VSCAN Manual
Contents
1. Version 1 7 VSCAN Manual 34 2 APPLICATION PROGRAMMING INTERFACE 2 3 6 VSCAN_BTR This structure is used for the setting of the bus timing register typedef struct UINT8 BtrO UINTS8 Btrl VSCAN_BTR The elements Btr0 and Btr1 implements the values for the bus timing register one and two For more information read the chapter 2 2 3 or take a look at the SJA1000 datasheet from NXP Semiconductors 2 3 7 VSCAN_CODE_MASK The structure stores the acceptance filter code and filter mask typedef struct UINT32 Code UINT32 Mask VSCAN_CODE_MASK The structure member Code stores the acceptance code and Mask the acceptance mask For more information see chapter 2 2 3 or take a look at the SJA1000 datasheet from NXP Semiconductors Version 1 7 VSCAN Manual 35 3 ASCII COMMAND SET 3 ASCII Command Set 3 1 Introduction The ASCII command set gives you the possibility to use the VSCAN device even with a simple terminal program This makes it very easy for you to send some frames by hand or to sniff the frames on the CAN bus in a simple human readable view It will also be possible to use such a simple semantic in a scripting system e g Linux bash script Every binary data will be sent and received by their ASCII hexadecimal equivalents The return values of all functions will be CR ASCII 13 if the function succeeds or BELL ASCII 7 if the function fails2. gt www wireshark org Version 1 7 VSCAN Manual 45 4 TOOLS Capturing from slcanO Wireshark 1 6 1 SVN Rev Unknown from unknown CEELI IF h Filter Expression Clear Apply amp QQ Ex E No Time Source Destination Protocol Length Info 1 0 000000 CAN 12 STD 0x00000100 11 22 33 44 2 60 147641 CAN 12 STD 0x00000100 11 22 33 44 3 76 417713 CAN 12 STD 0x00000100 11 22 33 44 4 81 744640 CAN 12 STD 0x00000100 11 22 33 44 5 98 233257 CAN 12 STD 0x00000101 55 66 77 88 Frame 1 12 bytes on wire 96 bits 12 bytes captured 96 bits Arrival Time Sep 14 2011 09 08 03 410683000 CEST Epoch Time 1315984083 410683000 seconds Time delta from previous captured frame 0 000000000 seconds Time delta from previous displayed frame 0 000000000 seconds Time since reference or first frame 0 000000000 seconds Frame Number 1 Frame Length 12 bytes 96 bits Capture Length 12 bytes 96 bits Frame is marked False Frame is ignored False Protocols in frame can data v Controller Area Network 0 0000 0000 0000 0000 0001 0000 0000 Identifier 0x00000100 N Extended Flag False R ar R a A Remote Transmission Request Flag False 8 Tri Error Flag False Frame Length 4 v Data 4 bytes Data 11223344 Length 4 CLEMO 80 G1 GO G4 BO BO 00 N N Figure 12 Wireshark Version 1 7 VSCAN Manual 46 4 TOOL
3. Version 1 7 VSCAN Manual 43 4 TOOLS 4 Tools 4 1 Firmware Update For every VSCAN device you can use our tool vs_fw_update exe It will determine the type of device and will use the correct baudrate If it did not you can set the baudrate explicitly SER CAN vs_fw_update exe COMzx vs_can_1_6 bin 115200 Other devices vs_fw_update exe COMzx vs_can_1_6 bin 3000000 For the NET CAN you should use the base64 web frontend update file e g can_110_1_2_1 bin b64 to update also the main network firmware in the device net 4 2 Busmaster You can download the Busmaster software for our devices from our website For addi tional help and questions please take a look at the Busmaster website BUSMASTER File View Configure Functions Node Simulation J1939 Window Help B amp t Fg uu g b Message Window CAN Tine Tx 116 50 34 3740 Rx 116 50 34 3740 Rx 116 50 34 3740 Rx 116 50 34 3740 Rx k os la AEREA BERR SOURS woaGe gy Mess o 0x111 8 ha Msg T ID x 0x111 M Data Byte s DE AD BE EF 00 01 27 D8 AD BE E VSCAN API Device conta Ml n e 116 50 34 3740 116 50 34 3750 116 50 34 3750 Serial Port or IP TCP Port coms z API Version 1 6 3 Search for Devices on COM Ports 116 50 34 3750 Rx 116 50 34 3750 Rx 116 50 34 3750 Rx 116 50 34 3750 Rx 116 50 34 3760 Rx 116 50 34 3760 Rx 116 50 34 3760 Rx 116 50 34 3760 Rx 116 50 34 3760 Rx 11
4. Load if Durchsuchen d Configuration File Syslogging Off v Off v o e Syslog Figure 10 Tools Version 1 7 VSCAN Manual 16 1 INSTALLATION 1 4 6 Factory Settings NET CAN provides DIP switches to set setting back to their defaults Please refer to the Table 1 for possible switches settings After setting the settings back the DIP switches must be returned to the CAN Operation position Operation Mode S1 S2 s3 s4 CAN Operation OFF OFF OFF OFF Factory Settings OFF OFF OFF ON Table 1 Switches Version 1 7 VSCAN Manual 17 1 INSTALLATION 1 5 Linux Installation SocketCAN SocketCAN is a set of open source CAN drivers and a networking stack contributed by Volkswagen Research to the Linux kernel As of Linux kernel 2 6 38 ASCII protocol slcan will be also supported To use it you ll first need to install can utils from project s git repository For USB CAN device that is attached to dev ttyUSBO device execute following commands stty F dev ttyUSBO ispeed 3000000 ospeed 3000000 slcan_attach o s8 dev ttyUSBO slcand ttyUSBO ifconfig slcan0 up You ll get your USB CAN operated at 1MBit s with candump and cansend you can make first send receive tests For Network CAN devices NET CAN you ll first need to create a symbolic link to it via socat Assume your NET CAN has following
