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dSPACECANAPI20CReference

The dSPACE CAN API 2.0 C Reference provides detailed information on programming custom applications for various CAN interfaces, including those from dSPACE and other manufacturers. It includes sections on API functions, data structures, error codes, and software requirements, as well as guidance on accessing the API through different programming languages. The document also emphasizes the importance of using the latest software updates and provides contact information for dSPACE support.

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0% found this document useful (0 votes)

2 views

dSPACECANAPI20CReference

Uploaded by

mohamed azarudeen

We take content rights seriously. If you suspect this is your content, claim it here.

Available Formats

Download as PDF, TXT or read online on Scribd

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dSPACE CAN API 2.

C Reference
For dSPACE CAN API Package 2024‑A

Release 2024-A – May 2024

To access the Web version of this document, click the following link or scan the QR code:
https://www.dspace.com/dspace-help/zyFFe
To access the Web version, you must have a mydSPACE account. For more information on the
mydSPACE registration process, refer to https://www.dspace.com/faq?097.
How to Contact dSPACE
Mail: dSPACE GmbH
Rathenaustraße 26
33102 Paderborn
Germany
Tel.: +49 5251 1638-0
E-mail: [email protected]
Web: https://www.dspace.com

How to Contact dSPACE Support

If you encounter a problem when using dSPACE products, contact your local dSPACE
representative:
§ Local dSPACE companies and distributors: https://www.dspace.com/go/locations
§ For countries not listed, contact dSPACE GmbH in Paderborn, Germany.
Tel.: +49 5251 1638-941 or e-mail: [email protected]

You can also use the support request form: https://www.dspace.com/go/supportrequest. If

you are logged on to mydSPACE, you are automatically identified and do not have to add
your contact details manually.

If possible, always provide the serial number of the hardware, the relevant dSPACE License
ID, or the serial number of the CmContainer in your support request.

Software Updates and Patches

dSPACE strongly recommends that you download and install the most recent patches
for your current dSPACE installation. Visit https://www.dspace.com/go/patches for the
software updates and patches themselves and for more information, such as how to
receive an automatic notification when an update or a patch is available for your dSPACE
software.

Important Notice
This publication contains proprietary information that is protected by copyright. All rights
are reserved. The publication may be printed for personal or internal use provided all the
proprietary markings are retained on all printed copies. In all other cases, the publication
must not be copied, photocopied, reproduced, translated, or reduced to any electronic
medium or machine-readable form, in whole or in part, without the prior written consent
of dSPACE GmbH.

© 2016 - 2024 by:

dSPACE GmbH
Rathenaustraße 26
33102 Paderborn
Germany

This publication and the contents hereof are subject to change without notice.

AURELION, AUTERA, ConfigurationDesk, ControlDesk, MicroAutoBox, MicroLabBox,

SCALEXIO, SIMPHERA, SYNECT, SystemDesk, TargetLink, and VEOS are registered
trademarks of dSPACE GmbH in the United States or other countries, or both. Other
brand names or product names are trademarks or registered trademarks of their respective
companies or organizations.
Contents

Contents

About this Reference 7

Introduction and Overview 9

Basics of the dSPACE CAN API 2.0................................................................... 9
Overview of the API Functions and Their Dependencies................................. 12
Files of dSPACE CAN API 2.0......................................................................... 14
Software Requirements for Working with dSPACE CAN API 2.0..................... 15
Migrating Scripts........................................................................................... 16
Discontinuation............................................................................................. 16

Demo for dSPACE CAN API 2.0 17

Overview of the dSPACE CAN API 2.0 Demo................................................. 17
Steps Shown in the Demo............................................................................. 18

General Handling 23
Data Types, Constants............................................................................................ 24
Data Types........................................................................................ ............ 24
Constants......................................................................................... ............ 24
CAN Interface Bus Types................................................................................ 25

Functions............................................................................................................... 26
DSCAN_GetBusType...................................................................................... 26

Vendor Information 29
Data Types, Constants............................................................................................ 30
CAN Vendor Names...................................................................................... 30

Structures............................................................................................................... 31
DSSCanVendorInfo........................................................................................ 31

Functions............................................................................................................... 33
Basics on Vendor Information Functions........................................................ 33
DSCAN_GetSupportedVendorsCount............................................................ 34
DSCAN_GetVendorInformation..................................................................... 34

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May 2024 dSPACE CAN API 2.0 C Reference
Contents

Channel Information 37
Data Types, Constants............................................................................................ 38
CAN Interface Names.................................................................................... 38
CAN Channel Capabilities............................................................................. 39
Enumerations................................................................................................ 39

Structures............................................................................................................... 40
DSSCanChannelInfo...................................................................................... 40
DSSCanChannelsSearchAttribute................................................................... 42

Functions............................................................................................................... 43
Basics on Channel Information Functions....................................................... 43
DSCAN_GetAvailableChannelsCount............................................................. 44
DSCAN_GetAvailableChannels...................................................................... 45
DSCAN_IsChannelAvailable........................................................................... 46

Configuration 49
Data Types, Constants............................................................................................ 50
CAN Baud Rates............................................................................................ 50
CAN Acceptance........................................................................................... 50
Enumerations................................................................................................ 51

Structures............................................................................................................... 52
DSSCanBitTimingParameters......................................................................... 52

Functions............................................................................................................... 53
Basics on Configuration Functions................................................................. 54
Basics on Bit Timing Parameters and Baud Rates............................................ 55
DSCAN_RegisterChannel............................................................................... 57
DSCAN_InitChannel...................................................................................... 59
DSCAN_UnregisterChannel........................................................................... 60
DSCAN_GetChannelInformation................................................................... 61
DSCAN_GetChannelCapabilities.................................................................... 63
DSCAN_IsChannelAccessible......................................................................... 64
DSCAN_SetBaudrate..................................................................................... 65
DSCAN_GetBaudrate.................................................................................... 66
DSCAN_SetTransmitAcknowledge................................................................. 67
DSCAN_SetChannelOutput........................................................................... 67
DSCAN_SetAcceptance................................................................................. 68
DSCAN_SetEventNotification......................................................................... 71
DSCAN_EnableBusStatistics........................................................................... 72

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dSPACE CAN API 2.0 C Reference May 2024
Contents

Communication 73
Data Types, Constants............................................................................................ 74
CAN Message TX Flags.................................................................................. 74
CAN Message RX Flags..................................................................... ............ 74
CAN Bus Statistics Flags.................................................................... ............ 75
Enumerations................................................................................................ 75

Structures............................................................................................................... 77
DSSCanBusInfo............................................................................................. 77
DSSCanMessage........................................................................................... 78
DSSCanBusStatistics...................................................................................... 79

Functions............................................................................................................... 81
Basics on Communication Functions.............................................................. 82
DSCAN_ActivateChannel.................................................................. ............ 84
DSCAN_DeactivateChannel........................................................................... 84
DSCAN_GetHardwareTimeResolution............................................................ 85
DSCAN_GetHardwareTime............................................................................ 86
DSCAN_ResetHardwareTime......................................................................... 87
DSCAN_GetReceiveQueueLevel..................................................................... 87
DSCAN_ReadReceiveQueue.............................................................. ............ 88
DSCAN_ReadReceiveQueueAndDeactivateChannel....................................... 89
DSCAN_FlushReceiveQueue.......................................................................... 90
DSCAN_TransmitMessages............................................................................ 91
DSCAN_FlushTransmitQueue......................................................................... 92
DSCAN_GetBusInfo....................................................................................... 92

Error Handling 95
Data Types, Constants............................................................................................ 96
Error Codes................................................................................................... 96

Functions............................................................................................................... 97
Basics on Error Handling Functions................................................................ 97
DSCAN_GetErrorText..................................................................................... 97
DSCAN_GetLastVendorSpecificError.............................................................. 98

Auxiliary 101
Functions............................................................................................................. 102
DSCAN_ConvertBaudrateToBitTimingParameters......................................... 102
DSCAN_ConvertBaudratesToBitTimingParameters............................. .......... 104
DSCAN_ConvertBaudrateToBitTimingParametersWithSameSPAndBRP.......... 105
DSCAN_ConvertBusTimingRegistersToBitTimingParameters......................... 105

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May 2024 dSPACE CAN API 2.0 C Reference
Contents

DSCAN_ConvertBitTimingParametersToBaudrate......................................... 106
DSCAN_ConvertBitTimingParametersToBusTimingRegisters......................... 107
DSCAN_ConvertByteCountToDlc................................................................. 108
DSCAN_ConvertDlcToByteCount................................................................. 109
DSCAN_CalculateAcceptanceFilter.............................................................. 110
DSCAN_MergeAcceptanceFilter................................................................... 111
DSCAN_EncodeBusStatistics........................................................................ 112
DSCAN_ConvertApiVersionToString............................................................. 113

Appendix 115
Basics on CAN FD........................................................................................ 115
Troubleshooting.......................................................................................... 117
Limitations.................................................................................................. 118

Index 119

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dSPACE CAN API 2.0 C Reference May 2024
About this Reference

About this Reference

Content The reference gives you detailed information on the API functions, data
structures, and error codes of the dSPACE CAN API 2.0.

Symbols dSPACE user documentation uses the following symbols:

Symbol Description
Indicates a hazardous situation that, if not avoided,
V DANGER
will result in death or serious injury.
Indicates a hazardous situation that, if not avoided,
V WARNING could result in death or serious injury.
Indicates a hazardous situation that, if not avoided,
V CAUTION could result in minor or moderate injury.
Indicates a hazard that, if not avoided, could result in
NOTICE
property damage.
Indicates important information that you should take
Note
into account to avoid malfunctions.
Indicates tips that can make your work easier.
Tip
Indicates a link that refers to a definition in the
glossary, which you can find at the end of the
document unless stated otherwise.
Follows the document title in a link that refers to
another document.

Naming conventions dSPACE user documentation uses the following naming conventions:

%name% Names enclosed in percent signs refer to environment variables for

file and path names.

<> Angle brackets contain wildcard characters or placeholders for variable

file and path names, etc.

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May 2024 dSPACE CAN API 2.0 C Reference
About this Reference

Special Windows folders Windows‑based software products use the following special folders:

Common Program Data folder A standard folder for application-specific

program data that is used by all users.
%PROGRAMDATA%\dSPACE\<InstallationGUID>\<ProductName>
or
%PROGRAMDATA%\dSPACE\<ProductName>\<VersionNumber>

Documents folder A standard folder for application‑specific files that are

used by the current user.
%USERPROFILE%\Documents\dSPACE\<ProductName>\<VersionNumber>

Local Program Data folder A standard folder for application-specific

program data that is used by the current user.
%USERPROFILE%\AppData\Local\dSPACE\<InstallationGUID>\
<ProductName>

Accessing dSPACE Help and After you install and decrypt Windows‑based dSPACE software, the
PDF files documentation for the installed products is available in dSPACE Help and as PDF
files.

dSPACE Help (local) You can open your local installation of dSPACE Help:
§ On its home page via Windows Start Menu
§ On specific content using context-sensitive help via F1

PDF files You can access PDF files via the icon in dSPACE Help. The PDF
opens on the first page.

dSPACE Help (Web) Independently of the software installation, you can

access the Web version of dSPACE Help at https://www.dspace.com/go/help.
To access the Web version, you must have a mydSPACE account.
For more information on the mydSPACE registration process, refer to
https://www.dspace.com/faq?097.

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dSPACE CAN API 2.0 C Reference May 2024
Introduction and Overview

Introduction and Overview

Where to go from here Information in this section

Basics of the dSPACE CAN API 2.0............................................................. 9

The dSPACE CAN API 2.0 lets you program custom applications for
CAN interfaces from dSPACE, Eberspächer GmbH, Kvaser, and Vector
Informatik GmbH.

Overview of the API Functions and Their Dependencies........................... 12

To make yourself familiar with the various functions of the dSPACE CAN
API 2.0 and the possible function sequences.

Files of dSPACE CAN API 2.0................................................................... 14

Overview of the important files of dSPACE CAN API 2.0 and their
locations.

Software Requirements for Working with dSPACE CAN API 2.0............... 15

Before you start working with the dSPACE CAN API 2.0, you should
check the software requirements.

Migrating Scripts..................................................................................... 16
The data types of the dSPACE CAN API functions have been changed
with dSPACE CAN API Package 4.0.4 (dSPACE Release 2020‑A).

Discontinuation....................................................................................... 16
As of dSPACE Release 2022-B, the dSPACE CAN API and further
bus‑specific APIs are no longer available for 32-bit applications.
Support for the 64-bit versions of these APIs is not affected and will be
continued.

Basics of the dSPACE CAN API 2.0

Introduction The dSPACE CAN API 2.0 lets you program custom applications for
CAN interfaces from dSPACE, Eberspächer GmbH, Kvaser, and Vector Informatik
GmbH.

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May 2024 dSPACE CAN API 2.0 C Reference
Introduction and Overview

Supported CAN interfaces Currently, the dSPACE CAN API 2.0 supports the following CAN interfaces:
§ dSPACE CAN interfaces:
§ DCI‑CAN2
§ DCI‑CAN/LIN1
§ CAN interfaces from Eberspächer GmbH
For a detailed list, refer to CAN Interface Names on page 38.
§ CAN interfaces from Kvaser
For a detailed list, refer to CAN Interface Names on page 38.
§ CAN interfaces from Vector Informatik GmbH
For a detailed list, refer to CAN Interface Names on page 38.
§ 2 virtual CAN channels for testing purposes.

Support of CAN FD The dSPACE CAN API 2.0 supports CAN FD.

For basics on CAN FD, refer to Basics on CAN FD on page 115.

Accessing the The dSPACE CAN API 2.0 is a functional 64-bit Windows DLL.
dSPACE CAN API 2.0
Access via applications written in C, C++, or C# The dSPACE CAN API 2.0
interfaces are provided via export C functions, which you can use with your
application written in C or C++.
To use the dSPACE CAN API 2.0 in a C# application, you have to
reference the dSPACE CAN API 2.0 .NET DLL DsCanApi20DotNet.dll. The
DsCanApi20DotNet.dll is part of the installation of the dSPACE CAN API 2.0.

Access via Python scripts To use the dSPACE CAN API 2.0 in a Python script,
you have to import the dSPACE CAN API 2.0 Python module dscanapi20lib.
The dscanapi20lib Python module is part of the installation of the
dSPACE CAN API 2.0.

Multi-application and The dSPACE CAN API 2.0 supports both multi-application and multiclient.
multiclient support
Multi-application support Multi-application support means that several
application processes can connect to the same CAN interface channel.

Multiclient support Multiclient support means that several clients can

connect to the same CAN interface channel.

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dSPACE CAN API 2.0 C Reference May 2024
Basics of the dSPACE CAN API 2.0

The demo for getting started with dSPACE CAN API 2.0 shows an example
multiclient scenario. Refer to Steps Shown in the Demo on page 18.

Note

§ In a multi-application and/or multiclient scenario, the access to a specific

CAN interface channel is based on the collaborative access permission
assignment: A client cannot configure a CAN interface channel until the
CAN interface channel returned access permission to the client.
To initialize a CAN channel and get access permission to it, use the
DSCAN_InitChannel function.

Example scenario The following illustration shows a possible scenario of

multi-application and multiclient operation with the dSPACE CAN API 2.0.
§ Client 1 and client 2 both connect to the same CAN interface channel
(multiclient).
§ Client 4 (of application 2) and client 5 (of application 3) both connect to the
same CAN interface channel (multiclient and multi‑application).

User application

Application 1 Application 2 Application 3

CAN driver

Client 1 Client 2 Client 3 Client 4 Client 5

Rx queue* Rx queue* Rx queue* Rx queue* Rx queue*

Tx queue* Tx queue* Tx queue* Tx queue*

CAN hardware

DCI-CAN2 DCI-CAN2 DCI-CAN/LIN1

CAN 1 CAN 1 CAN 1 CAN 2

* Each RX/TX queue can store 32767 classic CAN messages. The number of CAN FD
messages per queue is lower and depends on the message payload.

dSPACE CAN API 2.0 versus dSPACE CAN API 2.0 was introduced with dSPACE Release 2016‑B. It is the
dSPACE CAN API 1.0 successor of dSPACE CAN API 1.0, includes all previous features, and additionally
supports CAN FD.

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May 2024 dSPACE CAN API 2.0 C Reference
Introduction and Overview

As of dSPACE Release 2020‑A, dSPACE CAN API 1.0 is no longer supported.

Information on installation For information on installing dSPACE software and handling dSPACE licenses,
and licensing refer to What Do You Want To Do? (Installing dSPACE Software ).

Demo for dSPACE CAN API 2.0................................................................................................ 17

Overview of the API Functions and Their Dependencies

Overview The following illustration shows an overview of the dSPACE CAN API 2.0
functions and the possible function sequences.

