula:
Baudrate = f/(2*presc*(1+tseg1+tseg2)
presc: CAN-Prescaler [1..64]
sjw: CAN-Synchronisation-Jump-Width [1..4]
tseg1: CAN-Time-Segment-1 [1..16]
tseg2: CAN-Time-Segment-2 [1..8]
sam: CAN-Sample-Mode 1:3Sample
f: crystal frequency is 16 MHz
The Prescaler will be conformed automatically.
Here are some examples:
Presc sjw tseg1 tseg2 sam
1 MBaud 1 1 4 3 0
500 kBaud 1 1 8 7 0
100 kBaud 4 4 12 8 1
10 kBaud 32 4 16 8 1

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2.3.3 ncdSetChannelParamsC200
Syntax :
Vstatus ncdSetChannelParamsC200 ( VportHandle portHandle,
Vaccess accessMask,
unsigned char btr0,
unsigned char btr1)
Parameters :
Name Description
btr0 BTRO value for a C200 or 527 compatible controller.
btr1 BTR1 value for a C200 or 527 compatible controller.
Description :
ncdSetChannelParamsC200 offers C200 Basic-CAN controller settings.
2.3.4 ncdSetChannelOutput
Syntax :
Vstatus ncdSetChannelOutput ( VportHandle portHandle,
Vaccess accessMask,
int mode )
Parameters :
Name Description
mode mode specifies the output mode of the CAN chip.
OUTPUT_MODE_SILENT = No acknowledge will be generated
on receive (silent mode)
OUTPUT_MODE_NORMAL = Acknowledge (normal mode)
Description :
If mode is OUTPUT_MODE_SILENT the CAN chip will not generate an acknowledge
when a CAN message is received. It’s not possible to send messages, but you can
receive messages in the silent mode . Normal mode is the default mode.
To call this function the port must have init access to the specified channels, and the
channels must be deactivated.

24
2.3.5 ncdSetChannelMode
Syntax :
Vstatus ncdSetChannelMode ( VportHandle portHandle,
Vaccess accessMask,
int tx,
int txrq )
Parameters :
Name Description
tx A flag specifying whether the channel should generate receipts
when a message is transmitted by the CAN chip.
1 = generate receipts, 0 = deactivated.
txrq A flag specifying whether the channel should generate receipts
when a message is requested for transmission by the CAN chip.
1 = generate receipts, 0 = deactivated.
Description :
For the CAN channels defined by accessMask this sets whether the caller will get a
TX and/or a TXRQ receipt for transmitted messages. The defaults are TXRQ deacti-
vated and TX activated.
2.3.6 ncdSetReceiveMode
Syntax :
Vstatus ncdSetReceiveMode( VportHandle Port,
unsigned char ErrorFrame,
unsigned char ChipState)
Parameters :
Name Description
Port Port Handle
ErrorFrame suppress error frames
ChipState suppress chipstate events
Description :
Suppress error frames and chipstate events with „0“ und allow with „1“. Default is
allow error frames and chipstate events.

25
2.3.7 ncdSetChannelTransceiver
Syntax :
Vstatus ncdSetChannelTransceiver ( VportHandle portHandle,
Vaccess accessMask,
int type,
int lineMode,
int resNet)
Description :
This function is used to set the transceiver modes. The possible transceiver modes
depend on the transceiver type connected to the CANcardXL, CANcardX or CAN-
AC2-PCI. The port must have init access to the channels.
Parameters for following CANcabs:
2.3.7.1 Lowspeed
Lowspeed (252/1053/1054)
type TRANSCEIVER_TYPE_252
lineMode VCAN_TRANSCEIVER_LINEMODE_SLEEP Put CANcab into sleep
mode
VCAN_TRANSCEIVER_LINEMODE_NORMAL Enable normal opera-
tion
resNet Must be TRANSCEIVER_RESNET_NA
You can detect a transceiver error by checking the MSGFLAG_NERR in the event
returned by ncdReceive or ncdReceive1.
2.3.7.2 Single Wire

rrr
Single Wire (5790c and 5790opto c)

type TRANSCEIVER_TYPE_SWC
lineMode TRANSCEIVER_LINEMODE_SWC_SLEEP Switch to sleep mode
TRANSCEIVER_LINEMODE_SWC_NORMAL Switch to normal opera-
tion
TRANSCEIVER_LINEMODE_SWC_FAST Switch transceiver to
fast mode
TRANSCEIVER_LINEMODE_SWC_WAKEUP Enable sending of high
voltage messages
(used to wakeup sleep-
ing nodes on the bus)