5. After executing the script USB CAN must be disconnected for about 5 sec onds and then connected again in order to use the baudrate aliases Then you can open the port with any standard baudrate except 115kbps Version 1 7 VSCAN Manual 56
6. The following speed values are supported e VSCAN_SPEED_1M e VSCAN_SPEED_800K e VSCAN_SPEED_500K e VSCAN_SPEED_250K e VSCAN_SPEED_125K e VSCAN_SPEED_100K e VSCAN_SPEED_50K e VSCAN_SPEED_20K Example status VSCAN_loctl handle VSCAN_IOCTL_SET_SPEED VSCAN_SPEED_1M VSCAN_IOCTL SET BTR This ioctl gives you the possibility to configure the speed registers manually bus timing registers Therefore you must commit a structure from the type VSCAN_BTR For more information on this registers please take a look at the SJA1000 datasheet from NXP Semiconductors or at the following website www port de Example VSCAN_BTR btr Btr0 0x00 Btrl 0x14 for 1Mb s status VSCAN_Ioctl handle VSCAN_IOCTL_SET_BTR amp btr Version 1 7 VSCAN Manual 24 2 APPLICATION PROGRAMMING INTERFACE VSCAN_IOCTL_SET_FILTER_MODE This ioctl let you set the desired filter mode for the acceptance code and mask You can switch between single and dual filter mode For more informations please take a look at the SJA1000 datasheet from NXP Semiconductors The firmware version must be 1 4 or greater and the DLL version 1 6 or greater Example status VSCAN_loctl handle VSCAN_IOCTL_SET_FILTER_MODE VSCAN_FILTER_MODE_DUAL VSCAN_IOCTL_SET_ACC_CODE_MASK You can set the acceptance code and acceptance mask register with this ioctl This gives you the possibility to filter for spe
7. sizeof msgs 0 msgs i Id status VSCAN_Write handle msgs 10 amp written Version 1 7 VSCAN Manual 30 2 APPLICATION PROGRAMMING INTERFACE 2 2 7 VSCAN_Flush The VSCAN_F lush function will send all frames immediately out to the CAN bus VSCAN_STATUS VSCAN_Flush VSCAN_HANDLE Handle Parameters Handle in The handle of the CAN device whose data should be flushed Example status VSCAN_Flush handle Version 1 7 VSCAN Manual 2 APPLICATION PROGRAMMING INTERFACE 2 2 8 VSCAN_GetErrorString The VSCAN_GetErrorString function retrieves the associated human readable error string VOID VSCAN_GetErrorString VSCAN_STATUS Status CHAR x String DWORD MaxLen Parameters Status in The status for which the error string should be retrieved String out A pointer of a string array which will receive the error string MaxLen in The maximum possible length of the error string without the terminating zero Example VSCAN_STATUS status VSCAN_ERR_NO_DEVICE_FOUND char string 33 VSCAN_GetErrorString status string 32 printf string Version 1 7 VSCAN Manual 32 2 APPLICATION PROGRAMMING INTERFACE 2 3 Types and Structures 2 3 1 VSCAN_HANDLE typedef int VSCAN_HANDLE This type definition holds the handle of an opened CAN channel In this case the value is greater than zero Otherwise
8. xFF 1235 1235 1235 1235 1235 1235 Error Error a Master cx WINDOWS system32 cmd exe TestSlave_post_sync Slave 1 1 1 1 16 ff BFF TestSlave_operational TestSlave_post_sync Slave 11 1 1 TestSlave_post_TPDO TestSlave_post_sync Slave 11 1 1 TestSlave_post_TPDO TestSlave_post_sync Slave 1100101 TestSlave_post_TPDO TestSlave_post_sync Slave 1100101 TestSlave_post_TPDO TestSlave_post_sync Slave 1100101 TestSlave_post_TPDO TestSlave_post_sync Slave 1 1 1 1 TestSlave_post_TPDO TestSlave_post_sync Slave 1 1 1 1 TestSlave_post_TPDO TestSlave_post_sync Slave 1 1 1 1 TestSlave_post_TPDO TestSlave_post_sync Cod Cod 16 16 16 16 16 16 16 16 16 f f F FOB f f F f B f f F f V f f F f V f f F f V f f F f V f f F f f f BF FOB f f BF f b Slave Figure 13 TestMasterSlave under Windows iol x v eli xX v MEC ED O X File Edit View Terminal Tabs Help File Edit View Terminal Tabs Help Master 0000000000000 Slave 11001010 16 ff00ff00 abcd 40 1234 TestMaster_post_sync TestSlave_ operational Master 00000000000090 TestSlave post_sync TestMaster_post_sync Slave 11001010 16 ff00ff00 abcd 41 1234 Master 0000000000000 TestSlave post_TPDO Master ConfigureSlaveNode 02 TestSlave post_sync TestMaster_o