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dSPACE CAN API 2.0 C Reference May 2024
Overview of the API Functions and Their Dependencies

DSCAN_GetSupportedVendorsCount DSCAN_GetAvailableChannelsCount
DSCAN_GetVendorInformation DSCAN_GetAvailableChannels
DSCAN_GetBusType DSCAN_IsChannelAvailable

DSCAN_RegisterChannel

DSCAN_InitChannel

yes
Access
DSCAN_SetBaudrate
permission
DSCAN_SetChannelOutput
no

DSCAN_SetTransmitAcknowledge DSCAN_GetBaudrate
DSCAN_SetAcceptance DSCAN_GetChannelInformation
DSCAN_SetEventNotification DSCAN_GetChannelCapabilities
DSCAN_EnableBusStatistics DSCAN_IsChannelAccessible

DSCAN_ActivateChannel

Access
DSCAN_FlushTransmitQueue yes
permission
no

DSCAN_GetReceiveQueueLevel DSCAN_GetHardwareTimeResolution
DSCAN_ReadReceiveQueue DSCAN_GetHardwareTime
DSCAN_FlushReceiveQueue DSCAN_ResetHardwareTime
DSCAN_TransmitMessages DSCAN_GetBusInfo

DSCAN_DeactivateChannel

DSCAN_UnregisterChannel

Convenience function The following dSPACE CAN API 2.0 function is

provided for convenience:
§ DSCAN_ReadReceiveQueueAndDeactivateChannel

Error handling functions The following dSPACE CAN API 2.0 functions are
provided for error handling:
§ DSCAN_GetErrorText
§ DSCAN_GetLastVendorSpecificError

Auxiliary functions The dSPACE CAN API 2.0 provides the following auxiliary
functions:
§ DSCAN_ConvertBaudrateToBitTimingParameters
§ DSCAN_ConvertBaudratesToBitTimingParameters

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May 2024 dSPACE CAN API 2.0 C Reference
Introduction and Overview

§ DSCAN_ConvertBaudrateToBitTimingParametersWithSameSPAndBRP
§ DSCAN_ConvertBusTimingRegistersToBitTimingParameters
§ DSCAN_ConvertBitTimingParametersToBaudrate
§ DSCAN_ConvertBitTimingParametersToBusTimingRegisters
§ DSCAN_ConvertByteCountToDlc
§ DSCAN_ConvertDlcToByteCount
§ DSCAN_CalculateAcceptanceFilter
§ DSCAN_MergeAcceptanceFilter
§ DSCAN_EncodeBusStatistics
§ DSCAN_ConvertApiVersionToString

Basics of the dSPACE CAN API 2.0.............................................................................................. 9

Files of dSPACE CAN API 2.0

Files and their locations The following table shows the locations of the important files of dSPACE CAN
API 2.0 after installation.

File Name Path Description

Software Module with Programming Interface

DSCanApi20.dll %SystemRoot%\system32 dSPACE CAN API
2.0 DLL
§ DSCanApi20.lib %CommonProgramFiles%\dSPACE\DSCanApi 2024‑A Lib and header
§ DSCanApi20.h \DSCanApi_22.2 for the C++ demo
§ DSCanApi20Itfs.h \DsCanApi20 and for your own
applications.
DSCanApi20DotNet.dll %CommonProgramFiles%\dSPACE\DSCanApi 2024‑A .NET DLL for the
\DSCanApi_22.2 C# demo and
\DsCanApi20 for your own
applications.
§ dscanapi20lib.pyc %ProgramFiles%\Python39\Lib\site-packages Python wrapper for
§ dscanapi20itfslib.pyc \dSPACECommon the Python demo
and for your own
applications.

C++ Demo Application

DSCanApi20_GettingStarted.exe %CommonProgramFiles%\dSPACE\DSCanApi 2024‑A C++ demo
\DSCanApi_22.2 application. Refer to
\Demos\DsCanApi20\GettingStarted\C++\bin\x64\Release\ Steps Shown in the
Demo on page 18.
DSCanApi20_GettingStarted.sln %CommonProgramFiles%\dSPACE\DSCanApi 2024‑A Source code for
\DSCanApi_22.2 the C++ demo
\Demos\DsCanApi20\GettingStarted\C++\src\ application.

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dSPACE CAN API 2.0 C Reference May 2024
Software Requirements for Working with dSPACE CAN API 2.0

File Name Path Description

C# Demo Application
DSCanApi20_GettingStarted.exe %CommonProgramFiles%\dSPACE\DSCanApi 2024‑A C# demo
\DSCanApi_22.2 application. Refer to
\Demos\DsCanApi20\GettingStarted\C#\bin\x64\Release\ Steps Shown in the
Demo on page 18.
DSCanApi20_GettingStarted.sln %CommonProgramFiles%\dSPACE\DSCanApi 2024‑A Source code for
\DSCanApi_22.2 the C# demo
\Demos\DsCanApi20\GettingStarted\C#\src\ application.

Python Demo Script

DsCanApi20_GettingStarted.py1) %CommonProgramFiles%\dSPACE\DSCanApi 2024‑A Demo script for
\DSCanApi_22.2 Python. Refer to
\Demos\DsCanApi20\GettingStarted\Python\ Steps Shown in the
Demo on page 18.
1) The Python demo imports the dscanapi20lib Python module, which implements the
dSPACE CAN API 2.0 in the Python programming language.

Basics of the dSPACE CAN API 2.0.............................................................................................. 9

Software Requirements for Working with dSPACE CAN API 2.0

Software requirements Operating systems The dSPACE CAN API 2.0 supports the following
operating systems:
§ Windows 10 (64-bit version)

CAN driver software For information on the CAN driver software required
for CAN interfaces from Eberspächer GmbH, Kvaser or Vector Informatik
GmbH, refer to Overview of Required Third-Party Software (Installing dSPACE
Software ).

Overview of Required Third-Party Software (Installing dSPACE Software )

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May 2024 dSPACE CAN API 2.0 C Reference
Introduction and Overview

Migrating Scripts

Migration to dSPACE CAN API The data types of the dSPACE CAN API functions have been changed with
Package 4.0.4 dSPACE CAN API Package 4.0.4 (dSPACE Release 2020‑A).

The following table shows the data type changes. You have to adapt your scripts
accordingly.

Data Type ...

... up to and Including dSPACE CAN API ... as of dSPACE CAN API
Package 4.0.3 Package 4.0.4
(dSPACE Release 2019‑B) (dSPACE Release 2020‑A)
signed char int8_t
short int16_t
int int32_t
long int32_t
long long int64_t
unsigned char uint8_t
unsigned short uint16_t
unsigned int uint32_t
unsigned long uint32_t
unsigned long long uint64_t
unsigned __int64 uint64_t

Discontinuation

Discontinuation of the 32-bit As of dSPACE Release 2022-B, the dSPACE CAN API and further bus‑specific APIs
version of the dSPACE CAN are no longer available for 32-bit applications.
API and further bus‑specific
Support for the 64-bit versions of these APIs is not affected and will be
APIs
continued.

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dSPACE CAN API 2.0 C Reference May 2024
Demo for dSPACE CAN API 2.0

Demo for dSPACE CAN API 2.0

Where to go from here Information in this section

Overview of the dSPACE CAN API 2.0 Demo........................................... 17

The dSPACE CAN API installation comprises a demo for getting started
with dSPACE CAN API 2.0.

Steps Shown in the Demo....................................................................... 18

The dSPACE CAN API installation comprises a demo for getting started
with dSPACE CAN API 2.0.

Overview of the dSPACE CAN API 2.0 Demo

Introduction The dSPACE CAN API installation comprises a demo for getting started with
dSPACE CAN API 2.0.

Using physical or virtual The demo uses either physical or virtual CAN interface channels:
CAN interface channels § Physical CAN interface channels are used if at least two CAN interface
channels are connected to the host PC (e.g., one DCI‑CAN/LIN1 with
two CAN interface channels, or two DCI-CAN2 each of which has one
CAN interface channel).
§ Virtual CAN interface channels are used if less than two physical CAN interface
channels are connected to the host PC.

Different programming The demo is available in the following programming languages:

languages § C++
§ C#
§ Python

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May 2024 dSPACE CAN API 2.0 C Reference
Demo for dSPACE CAN API 2.0

You can use the demo code (or parts of it) as the starting point for your own
applications and scripts.

Location of the demo files For the location of the demo files, refer to Files of dSPACE CAN API 2.0 on
page 14.

Basics of the dSPACE CAN API 2.0.............................................................................................. 9

Steps Shown in the Demo........................................................................................................ 18

Steps Shown in the Demo

Steps The demo performs the following steps:

1. Getting available interface channels by using the
DSCAN_GetAvailableChannels function.
2. Selecting two interface channels for demo use, and checking
whether the channels support CAN FD by using the
DSCAN_GetChannelCapabilities function.
3. Registering three channels by using the DSCAN_RegisterChannel function.
The following settings are used:

Channel (Client) Interface Channel

1 1
2 11)
3 2
1) Channels 1 and 2 are registered with the data of the same interface channel.
This is an example for a multiclient scenario in which several clients (= channels)
connect to the same CAN interface channel.

4. Initializing and getting access permission to CAN interface channels by using

the DSCAN_InitChannel function.

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dSPACE CAN API 2.0 C Reference May 2024
Steps Shown in the Demo

The following settings are used:

Channel CAN Message Receive CAN FD Access

(Client) Identifier Types Queue Size Support Permission
to Receive Required
1 Standard and Maximum Yes1) Yes
extended buffer
2 Standard only Maximum Yes1) No2)
buffer
3 Standard and Maximum Yes1) Yes
extended buffer
1) If supported by the used interface channel
2) Channel 1 already accesses this interface channel.

5. Setting the baud rate of the channels by using the

DSCAN_SetBaudrate function.
The DSCAN_ConvertBaudrateToBitTimingParameters function is used
to convert the clock frequency and the desired baud rate into bit timing
parameters.
The following settings are used for all the three channels:

Clock Frequency Baud Rate

Classic CAN 8 MHz 1 MBit/s
CAN FD 80 MHz § 1 MBit/s
(arbitration phase)
§ 4 MBit/s
(data phase)

For channels that have no access permission, the current baud rate of the
interface channel is returned by using the DSCAN_GetBaudrate function.

6. Setting acceptance filters for the channels by using the

DSCAN_SetAcceptance function.
The DSCAN_CalculateAcceptanceFilter function is used to calculate
acceptance filters.
The following settings are used:

Channel CAN Message Mask Filter

(Client) Identifier Types to
Receive
1 Standard and None, i.e., all the incoming messages are
extended1) accepted.
2 Standard only1) Only the incoming messages with the ID
10 are accepted.
3 Standard and Only the incoming messages with the
extended1) standard ID 20 and the extended ID 10000
are accepted.
1)
As configured by using the DSCAN_InitChannel function.

7. Setting transmit acknowledgements for the channels by using the

DSCAN_SetTransmitAcknowledge function.

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May 2024 dSPACE CAN API 2.0 C Reference
Demo for dSPACE CAN API 2.0

The following settings are used:

Channel (Client) Transmit Acknowledge

1 Enabled
2 Disabled
3 Disabled

8. Activating the channels by using the DSCAN_ActivateChannel function.

9. Getting the hardware time resolution of the channels by using the
DSCAN_GetHardwareTimeResolution function.
10. Getting the hardware time of the channels by using the
DSCAN_GetHardwareTime function.
11. Flushing the transmit queue of the channels by using the
DSCAN_FlushTransmitQueue function.
12. Flushing the receive queue of the channels by using the
DSCAN_FlushReceiveQueue function.
13. Transmitting CAN messages by each channel by using the
DSCAN_TransmitMessages function.
Each channel transmits the following messages:

Messages to be Transmitted
Classic CAN § 3 messages with standard IDs 10, 20 and 30
§ 2 messages with extended IDs 10000 and 10100
CAN FD1) § 3 standard CAN messages with standard IDs 10, 20 and 30
§ 2 standard CAN messages with extended IDs 10000 and 10100
§ 3 CAN FD messages with standard IDs 10, 20 and 30 and with
baud rate switch
§ 2 CAN FD messages with extended IDs 10000 and 10100 and
without baud rate switch
1) If supported by the used interface channels
The following ways of message transmission are used:

Channel (Client) Message Transmission

1 One message after the other
2 All messages at once
3 All messages at once

14. Reading the receive queues of the channels by using the

DSCAN_ReadReceiveQueue function.
The following settings are used for message reception:

Channel Message Reception

(Client)
1 All the incoming standard and extended messages, and messages
transmitted by the channel itself are received.1)
2 Only incoming standard messages with the ID 10 are received.
Messages transmitted by the channel itself are not received.1)
3 Only incoming standard messages with the ID 20 and extended
messages with the ID 10000 are received. Messages transmitted by
the channel itself are not received. 1)

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dSPACE CAN API 2.0 C Reference May 2024
Steps Shown in the Demo

1) As configured by using the functions DSCAN_InitChannel,

DSCAN_SetAcceptance, and DSCAN_SetTransmitAcknowledge.

15. Setting an event notification when channel 3 receives a CAN message by

using the DSCAN_SetEventNotification function.
16. Getting bus information from the channels by using the
DSCAN_GetBusInfo function.
17. Deactivating the channels by using the
DSCAN_DeactivateChannel function.
18. Unregistering the channels by using the
DSCAN_UnregisterChannel function.

Basics of the dSPACE CAN API 2.0.............................................................................................. 9

Overview of the dSPACE CAN API 2.0 Demo............................................................................ 17

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Demo for dSPACE CAN API 2.0

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dSPACE CAN API 2.0 C Reference May 2024
General Handling

General Handling

Where to go from here Information in this section

Data Types, Constants............................................................................. 24

Functions................................................................................................. 26

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General Handling

Data Types, Constants

Where to go from here Information in this section

Data Types............................................................................................... 24
General CAN data types

Constants................................................................................................ 24
General CAN constants

CAN Interface Bus Types.......................................................................... 25

CAN interface bus type constants

Data Types

Data types
DSTEventHandle

Data Type Description

typedef HANDLE_PTR DSTEventHandle Event handle

DSTCanHandle

Data Type Description

typedef int32_t DSTCanHandle Channel handle

DSTCanError

Data Type Description

typedef int32_t Error codes. For the list of error codes, refer to Error Codes
DSTCanError on page 96.

Constants

Constants
DSCAN_MAX_DATA_LENGTH

Value Description
64 Maximum data length of a CAN message

DSCAN_MAX_NAME_LENGTH

Value Description
256 Maximum length of any naming strings (e.g. vendor name, interface name, etc.)

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dSPACE CAN API 2.0 C Reference May 2024
Data Types, Constants

DSCAN_INVALID_CAN_HANDLE

Value Description
-1 Invalid channel handle

DSCAN_INVALID_EVENT_HANDLE

Value Description
0 Invalid event handle

DSCAN_MAX_TEXT_LENGTH

Value Description
2048 Maximum length of any text strings (e.g. error text)

DSCAN_MAX_RX_QUEUE_SIZE

Value Description
32768 Maximum receive queue size

DSCAN_CRYSTAL_FREQUENCY_SJA1000

Value Description
16000000 16 MHz

DSCAN_CLOCK_FREQUENCY_SJA1000

Value Description
(DSCAN_CRYSTAL_FREQUENCY_SJA1000 / 2) 8 MHz (16 MHz crystal frequency with
the fixed prescaler of 2)

CAN Interface Bus Types

CAN interface bus types The following constants are predefined:

Predefined Constants Value Description

DSCAN_INTERFACE_BUS_TYPE_UNKNOWN Unknown bus Unknown bus type
DSCAN_INTERFACE_BUS_TYPE_VIRTUAL Virtual Virtual bus
DSCAN_INTERFACE_BUS_TYPE_USB USB USB
DSCAN_INTERFACE_BUS_TYPE_PCMCIA PCMCIA PCMCIA
DSCAN_INTERFACE_BUS_TYPE_PCI_EXPRESS PCI Express PCI Express
DSCAN_INTERFACE_BUS_TYPE_ETHERNET Ethernet Ethernet

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May 2024 dSPACE CAN API 2.0 C Reference
General Handling

Functions

DSCAN_GetBusType

Purpose To return the bus type of a CAN interface.

Syntax
DSTCanError DSCAN_GetBusType(char szVendorName[DSCAN_MAX_NAME_LENGTH],
char szInterfaceName[DSCAN_MAX_NAME_LENGTH],
char* pszBusType);

Parameters (In) szVendorName Specifies the vendor name.

The following constants are predefined:

Predefined Constant Value Description

DSCAN_VENDOR_NAME_UNKNOWN Unknown vendor Unknown vendor
DSCAN_VENDOR_NAME_DSPACE dSPACE dSPACE GmbH
DSCAN_VENDOR_NAME_EBERSPAECHER Eberspaecher Eberspächer GmbH
DSCAN_VENDOR_NAME_KVASER Kvaser Kvaser
DSCAN_VENDOR_NAME_PEAK PEAK-System PEAK-System Technik GmbH
DSCAN_VENDOR_NAME_VECTOR Vector Informatik Vector Informatik GmbH

szInterfaceName Specifies the interface name.