26
Single Wire (5790c and 5790opto c)

Each message will be send as high voltage message, if you set

TRANSCEIVER_LINEMODE_SWC_WAKEUP with ncdSetChannelTransceiver(...).
If you want to send one high voltage message for single wire, use the flag
MSGFLAG_WAKEUP for ncdTransmit(...). To flush the queue and transmit a high
voltage message make a „or“ combination between the MSGFLAG_WAKEUP and
MSGFLAG_OVERRUN.
event.tagData.msg.flags = MSGFLAG_WAKEUP;
vErr = ncdTransmit(gPortHandle, chanMask, &event);
You can detect high voltage messages by checking the MSGFLAG_WAKEUP in the
event returned by ncdReceive or ncdReceive1.
2.3.7.3 CANcab EVA

The CANcab EVA has two Output Lines which can be switched.
rrr
CANcab EVA
type TRANSCEIVER_TYPE_EVA
lineMode VCAN_TRANSCEIVER_LINEMODE_EVA_00 Both Output Lines Low
VCAN_TRANSCEIVER_LINEMODE_EVA_01 Output 1 is High and
Output 2 is Low
VCAN_TRANSCEIVER_LINEMODE_EVA_10 Output 1 is Low and
Output 2 is High
VCAN_TRANSCEIVER_LINEMODE_EVA_11 Both Output Lines High
2.3.7.4 CANcab 10011 (Truck & Trailer)

The CANcab 10011 can operate in two wire mode (normal operation) or in one wire
mode on CAN High or CAN Low.
CANcab 10011
type TRANSCEIVER_TYPE_TT
Line VCAN_TRANSCEIVER_LINEMODE_NORMAL Normal operation on
CAN High and CAN
Mode
Low
VCAN_TRANSCEIVER_LINEMODE_TT_CAN_H One Wire Mode on
CAN High

27
CANcab 10011
VCAN_TRANSCEIVER_LINEMODE_TT_CAN_L One Wire Mode on
CAN Low
VCAN_TRANSCEIVER_LINEMODE_EVA_11 Both Output Lines
High
2.3.7.5 Highspeed
Highspeed (1041 and 1041opto)
type TRANSCEIVER_TYPE_1041
lineMode VCAN_TRANSCEIVER_LINEMODE_SLEEP Put CANcab into sleep
mode
VCAN_TRANSCEIVER_LINEMODE_NORMAL Enable normal opera-
tion
2.3.8 ncdSetNotification
Syntax :
Vstatus ncdSetNotification ( VportHandle portHandle,
unsigned long *handle,
int queueLevel)
Parameters :
Name Description
handle WIN32 event handle
queueLevel Queue level that triggers this event
Description :
This sets up an event to notify the application if there are messages in the port‘s re-
ceive queue.
queueLevel specifies the number of messages that triggers the event. Note that the
event is triggered only once when the queueLevel is reached. An application should
read all available messages by ncdReceive or ncdReceive1 to be sure to re-enable
the event.
Example :
h = CreateEvent(NULL, FALSE, FALSE, NULL);

28
vErr = ncdSetNotification (gPortHandle,&h, 1);

// Wait for event
while (WaitForSingleObject(h,1000)==WAIT_TIMEOUT);
do {
vErr = ncdReceive1(gPortHandle,&pEvent); // Get the event
}while (vErr == 0);
2.3.9 ncdAddAcceptanceRange
Syntax :
Vstatus ncdAddAcceptanceRange( VportHandle portHandle,
Vaccess accessMask,
unsigned long first_id,
unsigned long last_id);
Parameters :
Name Description
first_id first ID to pass acceptance filter.
last_id last ID to pass acceptance filter.
Description :
ncdAddAcceptanceRange is only implemented for standard identifier. You can set a
range for the acceptance filter several times.
Different ports may have different filters for a channel. If the CAN hardware cannot
implement the filter, the driver virtualises filtering.
Available in driver version 3.0 or greater.
Note: The default is acceptance filters closed!
Example :
// receive ID between 10 and 17, 22 and 33;
vErr = ncdAddAcceptanceRange (gPortHandle,gChannelMask,10,17);
vErr = ncdAddAcceptanceRange (gPortHandle,gChannelMask,22,33);
2.3.10 ncdRemoveAcceptanceRange
Syntax :
Vstatus ncdRemoveAcceptanceRange(VportHandle portHandle,
Vaccess accessMask,
unsigned long first_id,
unsigned long last_id);