9. Some functions have extended return values but this will be described per function in the command description The received frames will be send directly to your ASCII communication channel e g serial port or network connection Version 1 7 VSCAN Manual 36 3 ASCII COMMAND SET 3 2 Commands 3 2 1 Open the CAN Channel The CAN channel will be opened with the command O CR L CR or Y CR The difference between these three types is that the second command will open the channel in a listen only mode in which no bus interaction will be done from the controller The last command will open the channel in a self reception mode in which the device will also receive the frames that it sents only available in firmware version 1 4 or greater Before you will use one of the commands you should setup a bus timing with the command S or s Anyway the last configured bit rate is stored in the device and used as the standard bus timing at power up Examples Open the channel in normal operation mode O CR Open the channel in the listen only mode L CR Open the channel in the self reception mode Y CR 3 2 2 Close the CAN Channel The CAN channel will be closed with the command C CR The command is only active if the CAN channel is open Example C CR 3 2 3 Setup the Bus Timing Standard The bus timing will be setup ed with the command Sn CR You can only use this command i
10. http dev automforge net CanFestival 3 cd CanFestival 3 Configure and compile the library and examples configure can vscom make The TestMasterSlave is located under examples TestMasterSlave and the vscom library is located under drivers can_vscom For detailed information about these examples and about using CanFestival in your project refer to the doc folder Mercurial Version 1 7 VSCAN Manual 48 TOOLS CE a a J Conf igureSlaveNode 62 TestMaster_operational TestMaster_post_sync Master B BB BOB GB B G G TestMaster_post_TPDO MasterSyncCount Master Ask RTR PDO lt Bx1482 gt Master Change slave s transmit type to TestMaster_post_sync Master 1 1 1 1 16 fFf BFF abcd TestMaster_post_TPDO MasterSyncCount 1 TestMaster_post_sync Master 1 1 1 1 16 fFf BFF abcd TestMaster_post_TPDO MasterSyncCount 2 TestMaster_post_sync Master 1 1 1 1 16 fFf BFF abcd TestMaster_post_TPDO MasterSyncCount 3 TestMaster_post_sync Master 1 1 1 1 16 FBBFFOG abcd TestMaster_post_TPDO MasterSyncCount 4 TestMaster_post_sync Master 1 1 1 1 16 ff BFF G abcd TestMaster_post_TPDO MasterSyncCount 5 TestMaster_post_sync Master 1 1 1 1 16 fFfF BFF abcd TestMaster_post_TPDO MasterSyncCount 6 Master received EMCY message Node 02 Master received EMCY message Node 62 _post_sync 1 16 fO00ff00 ab
11. the system for about 5 seconds after this step and connect again Then you can open the COM port of the USB CAN with any standard baudrate see Figure 2 1300 600 1200 2400 4800 9600 19200 38400 57600 230400 460800 921600 Version 1 7 VSCAN Manual 5 1 INSTALLATION COM3 Properties Port Settings Bits per second Data bits Parity Stop bits 1 Flow control Hardware Restore Defaults Figure 2 COM Port Properties For Linux the driver is already available in modern kernel The device name will be dev ttyUSBx 1 2 Serial CAN Device To use the serial CAN device you mustn t do anything except for finding a free serial port in your host computer To get a better performance you should change the port settings to the following parameters see Figure 3 Reboot to ensure that they were set Then you can open the COM port of the SER CAN with 115200 bps refer to Section 1 6 2 Version 1 7 VSCAN Manual 6 1 INSTALLATION Advanced Settings for COM1 Use FIFO buffers requires 16550 compatible UART Select lower settings to correct connection problems Select higher settings for faster performance Receive Buffer Low 1 0 High 14 8 Transmit Buffer Low 1 gt g High 16 16 COM Port Number v Figure 3 Advanced Settings for COM Port 1 3 PCI CAN Use the PCI driver from the directory PCI CAN Drive
12. the value is equal to one of the type definition VSCAN_STATUS 2 3 2 VSCAN_STATUS typedef int VSCAN_STATUS The type definition VSCAN_STATUS can have one of the following status value VSCAN_ERR_OK indicates that everything is okay VSCAN_ERR_ERR indicates a general error VSCAN_ERR_NO_DEVICE_FOUND indicates that no CAN device was found with the specific functions VSCAN_ERR_SUBAPI indicates that an error occurred in a subordinated library VSCAN ERR NOT ENOUGH MEMORY indicates that there is not enough memory to complete the function VSCAN_ERR_NO_ELEMENT_FOUND indicates that there is no requested element available e g from an input buffer VSCAN_ERR_INVALID_HANDLE indicates that the handle which is used is not valid e g CAN channel closed VSCAN_ERR_IOCTL indicates that an ioctl request failed ensure that you ve used the right parameter values VSCAN_ERR_MUTEX indicates that there was a problem with a used mutex in the VSCAN API e g timeout VSCAN_ERR_CMD indicates that there was a problem to complete a given command on the CAN device 2 3 3 VSCAN_API_VERSION This structure holds the version information of the API Version 1 7 VSCAN Manual 33 2 APPLICATION PROGRAMMING INTERFACE typedef struct UINT8 Major UINT8 Minor UINT8 SubMinor VSCAN_API_VERSION 2 3 4 VSCAN_HWPARAM This structure holds the values of the hardware parameters type