The following constants are predefined:

Predefined Constant Value Description

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dSPACE CAN API 2.0 C Reference May 2024
Functions

Predefined Constant Value Description

DSCAN_INTERFACE_NAME_PEAK_PCAN_MINI_PCIE_FD PCAN-miniPCIe FD PEAK PCAN-miniPCIe FD
DSCAN_INTERFACE_NAME_VECTOR_CANCARD_XL1) CANcardXL Vector CANcardXL
DSCAN_INTERFACE_NAME_VECTOR_CANCARD_XLE1) CANcardXLe Vector CANcardXLe
DSCAN_INTERFACE_NAME_VECTOR_CANCASE_XL CANcaseXL Vector CANcaseXL
DSCAN_INTERFACE_NAME_VECTOR_VN1610 VN1610 Vector VN1610
DSCAN_INTERFACE_NAME_VECTOR_VN1611 VN1611 Vector VN1611
DSCAN_INTERFACE_NAME_VECTOR_VN1630 VN1630 Vector VN1630
DSCAN_INTERFACE_NAME_VECTOR_VN1640 VN1640 Vector VN1640
DSCAN_INTERFACE_NAME_VECTOR_VN5610 VN5610 Vector VN5610
DSCAN_INTERFACE_NAME_VECTOR_VN5610A VN5610A Vector VN5610A
DSCAN_INTERFACE_NAME_VECTOR_VN7600 VN7600 Vector VN7600
DSCAN_INTERFACE_NAME_VECTOR_VN8900 VN8900 Vector VN8900
DSCAN_INTERFACE_NAME_VIRTUAL Virtual Virtual interface
1) Deprecated

Parameters (Out) pszBusType Specifies the bus type of the interface.

The following constants are predefined:

Predefined Constants Value Description

The size of this parameter must be at least DSCAN_MAX_TEXT_LENGTH bytes. The

memory must be allocated and freed by the caller.

Return value One of the error codes defined in DSTCanError.

Overview of the API Functions and Their Dependencies............................................................ 12

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General Handling

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Vendor Information

Vendor Information

Where to go from here Information in this section

Data Types, Constants............................................................................. 30

Structures................................................................................................ 31

Functions................................................................................................. 33

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Vendor Information

Data Types, Constants

CAN Vendor Names

CAN vendor names The following constants are predefined:

Predefined Constant Value Description

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dSPACE CAN API 2.0 C Reference May 2024
Structures

Structures

DSSCanVendorInfo

Purpose Structure for vendor CAN API information

Syntax
typedef struct DSSCanVendorInfo
{
char szVendorName[DSCAN_MAX_NAME_LENGTH];
char szVendorApiDllName[DSCAN_MAX_NAME_LENGTH];
uint32_t ulVendorApiVersion;
uint32_t ulRequiredVendorApiVersion;
DSTCanError tVendorApiState;
} DSSCanVendorInfo;

Parameters szVendorName Specifies the vendor name.

The following constants are predefined:

Predefined Constant Value Description

szVendorApiDllName Vendor CAN API DLL name

ulVendorApiVersion Vendor CAN API version. It is provided as uint32_t and

has the following format:

Byte 3 Byte2 Byte 1 Byte 0

Major Minor Build

The vendor CAN API version is available only if the vendor CAN API DLL could be
loaded successfully.
Use DSCAN_ConvertApiVersionToString to convert a CAN API version to
string.

ulRequiredVendorApiVersion Required vendor CAN API version. It is

provided as uint32_t and has the following format:

Byte 3 Byte2 Byte 1 Byte 0

Major Minor Build

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Vendor Information

Use DSCAN_ConvertApiVersionToString to convert a CAN API version to

string.

tVendorApiState Vendor CAN API validation result.

The vendor CAN API validation result indicates whether the vendor CAN API can
be used:
§ The vendor CAN API validation result is DSCAN_ERR_NO_ERROR, i.e., the
vendor CAN API can be used if the following conditions are met:
§ The vendor CAN API DLL can be loaded successfully.
§ The vendor CAN API DLL contains all the functions required by the dSPACE
CAN API.
§ The actual vendor CAN API version is equal to or greater than the required
version.
§ Otherwise, the vendor CAN API validation result contains an error code that
describes the validation problem.

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Functions

Functions
Where to go from here Information in this section

Basics on Vendor Information Functions................................................... 33

Explains the steps to obtain vendor CAN API information.

DSCAN_GetSupportedVendorsCount...................................................... 34
To return the count of supported vendor CAN APIs.

DSCAN_GetVendorInformation............................................................... 34
To return information about supported vendor CAN APIs.

Basics on Vendor Information Functions

Steps to obtain vendor CAN To obtain information about supported vendor CAN APIs, perform the following
API information steps:
1. Call the DSCAN_GetSupportedVendorsCount function to get the count of
supported vendor CAN APIs.
2. Allocate memory for the vendor CAN API information.
3. Call the DSCAN_GetVendorInformation function to get the information
on supported vendor CAN APIs.
4. Free the allocated memory after processing the information on supported
vendor CAN APIs.

See the following example.

Example The following example shows how to obtain information about supported
vendor CAN APIs.
DSTCanError tErrorCode = DSCAN_ERR_NO_ERROR;
uint32_t ulVendorsCount = 0;
DSSCanVendorInfo* ptVendorsArray = NULL;
// get count of supported vendor CAN APIs
tErrorCode = DSCAN_GetSupportedVendorsCount(&ulVendorsCount);
if (DSCAN_ERR_NO_ERROR == tErrorCode)
{
// allocate memory for supported vendor CAN APIs information
ptVendorsArray = new DSSCanVendorInfo[ulVendorsCount];
// get supported vendor CAN APIs information
tErrorCode = DSCAN_GetVendorInformation(&ulVendorsCount, ptVendorsArray);
// process supported vendor CAN APIs information
for (uint32_t i = 0; i < ulVendorsCount; i++)
{
// do anything with ptVendorsArray[i]
}

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Vendor Information

// free memory for supported vendor CAN APIs information

delete[] ptVendorsArray;
}

Vendor CAN API information Vendor CAN API information is described by the DSSCanVendorInfo structure.
Refer to DSSCanVendorInfo on page 31.

Purpose To return the count of supported vendor CAN APIs.

Syntax
DSTCanError DSCAN_GetSupportedVendorsCount(uint32_t* pulVendorsCount);

Parameters (Out) pulVendorsCount Count of supported vendor CAN APIs.

Return value One of the error codes defined in DSTCanError.

Basics on Vendor Information Functions.................................................................................... 33

Overview of the API Functions and Their Dependencies............................................................ 12

DSCAN_GetVendorInformation

Purpose To return information about supported vendor CAN APIs.

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Functions

Syntax
DSTCanError DSCAN_GetVendorInformation(uint32_t* pulVendorsCount,
DSSCanVendorInfo* ptVendorsArray);

Parameters (In, Out) pulVendorsCount Maximum number of supported vendor CAN APIs.
§ If used as In parameter:
Lets you specify the maximum number of supported vendor CAN APIs to
obtain. To obtain the information, call the function with pulVendorsCount
set to the maximum number of vendor CAN APIs to get. This is usually the size
of the ptVendorsArray parameter.
§ If used as Out parameter:
Lets you get the number of obtained vendor CAN APIs. The
pulVendorsCount parameter contains the actual number of supported
vendor CAN APIs which have been written to the ptVendorsArray parameter
(the actual number is always less than or equal to the initial maximum value).

Parameters (Out) ptVendorsArray Vendor CAN APIs information array.

You can call the function with the NULL pointer instead of ptVendorsArray.
In this case, only the number of supported vendor CAN APIs is obtained. This
function call is equal to a call of the DSCAN_GetSupportedVendorsCount
function.

The memory for ptVendorsArray must be allocated and freed by the caller.

Return value One of the error codes defined in DSTCanError.

Basics on Vendor Information Functions.................................................................................... 33

Overview of the API Functions and Their Dependencies............................................................ 12

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Vendor Information

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dSPACE CAN API 2.0 C Reference May 2024
Channel Information

Channel Information

Where to go from here Information in this section

Data Types, Constants............................................................................. 38

Structures................................................................................................ 40

Functions................................................................................................. 43

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Channel Information

Data Types, Constants

Where to go from here Information in this section

CAN Interface Names.............................................................................. 38

CAN interface name constants

CAN Channel Capabilities........................................................................ 39

CAN channel capability constants

Enumerations.......................................................................................... 39
CAN channel enumerations

CAN Interface Names

CAN interface names The following constants are predefined:

Predefined Constant Value Description

DSCAN_INTERFACE_NAME_UNKNOWN Unknown interface Unknown interface
DSCAN_INTERFACE_NAME_DSPACE_DCI_CAN2 DCI-CAN2 dSPACE DCI-CAN2
DSCAN_INTERFACE_NAME_DSPACE_DCI_CANLIN1 DCI-CAN/LIN1 dSPACE DCI-CAN/LIN1
DSCAN_INTERFACE_NAME_EBERSPAECHER_FLEX_CARD_CYCLONE_II1) FlexCard Cyclone II Eberspächer FlexCard
Cyclone II
DSCAN_INTERFACE_NAME_EBERSPAECHER_FLEX_CARD_CYCLONE_II_SE1) FlexCard Cyclone II SE Eberspächer FlexCard
Cyclone II SE
DSCAN_INTERFACE_NAME_EBERSPAECHER_FLEX_CARD_USB1) Eberspaecher FlexCard Eberspächer FlexCard USB
USB
DSCAN_INTERFACE_NAME_KVASER_LAPCAN1) LAPcan Kvaser LAPcan
DSCAN_INTERFACE_NAME_KVASER_LEAF Leaf Kvaser Leaf
DSCAN_INTERFACE_NAME_KVASER_MEMORATOR_PRO Memorator Kvaser Memorator
Professional Professional
DSCAN_INTERFACE_NAME_KVASER_USB_CAN_II USBcan II Kvaser USBcan II
DSCAN_INTERFACE_NAME_KVASER_USB_CAN_PRO USBcan Professional Kvaser USBcan Professional
DSCAN_INTERFACE_NAME_PEAK_PCAN_MINI_PCIE_FD PCAN-miniPCIe FD PEAK PCAN-miniPCIe FD
DSCAN_INTERFACE_NAME_VECTOR_CANCARD_XL1) CANcardXL Vector CANcardXL
DSCAN_INTERFACE_NAME_VECTOR_CANCARD_XLE1) CANcardXLe Vector CANcardXLe
DSCAN_INTERFACE_NAME_VECTOR_CANCASE_XL CANcaseXL Vector CANcaseXL
DSCAN_INTERFACE_NAME_VECTOR_VN1610 VN1610 Vector VN1610
DSCAN_INTERFACE_NAME_VECTOR_VN1611 VN1611 Vector VN1611
DSCAN_INTERFACE_NAME_VECTOR_VN1630 VN1630 Vector VN1630
DSCAN_INTERFACE_NAME_VECTOR_VN1640 VN1640 Vector VN1640

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Data Types, Constants

Predefined Constant Value Description

DSCAN_INTERFACE_NAME_VECTOR_VN5610 VN5610 Vector VN5610
DSCAN_INTERFACE_NAME_VECTOR_VN5610A VN5610A Vector VN5610A
DSCAN_INTERFACE_NAME_VECTOR_VN7600 VN7600 Vector VN7600
DSCAN_INTERFACE_NAME_VECTOR_VN8900 VN8900 Vector VN8900
DSCAN_INTERFACE_NAME_VIRTUAL Virtual Virtual interface
1) Deprecated

CAN Channel Capabilities

CAN channel capabilities The following constants are predefined:

Predefined Constant Description

DSCAN_CHANNEL_CAPABILITY_FD The channel supports CAN FD.1)
Value: 0x00000001
DSCAN_CHANNEL_CAPABILITY_FD_NON_ISO Relevant only if DSCAN_CHANNEL_CAPABILITY_FD is set.
Value: 0x00000008 § If DSCAN_CHANNEL_CAPABILITY_FD_NON_ISO is
set, the channel uses the non-ISO CAN FD
communication1).
§ If DSCAN_CHANNEL_CAPABILITY_FD_NON_ISO is not
set, the channel uses the ISO CAN FD communication.
DSCAN_CHANNEL_CAPABILITY_FIXED_CONTROLLER_CONFIGURATION The channel supports only fixed CAN controller
Value: 0x00000002 configuration. Baud rate settings cannot be modified.
DSCAN_CHANNEL_CAPABILITY_BUS_LOAD_INFO The channel supports bus load information.
Value: 0x00000004
DSCAN_CHANNEL_CAPABILITY_BUS_STATISTICS The channel supports bus statistics.
Value: 0x00000010
1) For more information on CAN FD, refer to Basics on CAN FD on page 115.

Enumerations

Enumerations DSECanChannelsSearchAttributeType CAN channels search attribute types.

Enumerator Value Description

DSCAN_SEARCH_ATTRIBUTE_TYPE_IP_V4_ADDRESS 1 IPv4 address

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Channel Information

Structures
Where to go from here Information in this section

DSSCanChannelInfo................................................................................ 40
Structure for CAN channel information

DSSCanChannelsSearchAttribute............................................................. 42
Structure for CAN channels search attribute

DSSCanChannelInfo

Purpose Structure for CAN channel information

Syntax
typedef struct DSSCanChannelInfo
{
char szVendorName[DSCAN_MAX_NAME_LENGTH];
char szInterfaceName[DSCAN_MAX_NAME_LENGTH];
char szInterfaceSerialNumber[DSCAN_MAX_NAME_LENGTH];
char szChannelIdentifier[DSCAN_MAX_NAME_LENGTH];
uint32_t ulChannelCapabilities;
} DSSCanChannelInfo;

Parameters szVendorName Specifies the vendor name.

The following constants are predefined:

Predefined Constant Value Description

szInterfaceName Specifies the interface name.

The following constants are predefined:

Predefined Constant Value Description

DSCAN_INTERFACE_NAME_UNKNOWN Unknown interface Unknown interface
DSCAN_INTERFACE_NAME_DSPACE_DCI_CAN2 DCI-CAN2 dSPACE DCI-CAN2
DSCAN_INTERFACE_NAME_DSPACE_DCI_CANLIN1 DCI-CAN/LIN1 dSPACE DCI-CAN/LIN1

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Structures

Predefined Constant Value Description

DSCAN_INTERFACE_NAME_EBERSPAECHER_FLEX_CARD_CYCLONE_II1) FlexCard Cyclone II Eberspächer FlexCard
Cyclone II
DSCAN_INTERFACE_NAME_EBERSPAECHER_FLEX_CARD_CYCLONE_II_SE1) FlexCard Cyclone II SE Eberspächer FlexCard
Cyclone II SE
DSCAN_INTERFACE_NAME_EBERSPAECHER_FLEX_CARD_USB1) Eberspaecher FlexCard Eberspächer FlexCard USB
USB
DSCAN_INTERFACE_NAME_KVASER_LAPCAN1) LAPcan Kvaser LAPcan
DSCAN_INTERFACE_NAME_KVASER_LEAF Leaf Kvaser Leaf
DSCAN_INTERFACE_NAME_KVASER_MEMORATOR_PRO Memorator Kvaser Memorator
Professional Professional
DSCAN_INTERFACE_NAME_KVASER_USB_CAN_II USBcan II Kvaser USBcan II
DSCAN_INTERFACE_NAME_KVASER_USB_CAN_PRO USBcan Professional Kvaser USBcan Professional
DSCAN_INTERFACE_NAME_PEAK_PCAN_MINI_PCIE_FD PCAN-miniPCIe FD PEAK PCAN-miniPCIe FD
DSCAN_INTERFACE_NAME_VECTOR_CANCARD_XL1) CANcardXL Vector CANcardXL
DSCAN_INTERFACE_NAME_VECTOR_CANCARD_XLE1) CANcardXLe Vector CANcardXLe
DSCAN_INTERFACE_NAME_VECTOR_CANCASE_XL CANcaseXL Vector CANcaseXL
DSCAN_INTERFACE_NAME_VECTOR_VN1610 VN1610 Vector VN1610
DSCAN_INTERFACE_NAME_VECTOR_VN1611 VN1611 Vector VN1611
DSCAN_INTERFACE_NAME_VECTOR_VN1630 VN1630 Vector VN1630
DSCAN_INTERFACE_NAME_VECTOR_VN1640 VN1640 Vector VN1640
DSCAN_INTERFACE_NAME_VECTOR_VN5610 VN5610 Vector VN5610
DSCAN_INTERFACE_NAME_VECTOR_VN5610A VN5610A Vector VN5610A
DSCAN_INTERFACE_NAME_VECTOR_VN7600 VN7600 Vector VN7600
DSCAN_INTERFACE_NAME_VECTOR_VN8900 VN8900 Vector VN8900
DSCAN_INTERFACE_NAME_VIRTUAL Virtual Virtual interface
1) Deprecated

szInterfaceSerialNumber Serial number of the interface.

szChannelIdentifier Identifier of the channel.

ulChannelCapabilities Specifies the channel capabilities as a combination of

one or more of the following parameter values.
The following constants are predefined:

Predefined Constant Description

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Channel Information

Predefined Constant Description

DSCAN_CHANNEL_CAPABILITY_BUS_LOAD_INFO The channel supports bus load information.
Value: 0x00000004
DSCAN_CHANNEL_CAPABILITY_BUS_STATISTICS The channel supports bus statistics.
Value: 0x00000010
1) For more information on CAN FD, refer to Basics on CAN FD on page 115.

DSSCanChannelsSearchAttribute

Purpose Structure for CAN channels search attribute

Syntax
typedef struct DSSCanChannelsSearchAttribute
{
DSECanChannelsSearchAttributeType tSearchAttributeType;
char szSearchAttribute[DSCAN_MAX_NAME_LENGTH];
} DSSCanChannelsSearchAttribute;

Parameters tSearchAttributeType Search attribute type.

szSearchAttribute Search attribute.