29
Parameters :
Name Description
first_id first ID of the range to be filtered.
last_id last ID of the range to be filtered.
Description :
The specified ID’s will not pass the acceptance filter. ncdRemoveAcceptanceRange
is only implemented for standard identifier. You can remove a range of the accep-
tance filter several times.
Example :
// remove range between 10 and 13, 27 and 30 .
ncdRemoveAcceptanceRange (gPortHandle , gChannelMask, 10, 13);
ncdRemoveAcceptanceRange (gPortHandle , gChannelMask, 27, 30);
2.3.11 ncdResetAcceptance
Syntax :
Vstatus ncdResetAcceptance( VportHandle portHandle,
Vaccess accessMask,
int extended);
Parameters :
Name Description
extended reset for extended(=1) or standard (=0) identifier filtering.
Description :
The filter is completely closed. No ID will pass the filter. ncdResetAcceptance is only
implemented for standard identifier.
Example :
// close the filter completly.
ncdResetAcceptance (gPortHandle , gChannelMask,0);

30
2.3.12 ncdSetChannelAcceptance
Syntax :
Vstatus ncdSetChannelAcceptance ( VportHandle portHandle,
Vaccess accessMask,
VsetAcceptance *filter)
Parameters :
Name Description
filter Pointer to an acceptance filter.
The structure for the acceptance filter has the following outline.
struct _Vset_acceptance {
unsigned long code;
unsigned long mask;
};
Name Description
code The acceptance code for id filtering
mask The acceptance mask for id filtering
bit = 1 means relevant
To distinguish whether the filter is for standard or extended identifiers. For extended
identifiers the MSB of the code and mask are set.
Description :
Accept if ((id ^ code) & mask) == 0).
Note: The default is acceptance filters closed!Example :
standard (11bit) extended (29 bit)
Open all:
acc.mask 0x000 0x80000000
acc.code 0x000 0x80000000
Open for Id 1 (0x001):
acc.mask 0x7FF 0x9FFFFFFF
acc.code 0x001 0x80000001

31
Close:
acc.mask 0xFFF 0xFFFFFFFF
acc.code 0xFFF 0xFFFFFFFF
vErr = ncdSetChannelAcceptance(gPortHandle,gChannelMask,&acc);
if (vErr) __leave;
To set the acceptance filter for several Id’s use following formula:
code = id(1)
mask = 0XFFF
loop over id(1) ... id(n)
mask = (!(id(n)&mask)xor(code&mask))and mask
Example for Id=4 and Id=6:

binary general rule
mask:
Id=6 (0x006) 0110 Compare the Id’s at each bit position. If
Id=4 (0x004) 0100 they are different, mask at this bit posi-
tion must be “0”
-> mask 1101
code:
-> code 0110
Take one Id (it doesn’t matter which one)
2.3.13 ncdActivateChannel
Syntax :
Vstatus ncdActivateChannel ( VportHandle portHandle,
Vaccess accessMask )
Description :
The selected channels go ‚on the bus‘. From now on the user can transmit and re-
ceive messages on the CAN bus. The CAN controller channel is activated if this has
not already been done.

32
2.3.14 ncdSetTimerRate
Syntax :
Vstatus ncdSetTimerRate ( VportHandle portHandle,
unsigned long timerRate )
Parameters :
Name Description
timerRate Value specifying the interval for cyclic timer events generated by
a port. If 0 is passed no cyclic timer events will be generated.
Description :
This call sets up the rate for the port‘s cyclic timer events.
The resolution is 10 µs. The minimum and maximum timerRate values depend on
the hardware. If a value is outside of the allowable range the limit value is used.
Note:Timer events will only be generated if no other event occurred during the timer
interval. The timer events are generated on the card and the acceptance filter is real-
ized on PC. This may lead to the situation, that an application will receive no can
messages and no timer events, if the can messages are blocked by the acceptance
filter.
2.3.15 ncdResetClock
Syntax :
Vstatus ncdResetClock ( VportHandle portHandle )
Description :
Clocks of all channels connected to the port are reset.

33
2.4 General
2.4.1 ncdReceive1
Syntax :
Vstatus ncdReceive1 ( VportHandle portHandle,
Vevent **ppEvent)
Parameters :
Name Description
ppEvent Pointer to pointer to received event
Return value :
VERR_QUEUE_IS_EMPTY No event is available
Description :
The driver is asked to retrieve a single event from the application‘s receive queue.
This function is optimised for speed. It returns a pointer to the received event.
Lifetime of the data is until the next call of ncdReceive1.
It returns VERR_QUEUE_IS_EMPTY and *ppEvent=NULL if no event is available.
2.4.2 ncdTransmit
Syntax :
Vstatus ncdTransmit ( VportHandle portHandle,
Vaccess accessMask,
Vevent *pEvent )
Parameters :
Name Description
pEvent Pointer to a driver event that is to be transmitted on every se-
lected channel.
Return value :
VERR_QUEUE_IS_FULL A channel‘s transmit queue is full.