13. 01 Mode CAN Bridge Client gt Max Clients 1 Destination TT CAN Speed 1000000 CAN Speed 1000000 CAN Acceptance Code oxo0000000 CAN Acceptance Mask OxFFFFFFFF Save c CAN Bridge Server CAN Acceptance Code oxo0000000 CAN Acceptance Mask 0xFFFFFFFF Save d CAN Bridge Client Figure 9 Channel Configuration 1 4 5 Webbrowser Tools The available tools are see Figure 10 e The Ping utility will be used to check if a station is available see Figure 10a Enter the IP Address or the name of a station in the field and click the Ping but ton The network connection is checked by sending certain ICMP data packages If the target responds the network between the NET CAN and the target is oper ational The time required for an echo depends on the speed of the network In a typical Ethernet this is only very few Milliseconds while it can be several seconds throughout the Internet e The Netstat utility will be used to monitor TCP connections see Figure 10b Use Netstat to see the actual status of NET CAN IP Ports This is a standard tool for network debugging A Foreign Address of 0 0 0 0 is listed when NET CAN is waiting for an incoming connection LISTEN If the value is not 0 0 0 0 the connection is either active ESTABLISHED or closed TIMEWAIT Version 1 7 VSCAN Manual 14 1 INSTALLATION e The Firmware Update option is used to update the firmware see F
14. 1 0 3 COM6 gt PCI CAN SN 410100227 SW 1 2 HW 1 gt ic gt Version 1 7 VSCAN Manual 52 4 TOOLS 4 10 LabVIEW LabVIEW short for Laboratory Virtual Instrumentation Engineering Workbench is a platform and development environment for a visual programming language from National Instruments This section shows one possible way to use vs_can_api dll with LabVIEW Specially prepared example see Figure 16 can be found on the product CD It lets the user to send and read CAN frames after opening the channel with appropriate bitrate You can send CAN frames using the left panel After configuring your CAN frame just press Write On Off Button and frames will be sent each second The incoming frames will be shown on the right panel one per second if any available COM22 Figure 16 Example Application 4 10 1 Open CAN Channel The OpenChannel vi has following input parameters e COM Port string e speed as a number between 1 and 8 as in Section 3 2 3 Output parameters e return error code of VSCAN_Open or VSCAN_loctl routines e CAN channel handle see VSCAN API x y_7 zipY Wrapperl Languages LabVIEW Version 1 7 VSCAN Manual 53 4 TOOLS COM Port S_can_api dll YSCAN_Open Figure 17 Open CAN Channel 4 10 2 Read CAN Frame The CanRead vi has following input parameter e handle Output parameters e return code value e VSCAN MSG structure e number of read bytes Can
15. 125K 250K 500K and 1M To execute this example decompress one of the following archives e CANopen_example_win32 zip for Windows e CANopen_example_linux tar bz2 for Linux Under Windows connect two VScom CAN devices for example two USB CAN devices installed as COM10 and COM11 Open two command windows and change to the directory where the CANopen examples were extracted to and execute TestMasterSlave s COM10 S 125K M none 1 libcanfestival_can_vscom dll in the first window and TestMasterSlave m COM11 M 125K S none 1 libcanfestival_can_vscom dll in the second Figure 13 shows the output messages of both nodes Under Linux connect two VScom CAN devices for example two USB CAN devices installed as dev ttyUSBO and dev ttyUSB1 Open two terminal windows and change to the directory where CANopen examples were extracted to and execute SFor more information see the website of CAN in Automation organization www can cia org Version 1 7 VSCAN Manual 47 4 TOOLS export LD_LIBRARY_PATH TestMasterSlav S dev ttyUSBO S 125K M none l libcanfestival_can_vscom so in the first window and export LD_LIBRARY_PATH TestMasterSlav m dev ttyUSB1 M 125K S none l libcanfestival_can_vscom so in the second Figure 14 shows the output messages of both nodes 4 5 3 Compilation Instructions CanFestival is stored in a Mercurial repository To get CanFestival source code execute hg clone