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Functions

Functions
Where to go from here Information in this section

Basics on Channel Information Functions................................................. 43

Explains the steps to obtain information about available CAN channels.

DSCAN_GetAvailableChannelsCount....................................................... 44
To return the count of available CAN channels.

DSCAN_GetAvailableChannels................................................................ 45
To return information about available CAN channels.

DSCAN_IsChannelAvailable..................................................................... 46
To check whether the specified CAN channel is available.

Basics on Channel Information Functions

Steps to obtain information To obtain information about available CAN channels, perform the following
about available CAN channels steps:
1. Call the DSCAN_GetAvailableChannelsCount function to get the count of
available CAN channels.
2. Allocate memory for the available CAN channels.
3. Call the DSCAN_GetAvailableChannels function to get the available CAN
channels.
4. Free the allocated memory after processing the available CAN channels.

See the following example.

Example The following example shows how to obtain information about available CAN
channels.
DSTCanError tErrorCode = DSCAN_ERR_NO_ERROR;
uint32_t ulChannelsCount = 0;
DSSCanChannelInfo* ptChannelsArray = NULL;
// get count of available CAN channelst
ErrorCode = DSCAN_GetAvailableChannelsCount(&ulChannelsCount, 0, NULL);
if (DSCAN_ERR_NO_ERROR == tErrorCode)
{
// allocate memory for available CAN channels
ptChannelsArray = new DSSCanChannelInfo[ulChannelsCount];
// get available CAN channels
tErrorCode = DSCAN_GetAvailableChannels(&ulChannelsCount, ptChannelsArray, 0, NULL);
// process available CAN channels
for (uint32_t i = 0; i < ulChannelsCount; i++)
{
// do anything with ptChannelsArray[i]
}

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Channel Information

// free memory for available CAN channels

delete[] ptChannelsArray;
}

CAN channel information CAN channel information is described by the DSSCanChannelInfo structure. For
details, refer to DSSCanChannelInfo on page 40.

Purpose To return the count of available CAN channels.

Syntax
DSTCanError DSCAN_GetAvailableChannelsCount(uint32_t* pulChannelsCount,
uint32_t ulAdditionalSearchAttributesCount,
DSSCanChannelsSearchAttribute* ptAdditionalSearchAttributesArray);

Parameters (In) ulAdditionalSearchAttributesCount Reserved for future use. Use 0 instead.

ptAdditionalSearchAttributesArray Reserved for future use.

Use the NULL pointer instead.

Parameters (Out) pulChannelsCount Count of available CAN channels.

Return value One of the error codes defined in DSTCanError.

Basics on Channel Information Functions.................................................................................. 43

Overview of the API Functions and Their Dependencies............................................................ 12

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Functions

DSCAN_GetAvailableChannels

Purpose To return information about available CAN channels.

Syntax
DSTCanError DSCAN_GetAvailableChannels(uint32_t* pulChannelsCount,
DSSCanChannelInfo* ptChannelsArray,
uint32_t ulAdditionalSearchAttributesCount,
DSSCanChannelsSearchAttribute* ptAdditionalSearchAttributesArray)

Parameters (In) ulAdditionalSearchAttributesCount Reserved for future use. Use 0 instead.

ptAdditionalSearchAttributesArray Reserved for future use.

Use the NULL pointer instead.

Parameters (In, Out) pulChannelsCount Count of available CAN channels.

§ If used as In parameter:
Lets you specify the maximum number of available channels to obtain. To
obtain the information, call the function with pulChannelsCount set to the
maximum number of CAN channels to get. This is usually the size of the
ptChannelsArray parameter.
§ If used as Out parameter:
Lets you get the number of available CAN channels which have been written
to the ptChannelsArray parameter (the actual count is always less than or
equal to the initial maximum value).

Parameters (Out) ptChannelsArray Available CAN channels array.

You can call the function with the NULL pointer instead of ptChannelsArray. In
this case, only the number of available CAN channels is obtained. This function
call is equal to a call of the DSCAN_GetAvailableChannelsCount function.

The memory for ptChannelsArray must be allocated and freed by the caller.

Return value One of the error codes defined in DSTCanError.

Basics on Channel Information Functions.................................................................................. 43

Overview of the API Functions and Their Dependencies............................................................ 12

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Channel Information

DSCAN_IsChannelAvailable

Purpose To check whether the specified CAN channel is available.

Syntax
DSTCanError DSCAN_IsChannelAvailable(char szVendorName[DSCAN_MAX_NAME_LENGTH],
char szInterfaceName[DSCAN_MAX_NAME_LENGTH],
char szInterfaceSerialNumber[DSCAN_MAX_NAME_LENGTH],
char szChannelIdentifier[DSCAN_MAX_NAME_LENGTH],
bool* pbChannelIsAvailable,
uint32_t ulAdditionalSearchAttributesCount,
DSSCanChannelsSearchAttribute* ptAdditionalSearchAttributesArray);

Parameters (In) szVendorName Specifies the vendor name.

The following constants are predefined:

Predefined Constant Value Description

szInterfaceName Specifies the interface name.

The following constants are predefined:

Predefined Constant Value Description

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Functions

Predefined Constant Value Description

DSCAN_INTERFACE_NAME_VECTOR_CANCARD_XLE1) CANcardXLe Vector CANcardXLe
DSCAN_INTERFACE_NAME_VECTOR_CANCASE_XL CANcaseXL Vector CANcaseXL
DSCAN_INTERFACE_NAME_VECTOR_VN1610 VN1610 Vector VN1610
DSCAN_INTERFACE_NAME_VECTOR_VN1611 VN1611 Vector VN1611
DSCAN_INTERFACE_NAME_VECTOR_VN1630 VN1630 Vector VN1630
DSCAN_INTERFACE_NAME_VECTOR_VN1640 VN1640 Vector VN1640
DSCAN_INTERFACE_NAME_VECTOR_VN5610 VN5610 Vector VN5610
DSCAN_INTERFACE_NAME_VECTOR_VN5610A VN5610A Vector VN5610A
DSCAN_INTERFACE_NAME_VECTOR_VN7600 VN7600 Vector VN7600
DSCAN_INTERFACE_NAME_VECTOR_VN8900 VN8900 Vector VN8900
DSCAN_INTERFACE_NAME_VIRTUAL Virtual Virtual interface
1) Deprecated

szInterfaceSerialNumber Serial number of the interface.

szChannelIdentifier Identifier of the channel.

ulAdditionalSearchAttributesCount Reserved for future use. Use 0 instead.

ptAdditionalSearchAttributesArray Reserved for future use.

Use the NULL pointer instead.

Parameters (Out) pbChannelIsAvailable Flag indicating whether the channel is available.

Return value One of the error codes defined in DSTCanError.

Basics on Channel Information Functions.................................................................................. 43

Overview of the API Functions and Their Dependencies............................................................ 12

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Channel Information

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Configuration

Configuration

Where to go from here Information in this section

Data Types, Constants............................................................................. 50

Structures................................................................................................ 52

Functions................................................................................................. 53

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Data Types, Constants

Where to go from here Information in this section

CAN Baud Rates...................................................................................... 50

CAN baud rate constants

CAN Acceptance..................................................................................... 50
CAN acceptance constants

Enumerations.......................................................................................... 51
CAN configuration enumerations

CAN Baud Rates

CAN baud rates The following constants are predefined:

Predefined Constant Value Description

DSCAN_BAUDRATE_1000_KBAUD 1000000 1000 kBit/s
DSCAN_BAUDRATE_500_KBAUD 500000 500 kBit/s
DSCAN_BAUDRATE_250_KBAUD 250000 250 kBit/s
DSCAN_BAUDRATE_125_KBAUD 125000 125 kBit/s
DSCAN_BAUDRATE_100_KBAUD 100000 100 kBit/s
DSCAN_BAUDRATE_50_KBAUD 50000 50 kBit/s
DSCAN_BAUDRATE_20_KBAUD 20000 20 kBit/s
DSCAN_BAUDRATE_10_KBAUD 10000 10 kBit/s

CAN Acceptance

CAN acceptance The following constants are predefined:

Predefined Constant Value Description

DSCAN_ACCEPTANCE_CODE_BLOCK_NONE 0x00000000 Code to block no CAN messages
DSCAN_ACCEPTANCE_MASK_BLOCK_NONE 0x00000000 Mask to block no CAN messages
DSCAN_ACCEPTANCE_CODE_BLOCK_ALL_STD 0x00000FFF Code to block all standard CAN messages
DSCAN_ACCEPTANCE_MASK_BLOCK_ALL_STD 0x00000FFF Mask to block all standard CAN messages
DSCAN_ACCEPTANCE_CODE_BLOCK_ALL_XTD 0xFFFFFFFF Code to block all extended CAN messages
DSCAN_ACCEPTANCE_MASK_BLOCK_ALL_XTD 0xFFFFFFFF Mask to block all extended CAN messages

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dSPACE CAN API 2.0 C Reference May 2024
Data Types, Constants

Enumerations

Enumerations DSECanIdentifierType CAN identifier types

The following CAN identifier types are predefined:

Enumerator Value Description

DSCAN_IDENTIFIER_TYPE_STD 0x01 Standard CAN identifier (11 bits)
DSCAN_IDENTIFIER_TYPE_XTD 0x02 Extended CAN identifier (29 bits)
DSCAN_IDENTIFIER_TYPE_STD_XTD DSCAN_IDENTIFIER_TYPE_STD | Both standard and extended CAN identifier
DSCAN_IDENTIFIER_TYPE_XTD

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Configuration

Structures

DSSCanBitTimingParameters

Purpose Structure for CAN bit timing parameters

Syntax typedef struct DSSCanBitTimingParameters

{
uint32_t ulSJW;
uint32_t ulBRP;
uint32_t ulSAM;
uint32_t ulTSEG1;
uint32_t ulTSEG2;
} DSSCanBitTimingParameters;

Parameters ulSJW Synchronization jump width

ulBRP Baud rate prescaler

ulSAM Sample mode

ulTSEG1 Bit time segment 1

ulTSEG2 Bit time segment 2

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Functions

Functions
Where to go from here Information in this section

Basics on Configuration Functions........................................................... 54

Explains the steps to configure a CAN channel.

Basics on Bit Timing Parameters and Baud Rates...................................... 55

Explains the conversion between bit timing parameters and CAN baud
rates.

DSCAN_RegisterChannel......................................................................... 57
To register a channel.

DSCAN_InitChannel................................................................................ 59
To initialize a CAN channel and get access permission to it.

DSCAN_UnregisterChannel..................................................................... 60
To unregister a channel.

DSCAN_GetChannelInformation.............................................................. 61
To return information of a CAN channel.

DSCAN_GetChannelCapabilities.............................................................. 63
To return the capabilities of a CAN channel.

DSCAN_IsChannelAccessible................................................................... 64
To check if a CAN channel is accessible.

DSCAN_SetBaudrate............................................................................... 65
To set the baud rate of a CAN interface channel.

DSCAN_GetBaudrate............................................................................... 66
To return the baud rate of a CAN channel.

DSCAN_SetTransmitAcknowledge........................................................... 67
To set the transmit acknowledge state of a CAN channel.

DSCAN_SetChannelOutput..................................................................... 67
To set the output mode of a CAN channel.

DSCAN_SetAcceptance........................................................................... 68
To set the CAN message acceptance filter of a CAN channel.

DSCAN_SetEventNotification................................................................... 71
To set the event notification of a CAN channel.

DSCAN_EnableBusStatistics..................................................................... 72
To enable or disable the periodic generation of bus statistics messages for
a CAN channel.

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Configuration

Basics on Configuration Functions

Steps to configure a CAN To configure a CAN channel, perform the following steps:
channel 1. Call the DSCAN_RegisterChannel function to register a CAN channel.

Note

You must register a CAN channel before you can use it.

Tip

To register a CAN channel, the related CAN interface hardware does

not have to be connected to the host PC.

2. Call the DSCAN_InitChannel function to initialize the registered

CAN channel and get access permission to it. To initialize a CAN channel,
the related CAN interface hardware must be connected to the host PC.
You can use the same CAN channel hardware multiple times with the same
application or even for different applications simultaneously.

Note

However, if you initialize an already initialized CAN channel, you get no

access permission for that channel. As a consequence, you will not be
able to modify the communication configuration of the CAN channel
hardware.

3. If you have access permission to the CAN channel, call the

DSCAN_SetBaudrate function to specify the desired baud rate.
For details, refer to Basics on Bit Timing Parameters and Baud Rates on
page 55.
4. After you have worked with the CAN channel, call the
DSCAN_UnregisterChannel function to unregister the CAN channel.

Note

If a CAN channel remains registered, the dependencies in the driver

cannot be cleared so that subsequent calls may fail, or you may not get
access permission.

CAN bit timing parameters CAN bit timing parameters are described by the DSSCanBitTimingParameters
structure. For details, refer to DSSCanBitTimingParameters on page 52.

Basics on Bit Timing Parameters and Baud Rates

CAN bit timing parameters CAN channels can be configured via the following bit timing parameters:
§ Synchronization jump width
§ Baud rate prescaler
§ Sample mode
§ Bit time segment 1
§ Bit time segment 2

The illustration below shows the meaning and the interdependencies of the
parameters:

Clock
frequency

Baud rate prescaler

tCLK
(BRP)
tSCL

CAN

tSYNCSEG tTSEG1 tTSEG2

Nominal bit time

SYNC TSEG1 TSEG2 SYNC TSEG1

SEG SEG

Sample point(s)

tCLK = Time period of the quartz frequency (1/quartz frequency)

tSCL = Time period of the CAN system clock
tSYNCSEG = Time period of the synchronization segment
tTSEG = Time period of the time segment

Using dSPACE CAN API 2.0, bit timing parameters are described by the
DSSCanBitTimingParameters structure.

Baud rate The baud rate is determined by the CAN interface clock frequency and the bit
timing parameters.

The baud rate value is calculated via the following formula:

Clock frequency
Baud rate = Baud rate prescaler · 1 + Bit time segment 1 + Bit time segment 2

Setting the baud rate With dSPACE CAN API 2.0, you can set the baud rate
of a CAN channel by using the DSCAN_SetBaudrate function.

Getting the baud rate With dSPACE CAN API 2.0, you can get the baud
rate of a CAN channel by using the DSCAN_GetBaudrate function.

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Configuration

Sample mode The sample mode specifies the number of sample points per bit that is used to
evaluate whether the bit is recessive or dominant,

Sample Number of Description

Mode Sample Points
per Bit
0 1 Each bit is sampled only once.
1 3 Each bit is sampled three times. The majority
of samples is used to decide whether the bit
is recessive or dominant.

Converting baud rates into bit To convert a baud rate value to bit timing parameters and vice versa, dSPACE
timing parameters and vice CAN API 2.0 provides the following functions:
versa § DSCAN_ConvertBaudrateToBitTimingParameters
§ DSCAN_ConvertBaudratesToBitTimingParameters
§ DSCAN_ConvertBaudrateToBitTimingParametersWithSameSPAndBRP
§ DSCAN_ConvertBitTimingParametersToBaudrate

§ For the most commonly used classic CAN baud rate

values (DSCAN_BAUDRATE_xxx) and the clock frequency of
8 MHz (DSCAN_CLOCK_FREQUENCY_SJA1000) used for classic
CAN baud rates and SJA1000‑compatible CAN controllers, the
DSCAN_ConvertBaudrateToBitTimingParameters function returns the
following predefined bit timing parameters:

Baud Rate Synch. Jump Baud Rate Sample Bit Time Bit Time Sample
Width Prescaler Mode Segment 1 Segment 2 Point
1000 kBit/s 2 1 0 5 2 75%
500 kBit/s 2 2 0 5 2 75%
250 kBit/s 2 4 0 5 2 75%
125 kBit/s 2 8 0 5 2 75%
100 kBit/s 2 10 0 5 2 75%
50 kBit/s 2 20 0 5 2 75%
20 kBit/s 2 50 0 5 2 75%
10 kBit/s 2 50 0 13 2 87%

§ For all other combinations of baud rate and clock frequency values, the bit
timing parameters are determined according to the following conditions:
§ Sample point is equal or close to:
§ 75 % for classic CAN baud rates (≤ 1 Mbit/s)
§ 80 % for CAN FD baud rates (> 1 Mbit/s)
§ Lowest nominal bit time for the desired sample point
§ Sample mode is 0

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Functions

Converting bit timing For classic CAN baud rates of up to 1 Mbit/s, bit timing parameters can be stored
parameters into bus timing in two bus timing registers.
registers and vice versa
To convert bit timing parameters to bus timing registers and vice versa, dSPACE
CAN API 2.0 provides the following functions:
§ DSCAN_ConvertBitTimingParametersToBusTimingRegisters
§ DSCAN_ConvertBusTimingRegistersToBitTimingParameters

DSCAN_RegisterChannel

Purpose To register a channel.

Syntax
DSTCanError DSCAN_RegisterChannel(char szVendorName[DSCAN_MAX_NAME_LENGTH],
char szInterfaceName[DSCAN_MAX_NAME_LENGTH],
char szInterfaceSerialNumber [DSCAN_MAX_NAME_LENGTH],
char szChannelIdentifier[DSCAN_MAX_NAME_LENGTH],
DSTCanHandle* ptChannelHandle);

Description You must register a CAN channel before you can use it.

Tip

To register a CAN channel, the related CAN interface hardware does not
have to be connected to the host PC.