34
Description :
A CAN message will be put to the designated channels to be transmitted.
Example :
event.tag = V_TRANSMIT_MSG;
event.tagData.msg.id = 100;
event.tagData.msg.flags = 0;
event.tagData.msg.data[0] = 1;
event.tagData.msg.dlc = 8;
vErr = ncdTransmit(gPortHandle, chanMask, &event);
2.4.3 ncdReceive
Syntax :
Vstatus ncdReceive ( VportHandle portHandle,
int receiveMode,
unsigned int waitHandle,
int* pEventCount,
Vevent *pEventList )
Parameters :
Name Description
receiveMode Specifies the calling mode for this function.
VCAN_POLL The function reads the port’s receive queue
and returns immediately. pEventCount indi-
cates whether events were read or not.
VCAN_NOTIFY VCAN_NOTIFY is obsolete and not supported
in all new driver versions (>=3.0). Please use
ncdSetNotification(...).
waitHandle Handle to the Win32 event when using VCAN_NOTIFY (<3.0) .
pEventCount Pointer to a long, specifying how many events should be read. On
return the value contains the number of read events.

35
Name Description
pEventList Pointer to a user buffer. The buffer must be large enough for
*pEventCount events.
Description :
For a successful call the channels must be initialized and activated. The function
reads the port‘s receive queue.
When the function uses VCAN_POLL, a maximum of *pEventCount events are read
from the queue and passed to the user buffer (pEventList). When there are fewer
events in the queue, the function reads them and stores the number at
*pEventCount. If the queue is empty ‘0’ is written to *pEventCount.
Example :
count = 4;
vErr = ncdReceive(gPortHandle,VCAN_POLL,h,&count,&rxEv[0]);
if (vErr==VSUCCESS) {
if (count!=0) {
for (i=0; i<count; i++)
printf(“%s\n”,ncdGetEventString(&rxEv[i]));
}
}
2.4.4 ncdGetEventString
Syntax :
char * ncdGetEventString ( Vevent *ev )
Parameters :
Name Description
ev Pointer to Vevent
Return value :
Text string
Description :
Returns a textual description of the given event( more details see chapter 4.Events).
// RX_MSG=receive a message, c=channel( ex. virtual channel1),
// t=timestamp=1936284628, id=identifier 1, l=dlc= 8,
// data=0102030405060708, tid=internal use
RX_MSG c=1, t=1936284628, id=0001, l=8, 0102030405060708 tid=0

36
2.4.5 ncdRequestChipState
Syntax :
Vstatus ncdRequestChipState ( VportHandle portHandle,
Description :
This function requests a CAN controller chipstate for all selected channels. For each
channel, a V_CHIPSTATE event can be received by calling ncdReceive().
2.4.6 ncdGetState
Syntax :
Vstatus ncdGetState ( VportHandle portHandle )
Description :
The last error code of the port is returned.
2.4.7 ncdFlushReceiveQueue
Syntax :
Vstatus ncdFlushReceiveQueue ( VportHandle portHandle )
Description :
The function flushes the port‘s receive queue.
2.4.8 ncdFlushTransmitQueue
Syntax :
Vstatus ncdFlushTransmitQueue ( VportHandle portHandle,
Description :
The function flushes the transmit queues of the selected channels.
2.4.9 ncdGetReceiveQueueLevel
Syntax :
Vstatus ncdGetReceiveQueueLevel ( VportHandle portHandle,
int* level )

37
Parameters :
Name Description
level Pointer to a long where the actual count of events in the receive
queue is returned.
Description
The function returns the count of events in the port’s receive queue.
2.4.10 ncdGetErrorString
Syntax :
char * ncdGetErrorString( Vstatus err )
Parameters :
Name Description
err Error code (chapter 3)
Return value :
Text string
Description :
Returns a textual description of the given error code.
2.4.11 ncdGetChannelVersion
Vstatus ncdGetChannelVersion( unsigned long ChannelIndex,
unsigned long* FwVersion,
unsigned long* HwVersion,
unsigned long* SerialNumber)
Parameters :
Name Description
ChannelIndex Global channel index (0,1,...)
FwVersion Firmware Version (1376293dez=1.50.025hex; Version 1.5)
HwVersion Hardware Version (256dez=1.00hex; Version 1.0)
SerialNumber Hardware Serial Number (0505200)
Description :
Get version information if available.