16. 3102030 CR 3 2 6 Transmitting a Standard Remote Request Frame Transmitting a standard remote frame 11bit over the CAN bus will be done with riiil The return value will be z CR or the normal error byte BELL This command is only available when the CAN channel is open Parameters ya a Standard frame 11bit identifier Data length 0 8 Example Sending a remote request frame with id 0x111 and request 3 data bytes r1113 CR Version 1 7 VSCAN Manual 39 3 ASCII COMMAND SET 3 2 7 Transmitting an Extended Frame The return value will be Z CR or the normal error byte BELL The command is only available when the CAN channel is open Parameters LA TAB Extended frame 29bit identifier Data length 0 8 dd 0 8 Data bytes in hex The number of the bytes must be equal with the data length field Example Sending an extended frame with id 0x111 and three data bytes 0x10 0x20 0x30 T000001113102030 CR 3 2 8 Transmitting an Extended Remote Request Frame Transmitting an extended remote request frame 29bit over the CAN bus will be done with Riiiiiiiil The return value will be Z CR or the normal error byte BELL The command is only available when the CAN channel is open Parameters E aa E Ela Extended frame 29bit identifier Data length 0 8 Example Sending an extended remote request frame with id 0x111 and a request for 3 d
17. 6 50 34 3760 Rx 116 50 34 3770 Rx 116 50 34 3770 Rx 116 50 34 3770 Rx 116 50 34 3770 Rx 116 50 34 3770 Rx 116 50 24 2727 P SW Version Unknown 7 E0 HW Version Unknown 7 El Device Type Unknown Serialnumber Unknown Device Config Operation Mode T Debug Mode 7 ES C Normal IV Hardware Timestamps ge O Ey AB U A C Listen Only Self Reception 7 ES z Baudrate EA 1000 kbit v BrrOo 0x 00 sma 0x 00 7 EB uh e Acceptance Code Act ox 00000000 PH HH HEE RRR IO MMM ROM MMM MOM OM MM Oe ce Mask gt ED Ox FFFFFFFF Dual Filter Mode D rr F Trace Window Config File C Us CAN Recording J1939 Recording 1 Channel s VScom CAN API 1000 Kbps Allowed channel 4 3 CANHacker CAN Hacker is a tool for analyzing and transmitting frames on the CAN bus under MS Windows OS The Figure 11 will show you how the settings must be configured for the VSCAN devices Version 1 7 VSCAN Manual 44 4 TOOLS CAN Device COMA v COM Baudrate 2400 bis v Z RTSHS CAN Baudrate 1 Mbit s listen Only Time Stamp o Figure 11 CANHacker Settings 4 4 Wireshark Wireshark is a well known network packet sniffer It is now possible to sniff via Socket CAN interface Linux only and parse CAN frames Linux Windows Figure 12 shows frames captures via USB CAN device dev ttyUSBO0 attached as slcan0
18. Buf Read out A pointer to a DWORD that will receive the real number of the frames read Example VSCAN_MSG msgs 10 DWORD read status VSCAN_Read handle msgs 10 amp read Version 1 7 VSCAN Manual 27 2 APPLICATION PROGRAMMING INTERFACE 2 2 5 VSCAN_SetRcvEvent With the VSCAN_SetRcvEvent function you can set an event which will be set when a frame arrives There are different versions for Windows and Linux The DLL version must be 1 6 or greater Windows Prototype VSCAN_STATUS VSCAN_SetRcvEvent VSCAN_HANDLE Handle HANDLE Event Linux Prototype VSCAN_STATUS VSCAN_SetRcvEvent VSCAN_HANDLE Handle sem_t xEvent Parameters Handle in The handle of the CAN device which should be used Event in In Windows an event handle of the type HANDLE and in Linux a pointer to the sem_t union Windows Example don t forget your own error handling for the API and system functions for further informations on these functions take a look at the MSDN HANDLE hEvent DWORD dwRetCode hEvent CreateEvent NULL FALSE FALSE NULL VSCAN_SetRevEvent handle hEvent dwRetCode WaitForSingleObject hEvent INFINITE switch dwRetCode case WAIT_OBJECT_O a CAN frame arrived break default probe for error CloseHandle hEvent Version 1 7 VSCAN Manual 28 2 APPLICATION PROGRAMMING INTERFACE Linux Example do
19. CAN Manual 8 1 INSTALLATION Node 1 CAN Network B Node n Legend NET CAN RETS NET CAN Ethernet link CAN link a Tunnel CAN Network B Node n Internet Intranet CAN Network A NET CAN Internet Intranet Network C Node n Legend Ethernet link CAN link b 1 to n Figure 5 CAN over IP Version 1 7 VSCAN Manual 1 INSTALLATION 1 4 2 Configuration Overview NET CAN device can be configured in following ways e via web interface e via Telnet e via NetCom Manager For Telnet and NetCom Manager configuration refer to the NetCom Wireless Serial Device Server User Manual Open your Webbrowser for the web interface configuration Type the address of the NET CAN server in the address line Type the standard address http 192 168 254 254 for example You may do this on any operating system you prefer lol x File Edit View Favorites Tools Help a Q ex 7 a TN JO search Tg Favorites O vk 3 Address http 192 168 1 126findex asp Be Sa wees HOME SERVER CHANNEL TOOLS REBOOT CONFIGURATION CONFIGURATION Welcome to the Configuration of NET CAN Controller Area Network Device Server Please note to finally activate all changes of parameters it is recommended to use the REBOOT function in the menu Otherwise certain set