Parameters (In) szVendorName Specifies the vendor name.

The following constants are predefined:

Predefined Constant Value Description

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szInterfaceName Specifies the interface name.

The following constants are predefined:

Predefined Constant Value Description

szInterfaceSerialNumber Serial number of the interface.

szChannelIdentifier Identifier of the channel.

Parameters (Out) ptChannelHandle Channel handle.

Return value One of the error codes defined in DSTCanError.

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Basics on Configuration Functions............................................................................................ 54

Overview of the API Functions and Their Dependencies............................................................ 12

DSCAN_InitChannel

Purpose To initialize a CAN channel and get access permission to it.

Syntax
DSTCanError DSCAN_InitChannel(DSTCanHandle tChannelHandle,
DSECanIdentifierType tIdentifierType,
uint32_t ulRxQueueSize,
bool bFD,
bool* pbAccessPermission);

Description You must initialize a CAN channel before you can use it. To initialize a CAN
channel, the related CAN interface hardware must be connected to the host PC.

You can use the same CAN channel hardware multiple times with the same
application or even for different applications simultaneously.

Note

However, if you initialize an already initialized CAN channel, you get no

access permission for that channel. As a consequence, you will not be able
to modify the communication configuration of the CAN channel hardware.

Access permission for a CAN interface channel If the function returns no

access permission for the channel, you are not allowed to modify the hardware
CAN channel communication configuration since the hardware CAN channel is
already used by another client.
In this case, you cannot use the following functions:
§ DSCAN_SetBaudrate: to set the baud rate of the hardware CAN channel
§ DSCAN_SetChannelOutput: to enable/disable the silent mode on the
hardware CAN channel
§ DSCAN_FlushTransmitQueue: to clear the transmit queue of the hardware
CAN channel
To obtain the current baud rate and CAN FD settings of the channel, you can use
the DSCAN_GetBaudrate function.

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Parameters (In) tChannelHandle Channel handle.

tIdentifierType Type of CAN message identifiers to receive.

The following CAN identifier types are predefined:

Enumerator Value Description

ulRxQueueSize Receive queue size.

bFD Flag indicating if CAN FD support whether required.

Parameters (Out) pbAccessPermission Access permission for the channel.

See Description on page 59 for details.

Return value One of the error codes defined in DSTCanError.

Basics on Configuration Functions............................................................................................ 54

Overview of the API Functions and Their Dependencies............................................................ 12

DSCAN_UnregisterChannel

Purpose To unregister a channel.

Syntax
DSTCanError DSCAN_UnregisterChannel(DSTCanHandle tChannelHandle);

Description After you have used a channel, you must unregister it.

Note

If a CAN channel remains registered, the dependencies in the driver cannot

be cleared so that subsequent calls may fail, or you may not get access
permission.

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Parameters (In) tChannelHandle Channel handle.

Return value One of the error codes defined in DSTCanError.

Basics on Configuration Functions............................................................................................ 54

Overview of the API Functions and Their Dependencies............................................................ 12

DSCAN_GetChannelInformation

Purpose To return information of a CAN channel.

Syntax
DSTCanError DSCAN_GetChannelInformation(DSTCanHandle tChannelHandle,
char* pszVendorName,
char* pszInterfaceName,
char* pszInterfaceSerialNumber,
char* pszChannelIdentifier);

Parameters (In) tChannelHandle Channel handle.

Parameters (Out) pszVendorName Vendor name.

The size of this parameter must be at least 256 bytes
(DSCAN_MAX_NAME_LENGTH). The memory must be allocated and freed by the
caller.
The following constants are predefined:

Predefined Constant Value Description

pszInterfaceName Interface name.

The size of this parameter must be at least 256 bytes
(DSCAN_MAX_NAME_LENGTH). The memory must be allocated and freed by the
caller.

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The following constants are predefined:

Predefined Constant Value Description

pszInterfaceSerialNumber Interface serial number.

The size of this parameter must be at least 256 bytes
(DSCAN_MAX_NAME_LENGTH). The memory must be allocated and freed by the
caller.

pszChannelIdentifier Channel identifier.

The size of this parameter must be at least 256 bytes
(DSCAN_MAX_NAME_LENGTH). The memory must be allocated and freed by the
caller.

Return value One of the error codes defined in DSTCanError.

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Basics on Configuration Functions............................................................................................ 54

Overview of the API Functions and Their Dependencies............................................................ 12

DSCAN_GetChannelCapabilities

Purpose To return the capabilities of a CAN channel.

Syntax
DSTCanError DSCAN_GetChannelCapabilities(DSTCanHandle tChannelHandle,
uint32_t* pulChannelCapabilities);

Parameters (In) tChannelHandle Channel handle.

Parameters (Out) pulChannelCapabilities Specifies the channel capabilities as a combination

of one or more of the following parameter values.
The following constants are predefined:

Predefined Constant Description

Return value One of the error codes defined in DSTCanError.

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Basics on Configuration Functions............................................................................................ 54

Overview of the API Functions and Their Dependencies............................................................ 12

DSCAN_IsChannelAccessible

Purpose To check if a CAN channel is accessible.

Syntax
DSTCanError DSCAN_IsChannelAccessible(DSTCanHandle tChannelHandle,
bool* pbChannelIsAccessible);

Description If the function returns that the channel is not accessible, the channel cannot be
used any more since it has no longer connection to the corresponding hardware
CAN channel.

In this case:
1. Call DSCAN_UnregisterChannel to unregister the channel.
2. Use DSCAN_GetAvailableChannels to check whether the hardware CAN
channel is available.
3. If it is, call DSCAN_RegisterChannel to register the new channel.

Parameters (In) tChannelHandle Channel handle.

Parametes (Out) pbChannelIsAccessible Flag indicating if the channel is accessible.

Return value One of the error codes defined in DSTCanError.

Basics on Configuration Functions............................................................................................ 54

Overview of the API Functions and Their Dependencies............................................................ 12

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Functions

DSCAN_SetBaudrate

Purpose To set the baud rate of a CAN interface channel.

Note

To call the function you must have access permission for the CAN interface
channel.

Syntax
DSTCanError DSCAN_SetBaudrate(DSTCanHandle tChannelHandle,
uint32_t ulClockFrequency,
DSSCanBitTimingParameters* ptBitTimingParameters,
DSSCanBitTimingParameters* ptBitTimingParameters_FD);

Description Depending on how the channel was initialized, the bit timing parameters
ptBitTimingParameters and ptBitTimingParameters_FD have different
meanings.

Meaning of ...
ptBitTimingParameters ptBitTimingParameters_FD
CAN FD is not Nominal baud rate Is ignored. Use the NULL pointer instead.
to be used
CAN FD is to CAN FD arbitration baud rate CAN FD data baud rate
be used

Parameters (In) tChannelHandle Channel handle.

ulClockFrequency Clock frequency.

For classic CAN baud rates (up to 1 Mbit/s) and SJA1000‑compatible CAN
controllers, the clock frequency is always 8 MHz, so you can use the
DSCAN_CLOCK_FREQUENCY_SJA1000 definition.

ptBitTimingParameters Bit timing parameters.

ptBitTimingParameters_FD Bit timing parameters describing the CAN FD

data baud rate.

Basics on Bit Timing Parameters and Baud Rates....................................................................... 55

Basics on Configuration Functions............................................................................................ 54
Overview of the API Functions and Their Dependencies............................................................ 12

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DSCAN_GetBaudrate

Purpose To return the baud rate of a CAN channel.

Syntax
DSTCanError DSCAN_GetBaudrate(DSTCanHandle tChannelHandle,
uint32_t* pulClockFrequency,
DSSCanBitTimingParameters* ptBitTimingParameters,
bool* pbFD,
DSSCanBitTimingParameters* ptBitTimingParameters_FD);

Description Depending on whether CAN FD is used, the bit timing parameters

ptBitTimingParameters and ptBitTimingParameters_FD have different
meanings.

Meaning of ...
ptBitTimingParameters ptBitTimingParameters_FD
CAN FD is not used Nominal baud rate - (not relevant; can be ignored)
CAN FD is used CAN FD arbitration baud rate CAN FD data baud rate

Parameters (In) tChannelHandle Channel handle.

Parameters (Out) pulClockFrequency Clock frequency.

ptBitTimingParameters Bit timing parameters.

pbFD Flag indicating if CAN FD is used.

ptBitTimingParameters_FD Bit timing parameters describing the CAN FD

data baud rate.

Return value One of the error codes defined in DSTCanError.

Basics on Bit Timing Parameters and Baud Rates....................................................................... 55

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Functions

DSCAN_SetTransmitAcknowledge

Purpose To set the transmit acknowledge state of a CAN channel.

Syntax
DSTCanError DSCAN_SetTransmitAcknowledge(DSTCanHandle tChannelHandle,
bool bTransmitAcknowledge);

Description § If the transmit acknowledge is enabled, the transmitting hardware CAN

channel generates a transmit acknowledge message in its receive queue when
the CAN messages was successfully received by another CAN bus member.
A transmit acknowledge message is the copy of the transmitted CAN message
with the DSCAN_RX_MESSAGE_FLAG_TX_ACKNOWLEDGE flag set.
The transmit acknowledge is enabled by default.
§ If the transmit acknowledge is disabled, no transmit acknowledge messages
are generated.

Parameters (In) tChannelHandle Channel handle.

bTransmitAcknowledge Flag indicating whether the transmit acknowledge

is enabled.

Return value One of the error codes defined in DSTCanError.

Basics on Configuration Functions............................................................................................ 54

Overview of the API Functions and Their Dependencies............................................................ 12

DSCAN_SetChannelOutput

Purpose To set the output mode of a CAN channel.

Note

To call the function, you must have access permission for the channel.

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Syntax
DSTCanError DSCAN_SetChannelOutput(DSTCanHandle tChannelHandle,
bool bSilentMode);

Description § If the silent mode is disabled, the hardware CAN channel generates a receive
acknowledge on the CAN bus whenever a CAN message was received
successfully.
The silent mode is disabled by default.
§ If the silent mode is enabled, the hardware CAN channel neither generates
receive acknowledges for incoming CAN messages nor transmits CAN
messages.

Parameters (In) tChannelHandle Channel handle.

bSilentMode Flag indicating whether the silent mode is enabled.

Return value One of the error codes defined in DSTCanError.

Basics on Configuration Functions............................................................................................ 54

Overview of the API Functions and Their Dependencies............................................................ 12

DSCAN_SetAcceptance

Purpose To set the CAN message acceptance filter of a CAN channel.

Syntax
DSTCanError DSCAN_SetAcceptance(DSTCanHandle tChannelHandle,
uint32_t ulCodeStd,
uint32_t ulMaskStd,
uint32_t ulCodeXtd,
uint32_t ulMaskXtd);

Description Via the mask and code filter, you can specify which bits of the received CAN IDs
are checked and which values are accepted:
§ A 1 in the mask filter specifies that the corresponding bit of the received CAN
ID is checked.

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§ If the checked bits of the CAN ID match the bits of the code filter, the CAN
message is passed to the receive buffer.

Note

§ Both CAN identifier types have their own code and mask filter definitions.
However, only the code and mask filters for the currently active CAN
identifier type are used. The active identifier type is specified via the
DSCAN_InitChannel function.
§ Suppose a CAN bus has messages of both the STD and the XTD
identifier type. dSPACE CAN interfaces can receive messages of both
identifier types regardless of the tIdentifierType parameter value that
was passed to the DSCAN_InitChannel function. This requires further
filtering in your application.
§ Every message that corresponds to the specified filter is accepted.
However, depending on the filter settings and the messages on the bus,
even more messages can pass the filter. This requires further filtering in
your application.

Example The following table shows you which mask and code filters you
have to specify in three example cases:

Case Required Mask Filter Required Code Filter

Block all IDs Check all bits... ... for a pattern that is not in use...
Standard identifier 0xfff -> 1111 1111 1111 0xfff -> 1111 1111 1111
or
0x000 -> 0000 0000 0000
Extended identifier 0xffffffff 0x00000000
or
0xffffffff
Block no ID Do not check any bit... ... so that the code filter is ignored...
Standard identifier 0x000 -> 0000 0000 0000 0x000 -> 0000 0000 0000
Extended identifier 0x00000000 0x00000000
Allow only ID 0x00A Check all bits... ... for the desired pattern...
Standard identifier 0x7ff -> 0111 1111 1111 0x00a -> 0000 0000 1010
Extended identifier 0x1fffffff 0x0000000a

Note

If you want to filter for several specific CAN IDs, you might not be able to
define a mask and code filter that blocks all the undesired CAN IDs. This
is the case if the differences between the desired CAN IDs are located in
different bits. Below are rules for finding your optimal mask and code filters
to filter for 1 … n CAN IDs.

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Calculating mask and code filters Use the following formulas to calculate
your mask and code filters if you want to receive the CAN IDs ID(0) … ID(n):
code = ID(0) | ID(1) | .... | ID(n)
mask = 0x7ff // for standard identifiers
mask = 0x1fff ffff // for extended identifiers
for (i = 0; i <= n; i++)
{
mask = (~(ID(i) & mask) ^ (code & mask)) & mask
}

Note

The total number of different CAN IDs that pass the acceptance filter can be
calculated via the number of 0’s in the mask (see example below):
Number of CAN IDs = 2 Number of 0’s

Example Suppose you want to receive the two CAN IDs:

§ ID1 = 0x00A = 000 0000 1010
§ ID2 = 0x056 = 000 0101 0110
In this case, the code can be calculated as:
code = ID1 | ID2
code = 000 0000 1010 | 000 0101 0110
code = 000 0101 1110

The mask can be calculated as:

mask = 0x7ff = 111 1111 1111

ID1:
mask = (~(000 0000 1010 & 111 1111 1111) XOR
(000 0101 1110 & 111 1111 1111)) & 111 1111 1111
mask = (-(000 0000 1010) XOR (000 0101 1110)) & 111 1111 1111
mask = ((111 1111 0101) XOR (000 0101 1110)) & 111 1111 1111
mask = (111 1010 1011) & 111 1111 1111
mask = 111 1010 1011

ID2:
mask = (~(000 0101 0110 & 111 1010 1011) XOR
(000 0101 1110 & 111 1010 1011)) & 111 1010 1011
mask = (-(000 0000 0010) XOR (000 0000 1010)) & 111 1010 1011
mask = ((111 1111 1101) XOR (000 0000 1010)) & 111 1010 1011
mask = (111 1111 0111) & 111 1010 1011
mask = 111 1010 0011

Number of IDs that pass the acceptance filter:

2 Number of 0’s = 24 = 16

Parameters (In) tChannelHandle Channel handle.

ulCodeStd Code for standard CAN identifiers.

ulMaskStd Mask for standard CAN identifiers.

ulCodeXtd Code for extended CAN identifiers.

ulMaskXtd Mask for extended CAN identifiers.

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Return value One of the error codes defined in DSTCanError.

Basics on Configuration Functions............................................................................................ 54

Overview of the API Functions and Their Dependencies............................................................ 12

DSCAN_SetEventNotification

Purpose To set the event notification of a CAN channel.

Syntax
DSTCanError DSCAN_SetEventNotification(DSTCanHandle tChannelHandle,
DSTEventHandle tEventHandle,
uint32_t ulReceiveQueueLevel);

Description To enable the event notification, call the function with a valid Windows event
handle. Call the function with a NULL pointer instead of the event handle to
disable the event notification.

If the event notification is enabled, the CAN channel informs the application via
the event when the specified number of CAN messages has been received.

Note

The following limitations apply:

§ dSPACE and Kvaser CAN interfaces:
The specified receive queue level is ignored since the interfaces do not
support a receive queue level greater than 1. Instead, 1 is always taken.
§ Eberspächer CAN interfaces:
The specified receive queue level is ignored since the interfaces do not
support notification by receive queue level. Instead, the event is triggered
every 5 ms, even if no new CAN messages have been received.

Parameters (In) tChannelHandle Channel handle.

tEventHandle Windows event handle.

ulReceiveQueueLevel Receive queue level for event triggering.

Return value One of the error codes defined in DSTCanError.

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Configuration

Basics on Configuration Functions............................................................................................ 54

Overview of the API Functions and Their Dependencies............................................................ 12

DSCAN_EnableBusStatistics

Purpose To enable or disable the periodic generation of bus statistics messages for a CAN
channel.

Syntax
DSTCanError DSCAN_EnableBusStatistics(DSTCanHandle tChannelHandle,
bool bEnable);

Description If the option is enabled, the hardware CAN channel periodically generates a bus
statistics message in its receive queue.

If the option is disabled, no bus statistics messages are generated.

Parameters tChannelHandle Channel handle.

bEnable Bus statistics enable.

Return value One of the error codes defined in DSTCanError.