38
2.5 Deinitialisation
2.5.1 ncdDeactivateChannel
Syntax :
Vstatus ncdDeactivateChannel ( VportHandle portHandle,
Description :
The selected channels go ‚off the bus‘. The CAN controller channel is deactivated if
there is no further port which activated the channel.
2.5.2 ncdClosePort
Syntax :
Vstatus ncdClosePort ( VportHandle portHandle )
Return value :
VSUCCESS is always returned, because even on an error it is not safe to perform
further port or channel accesses.
Description :
The port is closed and the channels are deactivated.
2.5.3 ncdCloseDriver
Syntax :
Vstatus ncdCloseDriver ( void )
Description :
The driver is closed. This is used to unload the driver if no other application is using
it.

39
3 Error Codes
3.1 Overview
In this section all error codes are described which may be returned by a driver call.
3.1.1 VSUCCESS
Code : 0
Description : The driver call was successful.
3.1.2 VPENDING
Code : 1
Description : Can only occur at ncdReceive() called with VCAN_NOTIFY. There were
no events in the receive queue. The driver will notify the user of a WIN32 event if
events arrive.
3.1.3 VERR_QUEUE_IS_EMPTY
Code : 10
Description : The receive queue of the port is empty. The user can proceed normally.
3.1.4 VERR_QUEUE_IS_FULL
Code : 11
Description : The transmit queue of a channel is full. The transmit event will be lost.
3.1.5 VERR_TX_NOT_POSSIBLE
Code : 12
Description : The hardware is busy and not able to transmit an event at once.
3.1.6 VERR_WRONG_PARAMETER
Code : 101
Description : At least one parameter passed to the driver was wrong or invalid.
3.1.7 VERR_INVALID_CHAN_INDEX
Code : 111
Description : The driver attempted to access a channel with an invalid index.
3.1.8 VERR_INVALID_ACCESS
Code : 112
Description : The user made a call to a port specifying channel(s) for which he had
not declared access at opening of the port.

40
3.1.9 VERR_PORT_IS_OFFLINE
Code : 113
Description : The user called a port function whose execution must be online, but the
port is offline.
3.1.10 VERR_CHAN_IS_ONLINE
Code : 116
Description : The user called a function whose desired channels must be offline, but
at least one channel is online.
3.1.11 VERR_NOT_IMPLEMENTED
Code : 117
Description : The user called a function which isn’t implemented.
3.1.12 VERR_INVALID_PORT
Code : 118
Description : The driver attempted to access a port by an invalid pointer or index.
3.1.13 VERR_CMD_TIMEOUT
Code : 121
Description : The timeout condition occurred while waiting for the response event of
a command.
3.1.14 VERR_HW_NOT_PRESENT
Code : 129
Description : The hardware is not present (or could not be found) at a channel. This
may occur with removable hardware or faulty hardware.
3.1.15 VERR_NOTIFY_ALREADY_ACTIVE
Code : 131
Description : A ncdReceive() call with notify option is already active at the called port.
This second receive call is ignored.
3.1.16 VERR_CANNOT_OPEN_DRIVER
Code : 201
Description : The attempt to load or open the driver failed. That might be because
the driver file cannot be found, the driver is already loaded, or parts of a previously
unloaded driver are still in the system.
3.1.17 VERROR
Code : 255
Description : An unspecified error occurred.

41
4 Events
4.1 Overview
Events are the data structures passed from the driver to the application. Events usu-
ally contain CAN messages, errorframes, chipstates, etc.
A C struct for the event is defined in VCAND.H.
The structure of a driver event has the following outline.
Data type Name Description
unsigned char tag Specifies the type of event. See below.
unsigned char chanIndex Contains the channel index on which the event
was received (if applicable).
unsigned char transId Internal use only.
The application must not use the transId, be-
cause it will be overwritten!!!
unsigned char portHandle Internal use only.
The application must not use the portHandle,
because it will be overwritten!!!
unsigned long timeStamp This field contains the time when the event oc-
curred. The resolution is 10/usec, and the timer
may be reset by ncdResetClock.
union tagData The information data of the event.
Possible values for tag:
Event type Description
V_RECEIVE_MSG CAN message received on the CAN bus.
V_TRANSMIT_MSG CAN message to transmit on the CAN bus.
V_CHIP_STATE Current state of the CAN bus controller.
V_TIMER A timer event generated by the hardware.
V_TRANSCEIVER An event from the CANcab transceiver.
There are different structures for the events distinguished by the tag. The structures
are placed in the tagData union and are described in the following chapters.