20. IP address 192 168 254 254 So the needed commands are socat pty link dev netcan0 raw tcp 192 168 254 254 20016 slcan_attach o s8 dev netcan0 slcand netcan0 ifconfig slcan0 up http en wikipedia org wiki Socketcan Git 4SocketCAN git repository Version 1 7 VSCAN Manual 18 1 INSTALLATION 1 6 General Information 1 6 1 LED Status The red error LED lights up when a bus error occur And the green data LED is on when a frame was sent to or received from the bus 1 6 2 Baud rates and Handshake Ensure you ve set the handshake to RTS CTS hardware when you open the port Device Baud rate Handshake USB CAN 3 Mbit RTS CTS NET CAN 3 Mbit RTS CTS SER CAN 115200 kbit RTS CTS PCI CAN 3 Mbit RTS CTS 1 6 3 Pin out of the 9 Pin D Sub Connector Pin Signal Description 1 CAN_V 100mA 5V to drive the transceiver or optocouplers optional 2 CAN_L CAN_L bus line dominant level is low 3 CAN_GND CAN ground 4 reserved 5 reserved 6 GND ground optional 7 CAN_H CAN_H bus line dominant level is high 8 l reserved 9 CAN_V like pin 1 1 6 4 Termination Resistors The USB CAN serial CAN and network CAN devices have no termination resistors inside It s up to you to choose the correct combination and values for your topology 1 6 5 Terminal Block Power NET CAN Devices The Terminal Block po
21. Open dev ttyUSBO VSCAN_MODE_NORMAL Linux handle VSCAN_Open dev can0 VSCAN_MODE_LISTEN_ONLY Linux on Alena CAN on local b handle VSCAN_Open 192 168 254 254 2001 VSCAN_MODE_SELF_RECEPTION Windows WinCE Linux Version 1 7 VSCAN Manual 21 2 APPLICATION PROGRAMMING INTERFACE 2 2 2 VSCAN_ Close The VSCAN_Close function will close the CAN channel VSCAN_STATUS VSCAN_Close VSCAN_HANDLE Handle Parameters Handle in The handle of the CAN device which shall be closed Example status VSCAN_Close handle Version 1 7 VSCAN Manual 22 2 APPLICATION PROGRAMMING INTERFACE 2 2 3 VSCAN_loctl You can get and set special information and commands of the CAN device with the VSCAN_TIoctl function VSCAN_STATUS VSCAN_loctl VSCAN_HANDLE Handle DWORD Ioctl VOID Param Parameters Handle in The handle of the CAN device which should be used Toctl in Tells the function which of the following ioctl should be called Param in out A pointer to the data for the ioctls which are listed below VSCAN_IOCTL_SET_DEBUG You can set the debug verbosity with this ioctl The higher the debug level the more debug information you get The VSCAN_HANDLE can be NULL Possible debug levels are e VSCAN_DEBUG_NONE no debug information e VSCAN_DEBUG_LOW errors from the VSCAN API e VSCAN_DEBUG_MID information from the VSCAN API e
22. Read vi is designed to read one CAN frame per call To read more bytes at once the buffer must be increased ws_can_api dll YSCAN_Read Figure 18 Read CAN Frame Version 1 7 VSCAN Manual 54 4 TOOLS 4 10 3 Write CAN Frame The CanWrite vi has following input parameters e handle e parts of the VSCAN_MSG structure Output parameters e return code value e number of written bytes The VSCAN_Write call is followed directly by VSCAN_Flush call so the CAN frame will be sent immediately ret Handle 132 1 Written g Initialize VSCAN_MSG 16 ey LEE 0 ID E qa 16 16 s 2 Size us 1 Array us Extended Ll Cet Set data size Figure 19 Write CAN Frame Version 1 7 VSCAN Manual 55 5 FREQUENTLY ASKED QUESTIONS 5 Frequently Asked Questions All output from the CAN adapter will be written in one line in HyperTerminal You must configure the right settings and switch on Append line feeds to incoming line ends ASCII Setup ASCII Sending C Send line ends with line feeds Echo typed characters locally Line delay o milliseconds Character delay 0 milliseconds ASCII Receiving O Eo Wrap lines that exceed terminal width l ve updated the driver of my USB CAN but the alias baudrate 9600 is not functioning anymore There is a VBScript in the driver package which must be called for each installed virtual USB CAN COM port cscript regmodify vbs COM lt a gt
23. S 4 5 CANopen 4 5 1 Introduction CANopen is a CAN based higher layer protocol It was developed as a standardized em bedded network with highly flexible configuration capabilities CANopen was designed for motion oriented machine control networks such as handling systems By now it is used in various application fields such as medical equipment off road vehicles maritime electronics railway applications or building automation CANopen unburdens the developer from dealing with CAN specific details such as bit timing and implementation specific functions It provides standardized communication objects for real time data configuration data as well as network management data One of the protocol implementations is the CanFestival Project www canfestival org It is an Open Source LGPL and GPL CANopen framework and is part of the Beremiz Project www beremiz org an Open Source framework for automation CanFestival focuses on providing an ANSI C platform independent CANopen stack that can be implemented as master or slave nodes on PCs Real time IPCs and Micro controllers VScom devices will be already supported in the latest CanFestival version Wireshark can be used to capture and analyze CANopen traffic since version 1 7 1 see Section 4 4 4 5 2 Running Example You ll find a small CanFestival example on the supplied CD showing the communication between master and slave nodes Following baudrates are supported 20K 50K 100K