Basics on Configuration Functions............................................................................................ 54

Overview of the API Functions and Their Dependencies............................................................ 12

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Communication

Communication

Where to go from here Information in this section

Data Types, Constants............................................................................. 74

Structures................................................................................................ 77

Functions................................................................................................. 81

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Communication

Data Types, Constants

Where to go from here Information in this section

CAN Message TX Flags............................................................................ 74

CAN message TX flag constants

CAN Message RX Flags............................................................................ 74

CAN message RX flag constants

CAN Bus Statistics Flags........................................................................... 75

CAN bus statistics flag constants

Enumerations.......................................................................................... 75
CAN communication enumerations

CAN Message TX Flags

CAN message TX flags The following constants are predefined:

Flag Value Description

DSCAN_TX_MESSAGE_FLAG_FD 0x00000001 Transmit CAN FD message
DSCAN_TX_MESSAGE_FLAG_FD_BAUDRATE_SWITCH 0x00000002 Transmit CAN FD message with baud rate switch

CAN Message RX Flags

CAN message RX flags The following constants are predefined:

Flag Value Description

DSCAN_RX_MESSAGE_FLAG_TX_ACKNOWLEDGE 0x00000001 Transmit acknowledge CAN message
DSCAN_RX_MESSAGE_FLAG_FD 0x00000100 CAN FD message
DSCAN_RX_MESSAGE_FLAG_FD_BAUDRATE_SWITCH 0x00000200 CAN FD message transmitted with baud rate switch
DSCAN_RX_MESSAGE_FLAG_RX_BUFFER_OVERRUN 0x00010000 Vendor API receive buffer overrun
DSCAN_RX_MESSAGE_FLAG_HW_RX_BUFFER_OVERRUN 0x00020000 CAN controller receive buffer overrun
DSCAN_RX_MESSAGE_FLAG_FD_ERROR_STATE_INDICATOR 0x00040000 CAN FD error state indicator

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Data Types, Constants

CAN Bus Statistics Flags

CAN bus statistics flags The following constants are predefined:

Flag Value Description

DSCAN_BUS_STATISTICS_FLAG_ERROR_FRAMES 0x00000001 The bus statistics frame provides the value for the number of
error frames
DSCAN_BUS_STATISTICS_FLAG_RX_STD_FRAMES 0x00000002 The bus statistics frame provides the value for the number of
received standard CAN frames
DSCAN_BUS_STATISTICS_FLAG_TX_STD_FRAMES 0x00000004 The bus statistics frame provides the value for the number of
transmitted standard CAN frames
DSCAN_BUS_STATISTICS_FLAG_RX_EXT_FRAMES 0x00000008 The bus statistics frame provides the value for the number of
received extended CAN frames
DSCAN_BUS_STATISTICS_FLAG_TX_EXT_FRAMES 0x00000010 Bus statistics value for the number of available transmitted
extended CAN frames
DSCAN_BUS_STATISTICS_FLAG_RX_STD_FD_FRAMES 0x00000020 Bus statistics value for the number of available received
standard CAN FD frames
DSCAN_BUS_STATISTICS_FLAG_TX_STD_FD_FRAMES 0x00000040 Bus statistics value for the number of available transmitted
standard CAN FD frames
DSCAN_BUS_STATISTICS_FLAG_RX_EXT_FD_FRAMES 0x00000080 Bus statistics value for the number of available received
extended CAN FD frames
DSCAN_BUS_STATISTICS_FLAG_TX_EXT_FD_FRAMES 0x00000100 Bus statistics value for the number of available transmitted
extended CAN FD frames

Enumerations

Enumerations DSECanBusStatus CAN bus states

The following CAN bus states are predefined:

Enumerator Value Description

DSCAN_BUS_STATUS_UNKNOWN 0 Unknown
DSCAN_BUS_STATUS_ACTIVE 1 Bus active
DSCAN_BUS_STATUS_PASSIVE 2 Bus passive
DSCAN_BUS_STATUS_WARNING 3 Bus warning
DSCAN_BUS_STATUS_BUS_OFF 4 Bus off

DSECanMessageType CAN message type

The following CAN message types are predefined:

Enumerator Value Description

DSCAN_MESSAGE_TYPE_DATA 1 Data CAN message
DSCAN_MESSAGE_TYPE_REMOTE 2 Remote CAN message
DSCAN_MESSAGE_TYPE_ERROR 3 Error CAN message

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Enumerator Value Description

DSCAN_MESSAGE_TYPE_BUS_INFO 4 CAN bus info message
DSCAN_MESSAGE_TYPE_BUS_STATISTICS 5 CAN bus statistics message

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Structures

Structures
Where to go from here Information in this section

DSSCanBusInfo........................................................................................ 77
Structure for CAN bus information

DSSCanMessage...................................................................................... 78
Structure for a CAN message

DSSCanBusStatistics................................................................................ 79
Structure for CAN bus statistics information

DSSCanBusInfo

Purpose Structure for CAN bus information

Syntax
typedef struct DSSCanBusInfo
{
DSECanBusStatus tBusStatus;
uint16_t usRxErrorCounter;
uint16_t usTxErrorCounter;
uint8_t ucBusLoad;
} DSSCanBusInfo;

Parameters tBusStatus CAN bus status

The following CAN bus states are predefined:

Enumerator Value Description

DSCAN_BUS_STATUS_UNKNOWN 0 Unknown
DSCAN_BUS_STATUS_ACTIVE 1 Bus active
DSCAN_BUS_STATUS_PASSIVE 2 Bus passive
DSCAN_BUS_STATUS_WARNING 3 Bus warning
DSCAN_BUS_STATUS_BUS_OFF 4 Bus off

usRxErrorCounter Receive errors counter

usTxErrorCounter Transmit errors counter

ucBusLoad CAN bus load in percent (only for channels having the
DSCAN_CHANNEL_CAPABILITY_BUS_LOAD_INFO channel capability)

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DSSCanMessage

Purpose Structure for a CAN message

Syntax
typedef struct DSSCanMessage
{
DSECanMessageType tMessageType;
uint64_t ui64Timestamp;
uint32_t ulCanIdentifier;
DSECanIdentifierType tCanIdentifierType;
uint32_t ulFlags;
uint16_t usDLC;
uint8_t ucData[DSCAN_MAX_DATA_LENGTH];
DSSCanBusInfo tBusInfo;
} DSSCanMessage;

Parameters tMessageType Message type

The following CAN message types are predefined:

Enumerator Value Description

DSCAN_MESSAGE_TYPE_DATA 1 Data CAN message
DSCAN_MESSAGE_TYPE_REMOTE 2 Remote CAN message
DSCAN_MESSAGE_TYPE_ERROR 3 Error CAN message
DSCAN_MESSAGE_TYPE_BUS_INFO 4 CAN bus info message
DSCAN_MESSAGE_TYPE_BUS_STATISTICS 5 CAN bus statistics message

Note

CAN bus statistics messages, i.e., messages with the

DSCAN_MESSAGE_TYPE_BUS_STATISTICS message type, provide:
§ CAN bus information via the tBusInfo parameter
§ CAN bus statistics information via the ucData parameter
To encode the CAN bus statistics information from data bytes, use the
DSCAN_EncodeBusStatistics function.

ui64Timestamp Timestamp
For dSPACE CAN interfaces, you can specify the transmission time of a CAN
message by setting the CAN message timestamp.
To transmit a CAN message immediately, set the CAN message timestamp to '0'.
When you first pass a CAN message with specified CAN message timestamp to
the CAN channel and then one for immediate transmission, the latter message is
delayed until the first message is sent.

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Structures

ulCanIdentifier CAN identifier

tCanIdentifierType CAN identifier type

The following CAN identifier types are predefined:

Enumerator Value Description

ulFlags Flags (combination of DSCAN_RX_MESSAGE_FLAG_xxx for

DSCAN_ReadReceiveQueue and DSCAN_TX_MESSAGE_FLAG_xxx for
DSCAN_TransmitMessages).

usDLC Data length code.

To convert between the data length code (DLC) and the data bytes count
of a CAN message, use the functions DSCAN_ConvertByteCountToDlc and
DSCAN_ConvertDlcToByteCount.

ucData Specifies either data bytes (only for messages with the
DSCAN_MESSAGE_TYPE_DATA message type) or CAN bus statistics information
(only for messages with the DSCAN_MESSAGE_TYPE_BUS_STATISTICS message
type).
To encode the CAN bus statistics information from data bytes, use the
DSCAN_EncodeBusStatistics function.

tBusInfo Specifies CAN bus information (only for messages with the
DSCAN_MESSAGE_TYPE_BUS_INFO or DSCAN_MESSAGE_TYPE_BUS_STATISTICS
message type).
Refer to DSSCanBusInfo on page 77.

Purpose Structure for CAN bus statistics information

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Syntax
typedef struct DSSCanBusStatistics
{
uint32_t ulFlags;
uint32_t ulErrorFrames;
uint32_t ulRxStdFrames;
uint32_t ulTxStdFrames;
uint32_t ulRxExtFrames;
uint32_t ulTxExtFrames;
uint32_t ulRxStdFDFrames;
uint32_t ulTxStdFDFrames;
uint32_t ulRxExtFDFrames;
uint32_t ulTxExtFDFrames;
} DSSCanBusStatistics;

Parameters ulFlags Flags (combination of DSCAN_BUS_STATISTICS_FLAG_xxx).

ulErrorFrames Number of error frames

ulRxStdFrames Number of received standard CAN frames

ulTxStdFrames Number of transmitted standard CAN frames

ulRxExtFrames Number of received extended CAN frames

ulTxExtFrames Number of transmitted extended CAN frames

ulRxStdFDFrames Number of received standard CAN FD frames

ulTxStdFDFrames Number of transmitted standard CAN FD frames

ulRxExtFDFrames Number of received extended CAN FD frames

ulTxExtFDFrames Number of transmitted extended CAN FD frames

CAN Bus Statistics Flags............................................................................................................ 75

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Functions

Functions
Where to go from here Information in this section

Basics on Communication Functions........................................................ 82

Explains the steps to perform CAN communication with a channel.

DSCAN_ActivateChannel......................................................................... 84
To activate CAN communication of a specific CAN channel.

DSCAN_DeactivateChannel..................................................................... 84
To deactivate CAN communication of a specific CAN channel.

DSCAN_GetHardwareTimeResolution...................................................... 85
To return the hardware time resolution of a CAN channel.

DSCAN_GetHardwareTime...................................................................... 86
To return the hardware time of a CAN channel.

DSCAN_ResetHardwareTime................................................................... 87
To reset the hardware time of a CAN channel.

DSCAN_GetReceiveQueueLevel............................................................... 87
To return the count of CAN messages in the receive queue of a CAN
channel.

DSCAN_ReadReceiveQueue..................................................................... 88
To read CAN messages from the receive queue of a CAN channel.

DSCAN_ReadReceiveQueueAndDeactivateChannel.................................. 89
To read CAN messages from the receive queue of a CAN channel, and
deactivate CAN communication of the channel.

DSCAN_FlushReceiveQueue..................................................................... 90
To clear the receive queue of a CAN channel.

DSCAN_TransmitMessages...................................................................... 91
To transmit CAN messages by the use of a CAN channel.

DSCAN_FlushTransmitQueue................................................................... 92
To clear the transmit queue of a CAN channel.

DSCAN_GetBusInfo................................................................................. 92
To return the bus communication state of a CAN channel.

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Basics on Communication Functions

Steps to perform To receive and transmit CAN messages with a channel, perform the following
CAN communication with a steps:
channel 1. Call the DSCAN_ActivateChannel function to activate the CAN channel.

Note

You must activate a channel before you can use it to transmit and
receive CAN messages.

2. Call the DSCAN_TransmitMessages function to transmit CAN messages.

The dSPACE CAN API 2.0 lets you transmit messages of the following
message types:
§ DSCAN_MESSAGE_TYPE_DATA
§ DSCAN_MESSAGE_TYPE_REMOTE (for classic CAN only)
Messages are transmitted in the order you pass them to the CAN channel,
i.e., the send buffer is a first-in-first-out buffer.
3. To reconfigure a CAN channel, call the
DSCAN_DeactivateChannel function to deactivate the channel
beforehand.

Specifying the transmission For dSPACE CAN interfaces, you can specify the transmission time of a CAN
time message by setting the CAN message timestamp.

To transmit a CAN message immediately, set the CAN message timestamp to '0'.
When you first pass a CAN message with specified CAN message timestamp to
the CAN channel and then one for immediate transmission, the latter message is
delayed until the first message is sent.

See the following example.

Example The following example shows how to receive and transmit CAN messages with a
channel.
DSTCanError tErrorCode = DSCAN_ERR_NO_ERROR;
DSTCanHandle tChannelHandle = DSCAN_INVALID_CAN_HANDLE;
uint32_t ulMessagesCount = 0;
DSSCanMessage* ptMessagesArray = NULL;
DSSCanMessage tMessage;
uint64_t ui64TimeResolution = 0;
uint64_t ui64CurrentTime = 0;
// ...
// Receive CAN messages
// --------------------
// Get count of CAN messages
tErrorCode = DSCAN_GetReceiveQueueLevel(tChannelHandle, &ulMessagesCount);
if (DSCAN_ERR_NO_ERROR == tErrorCode)
{
// Allocate memory for CAN messages
ptMessagesArray = new DSSCanMessage[ulMessagesCount];

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// Get CAN messages

tErrorCode = DSCAN_ReadReceiveQueue(tChannelHandle, &ulMessagesCount, ptMessagesArray);
// Process CAN messages
for (uint32_t i = 0; i < ulMessagesCount; i++)
{
// Do anything with ptMessagesArray[i]
}
// Free memory for CAN messages
delete[] ptMessagesArray;
}
// Transmit CAN messages
// ---------------------
// Send 1 standard CAN message immediately
tMessage.tMessageType = DSCAN_MESSAGE_TYPE_DATA;
tMessage.ulCanIdentifier = 0x100;
tMessage.tCanIdentifierType = DSCAN_IDENTIFIER_TYPE_STD;
tMessage.ulFlags = 0;
tMessage.usDLC = DSCAN_ConvertByteCountToDlc(3);
memset(tMessage.ucData, 0, DSCAN_MAX_DATA_LENGTH);
for (uint8_t i = 0; i < 3; i++)
{
tMessage.ucData[0] = i;
}
tMessage.ui64Timestamp = 0;
tErrorCode = DSCAN_TransmitMessages(tChannelHandle, 1, &tMessage);
// Get hardware time resolution
tErrorCode = DSCAN_GetHardwareTimeResolution(tChannelHandle, &ui64TimeResolution);
if (DSCAN_ERR_NO_ERROR == tErrorCode)
{
// Allocate memory for 10 CAN messages
ptMessagesArray = new DSSCanMessage[10];
// Send 10 extended CAN FD messages with 100ms delay
tErrorCode = DSCAN_GetHardwareTime(tChannelHandle, &ui64CurrentTime);
if (DSCAN_ERR_NO_ERROR == tErrorCode)
{
for (int32_t iMessageIndex = 0; iMessageIndex < 10; iMessageIndex++)
{
ptMessagesArray[iMessageIndex].tMessageType = DSCAN_MESSAGE_TYPE_DATA;
ptMessagesArray[iMessageIndex].ulCanIdentifier = 0x100 + iMessageIndex;
ptMessagesArray[iMessageIndex].tCanIdentifierType = DSCAN_IDENTIFIER_TYPE_XTD;
ptMessagesArray[iMessageIndex].ulFlags = DSCAN_TX_MESSAGE_FLAG_FD |
DSCAN_TX_MESSAGE_FLAG_FD_BAUDRATE_SWITCH;
ptMessagesArray[iMessageIndex].usDLC = DSCAN_ConvertByteCountToDlc(30);
memset(ptMessagesArray[iMessageIndex].ucData, 0, DSCAN_MAX_DATA_LENGTH);
for (uint8_t i = 0; i < 30; i++)
{
ptMessagesArray[iMessageIndex].ucData[0] = i;
}
ptMessagesArray[iMessageIndex].ui64Timestamp = (uint64_t )((((double)ui64CurrentTime / (double)
ui64TimeResolution) + (0.100 * (iMessageIndex + 1))) * (double)ui64TimeResolution);
}
if (DSCAN_ERR_NO_ERROR == tErrorCode)
{
tErrorCode = DSCAN_TransmitMessages(tChannelHandle, 10, ptMessagesArray);
}
}
// Free memory for CAN messages
delete[] ptMessagesArray;
}

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Purpose To activate CAN communication of a specific CAN channel.

Syntax
DSTCanError DSCAN_ActivateChannel(DSTCanHandle tChannelHandle);

Description If the CAN communication is activated, the CAN channel can send and receive
CAN messages.

Parameters (In) tChannelHandle Channel handle.

Return value One of the error codes defined in DSTCanError.

Basics on Communication Functions......................................................................................... 82

Overview of the API Functions and Their Dependencies............................................................ 12

DSCAN_DeactivateChannel

Purpose To deactivate CAN communication of a specific CAN channel.

Syntax
DSTCanError DSCAN_DeactivateChannel(DSTCanHandle tChannelHandle);

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Description If the CAN communication is deactivated, the CAN channel cannot send and
receive CAN messages.

Parameters (In) tChannelHandle Channel handle.

Return value One of the error codes defined in DSTCanError.

Basics on Communication Functions......................................................................................... 82

Overview of the API Functions and Their Dependencies............................................................ 12

References

DSCAN_ReadReceiveQueueAndDeactivateChannel................................................................... 89

DSCAN_GetHardwareTimeResolution

Purpose To return the hardware time resolution of a CAN channel.

Syntax
DSTCanError DSCAN_GetHardwareTimeResolution(DSTCanHandle tChannelHandle,
uint64_t* pui64TimeResolution);

Description The hardware time resolution defines the time unit of the hardware time which
can be obtained by DSCAN_GetHardwareTime.