42
4.1.1 V_RECEIVE_MESSAGE - V_TRANSMIT_MESSAGE

These events specify messages transmitted or received on the CAN bus.
Name Description
id The CAN identifier of the message. If the MSB of the id is set, it is an ex-
tended identifier.
flags The flags notify some special messages or states. To set multiple flags
they are OR‘d.
MSGFLAG_ERROR_FRAME The event is an error frame
MSGFLAG_OVERRUN An overrun occurred in the CAN controller
MSGFLAG_REMOTE_FRAME The event is a remote frame
MSGFLAG_TX Notification of successful transmission
of a message
MSGFLAG_TXRQ Notification of request for transmission
of a message
MSGFLAG_NERR The transceiver reported a error while
the message was received. (only possi-
ble on Lowspeed CANcabs)
MSGFLAG_WAKEUP High voltage message for Single Wire.
To flush the queue and transmit a high
voltage message make a „or“ combina-
tion between the MSGFLAG_WAKEUP
and MSGFLAG_OVERRUN.
dlc The length of a message
data[8] Array containing the data

43
4.1.2 V_CHIP_STATE
The state of the selected channels is requested by ncdRequestChipState. The reply
will be received as an event (V_CHIP_STATE). For each channel, an event can be
received by calling ncdReceive().
Name Description
busStatus Returns the state of the CAN controller. The following codes are
possible:
BUSSTAT_BUSOFF The bus is offline
BUSSTAT_ERROR_PASSIVE One of the error counters
has reached the error level
BUSSTAT_ERROR_WARNING One of the error counters
has reached the warning
BUSSTAT_ERROR_ACTIVE level
The bus is online
txErrorCounter Error counter for the transmit section of the CAN controller
rxErrorCounter Error counter for the receive section of the CAN controller.
(tx and rx counter -> only CANcardX)
4.1.3 V_TIMER
A timer event can be generated cyclically by the driver to keep the application alive.

44
5 Programming Examples
5.1 Overview
Several programming examples are available.

CANvbas - utilizes all important functions from the driver library.
- Visual Basic project.
- with vbAddAcceptanceRange(...), vbAddAcceptanceRange(...),
vbResetAcceptance(...)
CANlogDyn - log messages from the CAN bus
- Windows program written with Visual C++ 6.0
- load vcand32.dll dynamically with loadlib.cpp
- with ncdGetApplConfig(...) and ncdSetApplConfig(...)
CANlog - log messages from the CAN bus
- Borland 5.02 project
- with ncdReceive1(...)
CANgen - generate messages on the CAN bus.
- MS Visual 6.0 project
- with ncdTransmit(...)
- with thread for transmit the messages
CANdemo - utilizes different functions from the driver library
- with ncdGetDriverConfig(...)
CANcount - count messages from the CAN bus
- with ncdGetApplConfig(...) and ncdSetApplConfig(...)
CANdelph - trace messages from the CAN bus
- Delphi project 2.0.
CANlatw - get the time delay of a sending message between TxRq and Tx
- Borland C++ Builder 3.0 project
CANtrace - trace messages from the CAN bus
LabView - three samples (OpenCAN.vi, CloseCAN.vi, Send&read.vi)
- LabView project 5.1
- library VLabLib.llb with all functions

45
5.1.1 CANvbas
Function:
You can use the canvbas sample to generate and log messages to/from the CAN
bus. This sample utilizes all important functions from the driver library. In contrast to
chapter 5.1.5 CANdemo, this sample is written in Visual Basic with similar functions.

46
5.1.2 CANlogDyn
Function:
You can use the CANlogDyn sample to log messages from the CAN bus on screen.
In contrast to chapter 5.1.3 CANlog, this sample is written with Visual C++ 6.0.
5.1.3 CANlog
Function:
You can use the canlog sample to log messages from the CAN bus on screen.
Options:
CANLOG -bx : Set bitrate to x (default = 500000)
-v : Use virtual channel 1 (default CANcardX channel 1
-chx : Set channel (default x = 1)
-pci : Use CAN-AC2-PCI
-cancardxl : Use CANcardXL
-h : Help
-ESC : Exit