24. T CAN operates very simple see Figure 9b It only waits for incoming data connections in Raw IP mode As with the Driver Mode only the data connection is defined You can connect multiple times to the NET CAN also from different machines e CAN Bridge Server Configures server side of the CAN over IP Router function ality In this mode NET CAN waits for incoming connections Max Clients value defines how many CAN Bridge Clients can connect to the server CAN Speed sets the appropriate baudrate of the attached CAN network Acceptance Code and Mask allow CAN frame filtering so only the dedicated frames pass over TCP link See Figure 9c e CAN Bridge Client Configures client side of the CAN over IP Router functionality In this mode NET CAN connects to the other NET CAN in the CAN Bridge Server Mode CAN Speed sets the appropriate baudrate of the attached CAN network Acceptance Code and Mask allow CAN frame filtering so only the dedicated frames pass over TCP link See Figure 9d Version 1 7 VSCAN Manual 13 1 INSTALLATION Transfer Settings Channel 1 Mode Driver Mode Transfer Settings TCP Port Control 2000 Channel 1 TCP Port Data 2001 Mode TCP Raw Sewer y KeepAliveMode 2 On Connect TCP Port Data 9 2007 KeepAlivelnterval o a Driver Mode Max Clients fi b TCP Raw Server Transfer Settings Transfer Settings Channel 1 Mode CaN Brigde Sever E Channel 1 TCP Port Data 20
25. UMDEF oor eop sa os ave a Va a O ala RA 42 3 2 lo Get Estreno rabo oia a PO a a ae ae e ae G 43 4 Tools 44 4 1 Firmware Update j la fend E0 kRO ka nada 44 VX BMI s soe acra a a as gui ek a oe ek Ga ew a e A 44 AS OANE pedea e a a aa i o a A 44 A e ea oe a wu b sure 4 k Ve asu a a 45 LO TAO a Se a eyes dd ak das a 47 AL Tmirodmetion cs sacs a baa du u dW wea ee ea Hoe SO 47 45 2 Running Example xx a D a m u u 4 4 47 4 5 3 Compilation Imstructions so ssc 4 666654 6 du huu uu 48 4 6 Wrapper DLL System o carecas eee 50 A IU AT s 51 AS PUN La a aku gk o e ee a a RA s q e ak ol 49 vegan scare oo o ar IR a OR 52 LIO LabVIEW 1 2 pec uosa ra a o a ee oe Od 53 4 10 1 Open CAN Channel reddit 4 d RU 53 4 10 2 Read CAN Frame iso b ee sg r da 408 ee 2 54 4 103 Write CAN Frame se sc o edea v hea d md s 4 kdo 4 55 5 Frequently Asked Questions 56 Version 1 7 VSCAN Manual 4 1 INSTALLATION 1 Installation VSCAN devices support both Windows and Linux operating systems The ASCII pro tocol is used to exchange data and control information with the devices and hence a serial interface is required to enable the communication SER CAN devices don t usually need any driver installation and can be used directly after plugging in USB CAN and PCI CAN both require Windows driver installation from the by packed CD modern Linux distribu
26. VSCAN_DEBUG_HIGH errors from system functions Example status VSCAN_loctl NULL VSCAN_IOCTL_SET_DEBUG VSCAN_DEBUG_HIGH VSCAN_IOCTL_SET_DEBUG_MODE You can set the debug mode with this ioctl It is possible to log the error to the standard error console output default value or to save it in a log file The log file will be saved in the directory from which your application is running and will be named vs_can_api log The VSCAN_HANDLE can be NULL The debug mode defines are e VSCAN_DEBUG_MODE_CONSOLE e VSCAN_DEBUG_MODE_FILE Example status VSCAN_Ioct1 NULL VSCAN_IOCTL_SET_DEBUG_MODE VSCAN_DEBUG_MODE_FILE Version 1 7 VSCAN Manual 23 2 APPLICATION PROGRAMMING INTERFACE VSCAN_IOCTL_GET_API_VERSION You can request the API version number with this ioctl Therefore you must commit a pointer of the type VSCAN_API_ VERSION to the function The DLL version must be 1 6 or greater Example status VSCAN_Ioctl handle VSCAN_IOCTL_GET_API_VERSION version VSCAN_IOCTL_GET_HWPARAM This ioctl gives you the possibility to get the hardware parameters serial number hardware and software version of the device Therefore you must commit a pointer of the type VSCAN_HWPARAM to the function Example status VSCAN_Ioctl handle VSCAN_IOCTL_GET_HWPARAM amp hwparam VSCAN_IOCTL_SET_SPEED With this ioctl you can set the speed of your CAN device