Parameters (In) tChannelHandle Channel handle.

Parameters (Out) pui64TimeResolution Hardware time resolution.

Return value One of the error codes defined in DSTCanError.

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Basics on Communication Functions......................................................................................... 82

Overview of the API Functions and Their Dependencies............................................................ 12

DSCAN_GetHardwareTime

Purpose To return the hardware time of a CAN channel.

Syntax
DSTCanError DSCAN_GetHardwareTime(DSTCanHandle tChannelHandle,
uint64_t* pui64Time);

Description The hardware time is measured in time units defined by

the hardware time resolution which can be obtained by the
DSCAN_GetHardwareTimeResolution function.

To calculate the hardware time in seconds, use the following formula:

Hardware time
Hardware time in seconds = Hardware time resolution

Parameters (In) tChannelHandle Channel handle.

Parameters (Out) pui64Time Current hardware time.

Return value One of the error codes defined in DSTCanError.

Basics on Communication Functions......................................................................................... 82

Overview of the API Functions and Their Dependencies............................................................ 12

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Functions

DSCAN_ResetHardwareTime

Purpose To reset the hardware time of a CAN channel.

Note

This is not supported for CAN interfaces from dSPACE and Kvaser.

Syntax
DSTCanError DSCAN_ResetHardwareTime(DSTCanHandle tChannelHandle);

Parameters (In) tChannelHandle Channel handle.

Return value One of the error codes defined in DSTCanError.

Basics on Communication Functions......................................................................................... 82

Overview of the API Functions and Their Dependencies............................................................ 12

DSCAN_GetReceiveQueueLevel

Purpose To return the count of CAN messages in the receive queue of a CAN channel.

Syntax
DSTCanError DSCAN_GetReceiveQueueLevel(DSTCanHandle tChannelHandle,
uint32_t* pulCanMessagesCount);

Parameters (In) tChannelHandle Channel handle.

Parameters (Out) pulCanMessagesCount Count of CAN messages in the receive queue.

Return value One of the error codes defined in DSTCanError.

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Basics on Communication Functions......................................................................................... 82

Overview of the API Functions and Their Dependencies............................................................ 12

DSCAN_ReadReceiveQueue

Purpose To read CAN messages from the receive queue of a CAN channel.

Syntax
DSTCanError DSCAN_ReadReceiveQueue(DSTCanHandle tChannelHandle,
uint32_t* pulCanMessagesCount,
DSSCanMessage* ptCanMessagesArray);

Description You can call the function with the NULL pointer instead of
ptCanMessagesArray. In this case only the count of CAN messages in
the receive queue is obtained. This function call is equal to a call of
DSCAN_GetReceiveQueueLevel.

Parameters (In) tChannelHandle Channel handle.

Parameters (In, Out) pulCanMessagesCount Count of CAN messages in the receive queue.
§ If used as In parameter:
Lets you specify the maximum number of CAN messages to obtain. To obtain
the information, call the function with pulCanMessagesCount set to the
maximum number of CAN messages to get. This is usually the size of the
ptCanMessagesArray parameter.
§ If used as Out parameter:
Lets you get the number of CAN messages which have been written to the
ptCanMessagesArray parameter (the actual count is always less than or
equal to the initial maximum value).

Parameters (Out) ptCanMessagesArray CAN messages array.

The memory for the CAN messages array ptCanMessagesArray must be

allocated and freed by the caller.

Return value One of the error codes defined in DSTCanError.

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Basics on Communication Functions......................................................................................... 82

Overview of the API Functions and Their Dependencies............................................................ 12

References

DSCAN_ReadReceiveQueueAndDeactivateChannel................................................................... 89

DSCAN_ReadReceiveQueueAndDeactivateChannel

Purpose To read CAN messages from the receive queue of a CAN channel, and deactivate
CAN communication of the channel.

Syntax
DSTCanError DSCAN_ReadReceiveQueueAndDeactivateChannel(DSTCanHandle tChannelHandle,
uint32_t* pulCanMessagesCount,
DSSCanMessage* ptCanMessagesArray);

Description Using the function has the same effect as sequentially calling the following
functions:
1. DSCAN_ReadReceiveQueue
2. DSCAN_DeactivateChannel

Tip

Unlike calling the two functions above, calling the

DSCAN_ReadReceiveQueueAndDeactivateChannel function ensures that
the last received CAN message is a bus statistics message if bus statistics is
enabled. As a consequence, the bus statistics information is complete and
valid when you use this function.

You can call the function with the NULL pointer instead of
ptCanMessagesArray. In this case only the count of CAN messages in the
receive queue is obtained.

Parameters (In) tChannelHandle Channel handle.

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Parameters (In, Out) pulCanMessagesCount Count of CAN messages in the receive queue.
§ If used as In parameter:
Lets you specify the maximum number of CAN messages to obtain. To obtain
the information, call the function with pulCanMessagesCount set to the
maximum number of CAN messages to get. This is usually the size of the
ptCanMessagesArray parameter.
§ If used as Out parameter:
Lets you get the number of CAN messages that were written to the
ptCanMessagesArray parameter (the actual count is always less than or
equal to the initial maximum value).

Parameters (Out) ptCanMessagesArray CAN messages array.

The memory for the CAN messages array ptCanMessagesArray must be

allocated and freed by the caller.

Return value One of the error codes defined in DSTCanError.

Basics on Communication Functions......................................................................................... 82

Overview of the API Functions and Their Dependencies............................................................ 12

References

DSCAN_DeactivateChannel...................................................................................................... 84
DSCAN_EnableBusStatistics...................................................................................................... 72
DSCAN_ReadReceiveQueue...................................................................................................... 88

DSCAN_FlushReceiveQueue

Purpose To clear the receive queue of a CAN channel.

Syntax
DSTCanError DSCAN_FlushReceiveQueue(DSTCanHandle tChannelHandle);

Description All CAN messages in the receive queue are deleted and cannot be read any
more.

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Parameters (In) tChannelHandle Channel handle.

Return value One of the error codes defined in DSTCanError.

Basics on Communication Functions......................................................................................... 82

Overview of the API Functions and Their Dependencies............................................................ 12

DSCAN_TransmitMessages

Purpose To transmit CAN messages by the use of a CAN channel.

Syntax
DSTCanError DSCAN_TransmitMessages(DSTCanHandle tChannelHandle,
uint32_t ulCanMessagesCount,
DSSCanMessage* ptCanMessagesArray);

Parameters (In) tChannelHandle Channel handle.

ulCanMessagesCount Number of CAN messages to transmit.

Parameters (Out) ptCanMessagesArray CAN messages array.

The memory for the CAN messages array ptCanMessagesArray must be

allocated and freed by the caller.

Return value One of the error codes defined in DSTCanError.

Basics on Communication Functions......................................................................................... 82

Overview of the API Functions and Their Dependencies............................................................ 12

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DSCAN_FlushTransmitQueue

Purpose To clear the transmit queue of a CAN channel.

Note

To call the function you must have access permission for the channel.

Syntax
DSTCanError DSCAN_FlushTransmitQueue(DSTCanHandle tChannelHandle);

Description All CAN messages in the transmit queue are deleted and will not be transmitted.

Parameters (In) tChannelHandle Channel handle.

Return value One of the error codes defined in DSTCanError.

Basics on Communication Functions......................................................................................... 82

Overview of the API Functions and Their Dependencies............................................................ 12

DSCAN_GetBusInfo

Purpose To return the bus communication state of a CAN channel.

Syntax
DSTCanError DSCAN_GetBusInfo(DSTCanHandle tChannelHandle,
DSSCanBusInfo* ptBusInfo);

Description A bus communication state is described by a DSSCanBusInfo structure which

provides the following information:
§ CAN bus status
§ Receive error counter
§ Transmit error counter

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§ CAN bus load in percent (for channels having the capability

DSCAN_CHANNEL_CAPABILITY_BUS_LOAD_INFO)

Parameters (In) tChannelHandle Channel handle.

ptBusInfo Bus communication state.

Return value One of the error codes defined in DSTCanError.

Basics on Communication Functions......................................................................................... 82

Overview of the API Functions and Their Dependencies............................................................ 12

References

CAN Channel Capabilities......................................................................................................... 39

DSSCanBusInfo......................................................................................................................... 77

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Error Handling

Error Handling

Where to go from here Information in this section

Data Types, Constants............................................................................. 96

Functions................................................................................................. 97

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Error Handling

Data Types, Constants

Error Codes

Error codes The following constants are predefined:

Error Code Value Description

DSCAN_ERR_NO_ERROR 0x00000000 No error
DSCAN_ERR_INVALID_POINTER 0x00000001 Invalid pointer
DSCAN_ERR_OUT_OF_MEMORY 0x00000002 Out of memory
DSCAN_ERR_FUNCTION_NOT_SUPPORTED 0x00000003 Unsupported function
DSCAN_ERR_INVALID_PARAMETER 0x00000004 Invalid or unsupported parameter
DSCAN_ERR_CAN_FD_NOT_SUPPORTED 0x00000005 CAN FD is not supported
DSCAN_ERR_LOAD_VENDOR_API 0x00000006 Cannot load vendor CAN API
DSCAN_ERR_MAP_VENDOR_API_FUNCTIONS 0x00000007 Cannot map required vendor CAN API functions
DSCAN_ERR_VENDOR_API_NOT_SUPPORTED 0x00000008 Unsupported vendor CAN API version
DSCAN_ERR_VENDOR_API_NOT_LOADED 0x00000009 Cannot execute function. The vendor CAN API is not loaded.
DSCAN_ERR_CHANNEL_NOT_FOUND 0x0000000A Cannot find specified channel
DSCAN_ERR_INVALID_CHANNEL_HANDLE 0x0000000B Invalid channel handle
DSCAN_ERR_CHANNEL_NOT_INITIALIZED 0x0000000C Cannot execute function. The channel is not initialized.
DSCAN_ERR_CHANNEL_ACTIVATED 0x0000000D Cannot execute function while the channel is activated
DSCAN_ERR_CHANNEL_NOT_ACTIVATED 0x0000000E Cannot execute function. The channel is not activated.
DSCAN_ERR_NO_ACCESS_PERMISSION 0x0000000F Cannot execute function without access permission
DSCAN_ERR_GET_VENDOR_INFORMATION 0x00000010 Cannot get vendor information
DSCAN_ERR_GET_AVAILABLE_CHANNELS 0x00000011 Cannot get available channels
DSCAN_ERR_REGISTER_CHANNEL 0x00000012 Cannot register channel
DSCAN_ERR_VENDOR_SPECIFIC 0xFFFFFFFF Vendor-specific CAN API error.
To get the code and description of a vendor‑specific CAN API error,
you can use the DSCAN_GetLastVendorSpecificError function.

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Functions
Where to go from here Information in this section

Basics on Error Handling Functions.......................................................... 97

Gives an overview on CAN API errors.

DSCAN_GetErrorText............................................................................... 97
To get the error description for a dSPACE CAN API error code.

DSCAN_GetLastVendorSpecificError......................................................... 98
To get the code and description of a vendor‑specific CAN API error.

Basics on Error Handling Functions

dSPACE CAN API errors You can get the error description for dSPACE CAN API error codes via the
DSCAN_GetErrorText function.

Vendor CAN API errors If a dSPACE CAN API function returns the DSCAN_ERR_VENDOR_SPECIFIC error
code, an error occurred in the vendor‑specific CAN API. In this case, you can
get the code and description of the vendor‑specific CAN API error via the
DSCAN_GetLastVendorSpecificError function.

Description Returns the description of a dSPACE CAN API error code.

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Parameters (In) tErrorCode Error code. Refer to DSTCanError on page 24.

Parameters (Out) pszErrorText Error description

The size of this parameter must be at least DSCAN_MAX_TEXT_LENGTH bytes. The
memory must be allocated and freed by the caller.

Return value One of the error codes defined in DSTCanError.

Basics on Error Handling Functions........................................................................................... 97

Overview of the API Functions and Their Dependencies............................................................ 12

DSCAN_GetLastVendorSpecificError

Purpose To get the code and description of a vendor‑specific CAN API error.

Syntax
DSTCanError DSCAN_GetLastVendorSpecificError(DSTCanHandle tChannelHandle,
int32_t* plVendorErrorCode,
char* pszVendorErrorText);

Description If a dSPACE CAN API function returns the DSCAN_ERR_VENDOR_SPECIFIC error

code, an error occurred in the vendor‑specific CAN API. In this case, you can
get the code and description of the vendor‑specific CAN API error via the
DSCAN_GetLastVendorSpecificError function.

Parameters (In) tChannelHandle Channel handle.

Parameters (Out) plVendorErrorCode Code of the vendor‑specific CAN API error.

pszVendorErrorText Description of the vendor‑specific CAN API error.

The size of this parameter must be at least DSCAN_MAX_TEXT_LENGTH bytes. The
memory must be allocated and freed by the caller.

Return value One of the error codes defined in DSTCanError.

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dSPACE CAN API 2.0 C Reference May 2024
Functions

Basics on Error Handling Functions........................................................................................... 97

Overview of the API Functions and Their Dependencies............................................................ 12

References

DSCAN_GetLastVendorSpecificError.......................................................................................... 98

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May 2024 dSPACE CAN API 2.0 C Reference
Error Handling

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dSPACE CAN API 2.0 C Reference May 2024
Auxiliary

Auxiliary

101
May 2024 dSPACE CAN API 2.0 C Reference
Auxiliary

Functions
Where to go from here Information in this section

DSCAN_ConvertBaudrateToBitTimingParameters................................... 102
To convert the baud rate to bit timing parameters.

DSCAN_ConvertBaudratesToBitTimingParameters.................................. 104
To convert two baud rates to bit timing parameters with identical sample
point.

DSCAN_ConvertBaudrateToBitTimingParametersWithSameSPAndB
RP......................................................................................................... 105
To convert a baud rate to bit timing parameters whereof the same
sample point and the baud rate prescaler are set to reference values.

DSCAN_ConvertBusTimingRegistersToBitTimingParameters................... 105
To convert bit timing registers to bit timing parameters.

DSCAN_ConvertBitTimingParametersToBaudrate................................... 106
To convert bit timing parameters to baud rate.

DSCAN_ConvertBitTimingParametersToBusTimingRegisters................... 107
To convert bit timing parameters to bit timing registers.

DSCAN_ConvertByteCountToDlc........................................................... 108
To convert data byte count to DLC.

DSCAN_ConvertDlcToByteCount........................................................... 109
To convert DLC to data byte count.

DSCAN_CalculateAcceptanceFilter......................................................... 110
To calculate CAN acceptance code and mask for an array of CAN
identifiers.

DSCAN_MergeAcceptanceFilter............................................................. 111
To merge two CAN acceptance codes and masks.

DSCAN_EncodeBusStatistics.................................................................. 112
To encode CAN bus statistics information from data bytes of a CAN bus
statistics message.

DSCAN_ConvertApiVersionToString....................................................... 113
To convert API version to string.

DSCAN_ConvertBaudrateToBitTimingParameters

Purpose To convert the baud rate to bit timing parameters.

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dSPACE CAN API 2.0 C Reference May 2024
Functions

Syntax
DSTCanError DSCAN_ConvertBaudrateToBitTimingParameters(uint32_t ulClockFrequency,
uint32_t ulBaudrate,
DSSCanBitTimingParameters* ptBitTimingParameters);

Description

§ For the most commonly used classic CAN baud rate

Parameters (In) ulClockFrequency Clock frequency.

For classic CAN baud rates (up to 1 Mbit/s) and SJA1000‑compatible CAN
controllers, the clock frequency is always 8 MHz, so you can use the
DSCAN_CLOCK_FREQUENCY_SJA1000 definition.

ulBaudrate Baud rate

Parameters (Out) ptBitTimingParameters Bit timing parameters.

Return value One of the error codes defined in DSTCanError.

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Auxiliary

Basics on Bit Timing Parameters and Baud Rates....................................................................... 55

Overview of the API Functions and Their Dependencies............................................................ 12

DSCAN_ConvertBaudratesToBitTimingParameters

Purpose To convert two baud rates to bit timing parameters with identical sample point.

Syntax
DSTCanError DSCAN_ConvertBaudratesToBitTimingParameters(uint32_t ulClockFrequency,
uint32_t ulReferenceSamplePoint,
uint32_t ulBaudrate_1,
uint32_t ulBaudrate_2,
DSSCanBitTimingParameters* ptBitTimingParameters_1,
DSSCanBitTimingParameters* ptBitTimingParameters_2);

Parameters (In) ulClockFrequency Clock frequency.

For classic CAN baud rates (up to 1 Mbit/s) and SJA1000‑compatible CAN
controllers, the clock frequency is always 8 MHz, so you can use the
DSCAN_CLOCK_FREQUENCY_SJA1000 definition.

ulReferenceSamplePoint Reference sample point

The reference sample point is applied to the bit timing parameters of both baud
rates during conversion.

ulBaudrate_1 Baud rate 1

ulBaudrate_2 Baud rate 2

Parameters (Out) ptBitTimingParameters_1 Bit timing parameters of baud rate 1.

ptBitTimingParameters_2 Bit timing parameters of baud rate 2.

Return value One of the error codes defined in DSTCanError.