47
5.1.4 CANgen
Function:
You can use the cangen sample to generate messages on the CAN bus.
Options:
CANGEN -ix : Set identifier to x (default = 100)
-bx : Set bitrate to x (default = 500000)
-cx : Set transmission cycle to x ms (default = 1000)
-nx : Set transmission burst size to x msgs (default = 1)
-v : Use virtual channel 1 (default CANcardX channel 2)
-l : Log events to screen
-chx : Set channel (default x = 2)
-h : Help
-ESC : Exit
The fastest possible transmission cycle is 1ms.
5.1.5 CANdemo
Function:
You can use the candemo sample to generate and log messages to/from the CAN
bus. This sample utilizes all important functions from the driver library. CANdemo is
running with a baudrate of 500 kBaud by default. You can change the baudrate by
calling CANdemo with a baudrate, e.g. „CANdemo 100000“, so CANdemo is in this
case running with a baudrate of 100 kBaud.
While the program is running you can change the options by pressing the appropri-
ate key.
Options:
CANDEMO -t : Transmit a message
-b : Transmit a message burst
-m : Transmit a remote message
-g : Request chipstate
-s : Start/Stop
-r : Reset clock

48
-c/C/1-9 : Select channel

-i/I : Select transmit id
-x : Select extended id
-o : Toggle output mode
-a : Toggle timer
-v : Toggle logging to screen
-h : Help
-ESC : Exit
5.1.6 CANcount
Function:
You can use the cancount sample to count messages from the CAN bus on screen.
Options:
CANCOUNT -bx : Set bitrate to x (default = 500000)
-v : Use a virtual channel (default CANcardX)
-l : Log messages on screen
-2 : Use channel 2 (default channel 1)
-h : Help
-ESC : Exit

49
5.1.7 CANtrace
Function:
You can use the cantrace sample to trace messages from the CAN bus on screen.
Options:
CANTRACE -bx : Set bitrate to x (default = 500000)
-v : Use a virtual channel (default CANcardX)
-2 : Use channel 2 (default channel 1)
-h : Help
-ESC : Exit
5.1.8 CANsing
Function:
You can use the cansing sample to generate your own library that provides some
comp ability with cancard.dll from Softing. Because of the large number of different
Versions of the Softing API this sample is only tested with the API CANcard V2.04.
We have implemented the queue-oriented (or FIFO-oriented) functions only; these
seem to be the most commonly used ones.
We are providing this software in order to facilitate the porting of your applications to
use CANcardXL, CANcardX and CAN-AC2-PCI. We do not claim 100% comp ability
with current or future software from Softing. This sample was implemented by read-
ing Softing‘s manuals and undocumented features have probably remained unim-
plemented.
Example:
Generate your own library with cansing.c and vcand32.lib (Borland ) or vcandm32.lib
(Microsoft).
Result: new cansing.lib
Link the new import library to your current software project and include „CANsing.h“
instead of „cancard.h“.

50
5.1.9 CANlatw
Function:
You can use the CANlatw sample to get the time delay of a sending message be-
tween TxRq (message is loaded into CAN controller) and Tx (message is sent to
CAN bus). This delay depends on baudrate, length of the CAN message and time
lost due to arbitration processes. CANlatw display the evaluated values online as
histogram.
CANlatw uses the following defaults:
Baudrate: 500 kBaud
Identifier: 100
Cycle Time: 1s
Messages per Cycle: 1
You can change these defaults with the following command line options:
-mx :set messages per cycle to x
-ix :set identifier to x
-cx :set cycle time to x (seconds)
-bx :set baudrate to x (both, baud and kBaud can be used)
CANlatw is built with the "Borland C++ Builder", Version 3.0.
5.1.10 CANtracD
Function:
You can use the CANtracD sample to trace messages from the CAN bus on screen.
In contrast to chapter 5.1.7 CANtrace this sample is written with Delphi 7.0and you
exit by pressing “Crtl + C”.
5.1.11 LabView
VLabLib.llb utilizes all important functions from the driver library.
VLabSample.llb includes three samples:
• OpenCAN.vi : open CAN
• CloseCAN.vi : close CAN
• Send&read.vi : send and read messages from the CAN bus
The library and samples are generated with LabView 5.1.

51
5.1.12 Load vcand32.dll dynamically

If you want to load the vcand32.dll dynamically, please insert the file loadlib.cpp in
your project. The vcand.h supports loading of vcand32.dll dynamically. Sample 5.1.2
CANlogDyn shows how to load it. Important is, that it is not necessary to change your
source code, because ncdOpenDriver() loads the dll and ncdCloseDriver() unloads
the dll.
5.1.13 General
To compile a new exe file you will need the import library, header file and the dll.
VCAND32.DLL Driver DLL for Vector CANcardX (Borland and Microsoft)
VCAND.H Header for CANGEN, CANLOG and CANDEMO
VCAND32.LIB IMPORT-LIBRARY for Vector CANcardX (Borland)
VCANDM32.LIB IMPORT-LIBRARY for Vector CANcardX (Microsoft)
VCAND32.DEF Def file for Borland
VCANDM32.DEF Def file for Microsoft
VBCANIF.DLL Driver DLL for Vector CANcardX (Visual Basic)
CANlibD.pas Unit für Delphi32
VLabLib.llb Library for LabView
The files are generated with Borland 5.02 and Microsoft VC++ 6.0.
The module definition-files are created with impdef.exe from Borland.
If you are working with another compiler version you should use module definition file
vcand32.def or vcandm32.def to create a new import library with lib.exe (using
VC++) or implib.exe (using Borland).
Example :
1. lib /def:vcandm32.def
2. Result: new vcandm32.lib
3. Link the new import library to your project
To run the sample programs on Windows98/ME/2000/XP or NT you will need a Vec-

tor CAN hardware like CANcardXL with the appropriate drivers.

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CAN Driver Library

User Interface Description

Vector Informatik GmbH, Ingersheimer Str. 24, D-70499 Stuttgart

1.1 Features ......................................................................................................................6

1.2 Installation ..................................................................................................................7

1.3 Driver Library..............................................................................................................7

1.4 Important Notes..........................................................................................................8

2.1 Overview ...................................................................................................................12

2.2 Initialisation ..............................................................................................................13

© Vector Informatik GmbH CAN Driver Library Version: 4.3

2.4.1 ncdReceive1 .......................................................................................................33

3.1 Overview ...................................................................................................................39

4.1 Overview ...................................................................................................................41

5 Programming Examples .....................................................................................44

5.1 Overview ...................................................................................................................44

© Vector Informatik GmbH CAN Driver Library Version: 4.3

5.1.5 CANdemo ...........................................................................................................47

© Vector Informatik GmbH CAN Driver Library Version: 4.3

© Vector Informatik GmbH CAN Driver Library Version: 4.3

Port 1 Port 2 Port 3

Receive Receive Receive

CAN Controller CAN Controller

© Vector Informatik GmbH CAN Driver Library Version: 4.3

1.1.3 Virtual Channels

1.3 Driver Library

© Vector Informatik GmbH CAN Driver Library Version: 4.3

1.4 Important Notes

1.4.1 Supported Operating Systems

Windows Windows Windows Windows Windows

© Vector Informatik GmbH CAN Driver Library Version: 4.3

© Vector Informatik GmbH CAN Driver Library Version: 4.3

ncdReceive1 ( ) The driver is asked to retrieve a single event

© Vector Informatik GmbH CAN Driver Library Version: 4.3

Port functions for which channel ncdSetChannelMode ( )

© Vector Informatik GmbH CAN Driver Library Version: 4.3

no ncdSetChannelParams() ncdSetChannelBitrate() ncdSetChannelParamsC200()

ncdAddAcceptanceRange() ncdRemoveAcceptanceRange() ncdResetAcceptance() ncdSetAcceptance()

© Vector Informatik GmbH CAN Driver Library Version: 4.3

The driver returns the following structure containing the information:

© Vector Informatik GmbH CAN Driver Library Version: 4.3

typedef struct _VChannelConfig {

© Vector Informatik GmbH CAN Driver Library Version: 4.3

This function can be called at any time after a successful ncdOpenDriver().

© Vector Informatik GmbH CAN Driver Library Version: 4.3

© Vector Informatik GmbH CAN Driver Library Version: 4.3

© Vector Informatik GmbH CAN Driver Library Version: 4.3

© Vector Informatik GmbH CAN Driver Library Version: 4.3

© Vector Informatik GmbH CAN Driver Library Version: 4.3

channel mask for CANcardX channel1 and channel2

// select CANcardX channel 1

© Vector Informatik GmbH CAN Driver Library Version: 4.3

© Vector Informatik GmbH CAN Driver Library Version: 4.3

© Vector Informatik GmbH CAN Driver Library Version: 4.3

© Vector Informatik GmbH CAN Driver Library Version: 4.3

© Vector Informatik GmbH CAN Driver Library Version: 4.3

Parameters for following CANcabs:

2.3.7.2 Single Wire

Single Wire (5790c and 5790opto c)

© Vector Informatik GmbH CAN Driver Library Version: 4.3

Single Wire (5790c and 5790opto c)

Each message will be send as high voltage message, if you set

2.3.7.3 CANcab EVA

2.3.7.4 CANcab 10011 (Truck & Trailer)

© Vector Informatik GmbH CAN Driver Library Version: 4.3