Basics on Bit Timing Parameters and Baud Rates....................................................................... 55

Overview of the API Functions and Their Dependencies............................................................ 12

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dSPACE CAN API 2.0 C Reference May 2024
Functions

DSCAN_ConvertBaudrateToBitTimingParametersWithSameSPAndBRP

Purpose To convert a baud rate to bit timing parameters whereof the same sample point
and the baud rate prescaler are set to reference values.

Syntax
DSTCanError DSCAN_ConvertBaudrateToBitTimingParametersWithSameSPAndBRP(
uint32_t ulClockFrequency,
DSSCanBitTimingParameters* ptReferenceBitTimingParameters,
uint32_t ulBaudrate,
DSSCanBitTimingParameters* ptBitTimingParameters);

Parameters (In) ulClockFrequency Clock frequency.

For classic CAN baud rates (up to 1 Mbit/s) and SJA1000‑compatible CAN
controllers, the clock frequency is always 8 MHz, so you can use the
DSCAN_CLOCK_FREQUENCY_SJA1000 definition.

ptReferenceBitTimingParameters Reference bit timing parameters.

The sample point and the baud rate prescaler of the reference bit timing
parameters are applied to the bit timing parameters during conversion.

ulBaudrate Baud rate

Parameters (Out) ptBitTimingParameters Bit timing parameters.

Return value One of the error codes defined in DSTCanError.

Basics on Bit Timing Parameters and Baud Rates....................................................................... 55

Overview of the API Functions and Their Dependencies............................................................ 12

DSCAN_ConvertBusTimingRegistersToBitTimingParameters

Purpose To convert bit timing registers to bit timing parameters.

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May 2024 dSPACE CAN API 2.0 C Reference
Auxiliary

Syntax
DSTCanError DSCAN_ConvertBusTimingRegistersToBitTimingParameters(uint8_t ucBTR0,
uint8_t ucBTR1,
DSSCanBitTimingParameters* ptBitTimingParameters);

Description For classic CAN, bit timing parameters can be packed to bus timing registers
(BTRs):

BTR0

7 6 5 4 3 2 1 0
SJW1) -1 BRP2) -1
1) Synchronization jump width
2) Baud rate prescaler

BTR1

7 6 5 4 3 2 1 0
SAM1) TSEG22) -1 TSEG13) -1
1) Sample mode
2) Bit time segment 2
3) Bit time segment 1

Parameters (In) ucBTR0 Bus timing register 1.

ucBTR1 Bus timing register 2.

Parameters (Out) ptBitTimingParameters Bit timing parameters.

Return value One of the error codes defined in DSTCanError.

Basics on Bit Timing Parameters and Baud Rates....................................................................... 55

Overview of the API Functions and Their Dependencies............................................................ 12

DSCAN_ConvertBitTimingParametersToBaudrate

Purpose To convert bit timing parameters to baud rate.

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dSPACE CAN API 2.0 C Reference May 2024
Functions

Syntax
DSTCanError DSCAN_ConvertBitTimingParametersToBaudrate(uint32_t ulClockFrequency,
DSSCanBitTimingParameters* ptBitTimingParameters,
uint32_t* pulBaudrate);

Description The baud rate value is calculated via the following formula:
Clock frequency
Baud rate = Baud rate prescaler · 1 + Bit time segment 1 + Bit time segment 2

Parameters (In) ulClockFrequency Clock frequency.

For classic CAN baud rates (up to 1 Mbit/s) and SJA1000‑compatible CAN
controllers, the clock frequency is always 8 MHz, so you can use the
DSCAN_CLOCK_FREQUENCY_SJA1000 definition.

ptBitTimingParameters Bit timing parameters.

Parameters (Out) pulBaudrate Baud rate.

Return value One of the error codes defined in DSTCanError.

Basics on Bit Timing Parameters and Baud Rates....................................................................... 55

Overview of the API Functions and Their Dependencies............................................................ 12

DSCAN_ConvertBitTimingParametersToBusTimingRegisters

Purpose To convert bit timing parameters to bit timing registers.

Syntax
DSTCanError DSCAN_ConvertBitTimingParametersToBusTimingRegisters(DSSCanBitTimingParameters* ptBitTimingParameters,
uint8_t* pucBTR0,
uint8_t* pucBTR1);

Description For classic CAN, bit timing parameters can be packed to bus timing registers
(BTRs):

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May 2024 dSPACE CAN API 2.0 C Reference
Auxiliary

BTR0

7 6 5 4 3 2 1 0
SJW1) -1 BRP2) -1
1) Synchronization jump width
2) Baud rate prescaler

BTR1

7 6 5 4 3 2 1 0
SAM1) TSEG22) -1 TSEG13) -1
1) Sample mode
2) Bit time segment 2
3) Bit time segment 1

Parameters (In) ptBitTimingParameters Bit timing parameters.

Parameters (Out) pucBTR0 Bus timing register 1.

pucBTR1 Bus timing register 2.

Return value One of the error codes defined in DSTCanError.

Basics on Bit Timing Parameters and Baud Rates....................................................................... 55

Overview of the API Functions and Their Dependencies............................................................ 12

DSCAN_ConvertByteCountToDlc

Purpose To convert data byte count to DLC.

Syntax
uint16_t DSCAN_ConvertByteCountToDlc(uint16_t usByteCount);

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Functions

Description The conversion between the data length code (DLC) and data byte count is
performed according to the following mapping:

DLC Byte count

0 0
1 1
2 2
3 3
4 4
5 5
6 6
7 7
8 8
9 12
10 16
11 20
12 24
13 32
14 48
15 64

Parameters (In) usByteCount Data byte count.

Return value uint16_t - Data length code (DLC).

Overview of the API Functions and Their Dependencies............................................................ 12

DSCAN_ConvertDlcToByteCount

Purpose To convert DLC to data byte count.

Syntax
uint16_t DSCAN_ConvertDlcToByteCount(uint16_t usDLC);

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May 2024 dSPACE CAN API 2.0 C Reference
Auxiliary

Description The conversion between the data length code (DLC) and data byte count is
performed according to the following mapping:

DLC Byte count

0 0
1 1
2 2
3 3
4 4
5 5
6 6
7 7
8 8
9 12
10 16
11 20
12 24
13 32
14 48
15 64

Parameters (In) usDLC Data length code (DLC).

Return value uint16_t - Data byte count.

Overview of the API Functions and Their Dependencies............................................................ 12

DSCAN_CalculateAcceptanceFilter

Purpose To calculate CAN acceptance code and mask for an array of CAN identifiers.

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dSPACE CAN API 2.0 C Reference May 2024
Functions

Syntax
DSTCanError DSCAN_CalculateAcceptanceFilter(uint32_t* pulCanIdentifiersArray,
uint32_t ulCanIdentifiersCount,
DSECanIdentifierType tCanIdentifiersType,
uint32_t* pulCode,
uint32_t* pulMask);

Description Refer to DSCAN_SetAcceptance on page 68 for the detailed description of

acceptance filter code and mask.

Parameters (In) pulCanIdentifiersArray CAN identifiers array.

ulCanIdentifiersCount CAN identifiers count.

tCanIdentifiersType CAN identifiers type.

Parameters (Out) pulCode Acceptance filter code.

pulMask Acceptance filter mask.

Return value One of the error codes defined in DSTCanError.

Overview of the API Functions and Their Dependencies............................................................ 12

References

DSCAN_SetAcceptance............................................................................................................ 68

DSCAN_MergeAcceptanceFilter

Purpose To merge two CAN acceptance codes and masks.

Syntax
DSTCanError DSCAN_MergeAcceptanceFilter(uint32_t ulCode1,
uint32_t ulMask1,
uint32_t ulCode2,
uint32_t ulMask2,
DSECanIdentifierType tCanIdentifiersType,
uint32_t* pulResultCode,
uint32_t* pulResultMask);

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May 2024 dSPACE CAN API 2.0 C Reference
Auxiliary

Description Refer to DSCAN_SetAcceptance for the detailed description of acceptance filter

code and mask.

Parameters (In) ulCode1 Acceptance filter code 1.

ulMask1 Acceptance filter mask 1.

ulCode2 Acceptance filter code 2.

ulMask2 Acceptance filter mask 2.

tCanIdentifiersType CAN identifiers type.

Parameters (out) pulResultCode Resulting acceptance filter code.

pulResultMask Resulting acceptance filter mask.

Return value One of the error codes defined in DSTCanError.

Parameters (In) ucDataBytes Data bytes of a CAN bus statistics message

Parameters (Out) ptBusStatistics CAN bus statistics

Return value One of the error codes defined in DSTCanError.

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dSPACE CAN API 2.0 C Reference May 2024
Functions

Purpose To convert API version to string.

Syntax
DSTCanError DSCAN_ConvertApiVersionToString(uint32_t ulApiVersion,
char* pszApiVersion);

Parameters (In) ulApiVersion CAN API version.

Parameters (Out) pszApiVersion CAN API version string.

The size of this parameter must be at least DSCAN_MAX_TEXT_LENGTH bytes. The

memory must be allocated and freed by the caller.

Return value One of the error codes defined in DSTCanError.

Overview of the API Functions and Their Dependencies............................................................ 12

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May 2024 dSPACE CAN API 2.0 C Reference
Auxiliary

114
dSPACE CAN API 2.0 C Reference May 2024
Appendix

Appendix

Where to go from here Information in this section

Basics on CAN FD.................................................................................. 115

Using the CAN FD protocol allows data rates higher than 1 MBit/s and
payloads longer than 8 bytes per message.

Troubleshooting..................................................................................... 117
To solve problems when using the dSPACE CAN API 2.0.

Limitations............................................................................................. 118
There are some limitations when you use the dSPACE CAN API 2.0.

Basics on CAN FD

Introduction Using the CAN FD protocol allows data rates higher than 1 MBit/s and payloads
longer than 8 bytes per message.

Basics on CAN FD CAN FD stands for CAN with Flexible Data Rate. The CAN FD protocol is
based on the CAN protocol as specified in ISO 11898‑1. Compared with the
classic CAN protocol, CAN FD comes with an increased bandwidth for the serial
communication. The improvement is based on two factors:
§ The CAN FD protocol allows you to use CAN messages with longer data fields
(up to 64 bytes).
§ The CAN FD protocol allows you to use a higher bit rate (typically higher by a
factor of 8). It is possible to switch inside the message to the faster bit rate.

Arbitration phase and data phase CAN FD messages consist of two

phases:
§ Arbitration phase
CAN FD still uses the CAN bus arbitration method. During the arbitration
process, the standard data rate is used.

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May 2024 dSPACE CAN API 2.0 C Reference
Appendix

§ Data phase
The data phase spans the phase where the data bits, CRC and length
information are transferred. The data phase can be configured to have a
higher bit rate than the arbitration phase, so that data bits are transferred with
the preconfigured higher bit rate.
At the end of the data phase, CAN FD returns to the standard data rate.
The following illustration shows:
§ A classic CAN message
§ A CAN FD message using a higher bit rate during the data phase
§ A CAN FD message with longer payload using a higher bit rate
You can see the implications of the CAN FD features: The arbitration phases are
identical in all cases, because the standard bit rate is always used. The lengths of
the data phases differ depending on the payload length and bit rate used.

Classic CAN message

Arbitration Arbitration
phase Data phase phase

CAN FD message using a higher bit rate

Arbitration Arbitration
phase Data phase phase

CAN FD message with longer payload using a higher bit rate

Arbitration .................... Arbitration

phase Data phase phase

CAN FD protocols Currently, there are two CAN FD protocols on the market, which are not
compatible with each other.
§ The non‑ISO CAN FD protocol represents the original CAN FD protocol from
Bosch.
§ The ISO CAN FD protocol represents the CAN FD protocol according to the
ISO 11898‑1:2015 standard.

Compared to the non‑ISO CAN FD protocol, the ISO CAN FD protocol comes
with an improved failure detection capability.

The DCI‑CAN2 and the DCI‑CAN/LIN1 support both CAN FD protocols.

Switching between ISO CAN FD and non-ISO CAN FD To switch between

ISO CAN FD and non-ISO CAN FD, you can use the dSPACE CAN FD ISO

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dSPACE CAN API 2.0 C Reference May 2024
Troubleshooting

Mode (DsCanFdIsoMode.exe) tool. It is installed in the C:\Program Files

<(x86)>\Common Files\dSPACE\ DSCanApi_<Version>\ folder.

Troubleshooting

Problem in connection Currently, there are two CAN FD protocols on the market, which are not
with incompatible CAN FD compatible with each other.
protocols § The non‑ISO CAN FD protocol represents the original CAN FD protocol from
Bosch.
§ The ISO CAN FD protocol represents the CAN FD protocol according to the
ISO 11898‑1:2015 standard.

The DCI‑CAN2 and the DCI‑CAN/LIN1 support both CAN FD protocols.

Switching between ISO CAN FD and non-ISO CAN FD To switch between

ISO CAN FD and non-ISO CAN FD, you can use the dSPACE CAN FD ISO

117
May 2024 dSPACE CAN API 2.0 C Reference
Appendix

Mode (DsCanFdIsoMode.exe) tool. It is installed in the C:\Program Files

<(x86)>\Common Files\dSPACE\ DSCanApi_<Version>\ folder.

Limitations

Maximum number of § When you use the dSPACE CAN API in connection with CAN interfaces from
CAN interface channels dSPACE, you can use at most 16 CAN interface channels simultaneously.
§ When you use the dSPACE CAN API in connection with CAN interfaces from
other vendors, the maximum number of CAN interface channels depends on
the vendor's CAN driver software.

Maximum number of clients § When you use the dSPACE CAN API in connection with CAN interfaces from
dSPACE, the number of clients is limited to 32.
This applies to both CAN and CAN FD.
§ When you use the dSPACE CAN API in connection with CAN interfaces from
other vendors, the maximum number of clients depends on the vendor's
CAN driver software.

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dSPACE CAN API 2.0 C Reference May 2024
Index
Index
DSCAN_MAX_TEXT_LENGTH 24
B DSCAN_MergeAcceptanceFilter 111
DSCAN_ReadReceiveQueue 88
Bit timing parameters and baud rates
DSCAN_ReadReceiveQueueAndDeactivateChann
Basics 55
el 89
DSCAN_RegisterChannel 57
C DSCAN_ResetHardwareTime 87
channel information functions DSCAN_SetAcceptance 68
basics 43 DSCAN_SetBaudrate 65
Common Program Data folder 8 DSCAN_SetChannelOutput 67
communication functions DSCAN_SetEventNotification 71
basics 82 DSCAN_SetTransmitAcknowledge 67
Configuration Functions DSCAN_TransmitMessages 91
Basics 54 DSCAN_UnregisterChannel 60
DSECanBusStatus 75
DSECanChannelsSearchAttributeType 39
D
DSECanIdentifierType 51
Demo 17 DSECanMessageType 75
Documents folder 8 DSSCanBitTimingParameters 52
DSCAN_ActivateChannel 84 DSSCanBusInfo 77
DSCAN_CalculateAcceptanceFilter 110 DSSCanBusStatistics 79
DSCAN_CLOCK_FREQUENCY_SJA1000 24 DSSCanChannelInfo 40
DSCAN_ConvertApiVersionToString 113 DSSCanChannelsSearchAttribute 42
DSCAN_ConvertBaudratesToBitTimingParameters DSSCanMessage 78
104 DSSCanVendorInfo 31
DSCAN_ConvertBaudrateToBitTimingParameters DSTCanError 24
102 DSTCanHandle 24
DSCAN_ConvertBaudrateToBitTimingParameters DSTEventHandle 24
WithSameSPAndBRP 105
DSCAN_ConvertBitTimingParametersToBaudrate
E
106
DSCAN_ConvertBitTimingParametersToBusTimin Error Codes 96
gRegisters 107
DSCAN_ConvertBusTimingRegistersToBitTimingP L
arameters 105
Local Program Data folder 8
DSCAN_ConvertByteCountToDlc 108
DSCAN_ConvertDlcToByteCount 109
DSCAN_CRYSTAL_FREQUENCY_SJA1000 24 V
DSCAN_DeactivateChannel 84 vendor information functions
DSCAN_EnableBusStatistics 72 basics 33
DSCAN_FlushReceiveQueue 90
DSCAN_FlushTransmitQueue 92
DSCAN_GetAvailableChannels 45
DSCAN_GetAvailableChannelsCount 44
DSCAN_GetBaudrate 66
DSCAN_GetBusInfo 92
DSCAN_GetBusType 26
DSCAN_GetChannelCapabilities 63
DSCAN_GetChannelInformation 61
DSCAN_GetErrorText 97
DSCAN_GetHardwareTime 86
DSCAN_GetHardwareTimeResolution 85
DSCAN_GetLastVendorSpecificError 98
DSCAN_GetReceiveQueueLevel 87
DSCAN_GetSupportedVendorsCount 34
DSCAN_GetVendorInformation 34
DSCAN_InitChannel 59
DSCAN_INVALID_CAN_HANDLE 24
DSCAN_INVALID_EVENT_HANDLE 24
DSCAN_IsChannelAccessible 64
DSCAN_IsChannelAvailable 46
DSCAN_MAX_DATA_LENGTH 24
DSCAN_MAX_NAME_LENGTH 24
DSCAN_MAX_RX_QUEUE_SIZE 24

119
May 2024 dSPACE CAN API 2.0 C Reference
Index

120
dSPACE CAN API 2.0 C Reference May 2024

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