27. arting with the Server Type this is the model of the NET CAN followed by the version of Software and Hardware This will give a rough overview which features are implemented or need an upgrade of the firmware The Serial Nr is important to identify the device you are configuring right now For further information the UpTime is listed Contact and Location are user defined information They may later help to find the device in the installation and the person responsible for management The Server Parameter allow configuration of the NET CANs name and of course all parameters in IP settings Generally it is used as information e g in the NetCom Manager program or in SNMP Manual changes of IP parameters are only available with DHCP set as Disabled When DHCP is not used enter IP Address and Netmask as well as the Broadcast address Gateway is required if there are Routers in the network DNS is used to access other stations by name The ConfigPort is used to access the NET CAN for administration via Telnet It is suggested to use the standard value for Telnet TCP port number 23 However it may be changed for different purposes This does not change the function of the Telnet menus KeepAlive is an intrinsic function of the TCP IP protocol Tf used it causes network traffic but connection problems are detected earlier In a LAN this is usually not a problem However if used via DialUp connections this may cause problems If this functions
28. ata bytes RO00001113 CR Version 1 7 VSCAN Manual 40 3 ASCII COMMAND SET 3 2 9 Set Time Stamps The time stamp command will set the time stamp functionality on received frames on or off This command will only function when the CAN channel is closed Example Will set time stamps on or off Z1 CR ZO CR 3 2 10 Set Filter Mode The command D1 CR switch on the dual filter mode and with DO CR you switch over to the single filter mode For more information please take a look at chapter 2 2 3 This command is only available if the CAN channel is closed The firmware version must be 1 4 or greater Example Will set dual or single filter mode D1 CR DO CR 3 2 11 Set Acceptance Code and Mask Register With the acceptance code command Mxxxxxxxx CR and mask register command MXXXXXXXX CR you have the choice to filter for specific CAN messages directly on the CAN controller side For more information please take a look at chapter 2 2 3 This command is only available if the CAN channel is closed Example We will filter for all standard frames between 0x300 and Ox3ff T M00006000 CR m00001ffO0 CR Version 1 7 VSCAN Manual 41 3 ASCII COMMAND SET 3 2 12 Get Status Flags To get the status bits when an error occurred you must use the command F CR For more information on the bit mask please take a look at chapter 2 2 3 The command is only ava
29. atus VSCAN_Ioctl handle VSCAN_IOCTL_GET_FLAGS flags VSCAN_IOCTL_SET_TIMESTAMP You can set on and off the time stamp functionality with this ioctl If you switch it on every received frame will have a valid time stamp value in the VSCAN_MSG structure The time base is in milliseconds and will be overrun after 60 seconds timestamps between 0 60000ms Example status VSCAN_loctl handle VSCAN_IOCTL_SET_TIMESTAMP VSCAN_TIMESTAMP_ON VSCAN_IOCTL_SET_BLOCKING_READ This ioctl will set theVSCAN_Read function to blocking mode default is unblock Example status VSCAN_Ioctl handle VSCAN_IOCTL_SET_BLOCKING_READ VSCAN_IOCTL_ON Version 1 7 VSCAN Manual 26 2 APPLICATION PROGRAMMING INTERFACE 2 2 4 VSCAN_Read To read one or more CAN frames from the CAN bus you must use the VSCAN_Read function The read mode of this function is set to non blocking mode per default This means that VSCAN_Read will return immediately even when there are no frames at the moment To make the VSCAN_Read blocking use the ioctl VSCAN_IOCTL_SET_BLOCKING_READ then it will return only if frames were received VSCAN_STATUS VSCAN_Read VSCAN_HANDLE Handle VSCAN_MSG Buf DWORD Size DWORD x Read Parameters Handle in The handle of the CAN device which should be used in A pointer to one element or an array of the structure VSCAN_MSG in The number of the array elements in
30. cial frame types you want to receive Therefore you must commit a structure from the type VSCAN_CODE_MASK The VSCAN devices work in single filter mode For more information on this specific registers please take a look at the SJA1000 datasheet from NXP Semiconductors Example VSCAN_CODE_MASK codeMask will receive the ids between 0x300 and 0x3ff codeMask Code 0x6000 codeMask Mask 0x1ff0 status VSCAN_loctl handle VSCAN_IOCTL_SET_ACC_CODE_MASK amp codeMask receive all frames on the CAN bus default codeMask Code VSCAN_IOCTL_ACC_CODE_ALL codeMask Mask VSCAN_IOCTL_ACC_MASK_ALL status VSCAN_TIoctl handle VSCAN_IOCTL_SET_ACC_CODE_MASK amp codeMask VSCAN_IOCTL_GET_FLAGS To get extended status and error flags use this ioctl Commit a DWORD 32bit pointer as the Param argument The bit flags and their equivalent macro names are e Bit 0 VSCAN_IOCTL_FLAG_RX_FIFO_FULL e Bit 1 VSCAN IOCTL_FLAG_TX_FIFO_FULL e Bit 2 VSCAN_IOCTL_FLAG_ERR_WARNING e Bit 3 VSCAN_IOCTL_FLAG_DATA_OVERRUN e Bit 4 VSCAN_IOCTL_FLAG_UNUSED e Bit 5 VSCAN_IOCTL_FLAG_ERR_PASSIVE e Bit 6 VSCAN_IOCTL_FLAG_ARBIT_LOST e Bit 7 VSCAN_IOCTL_FLAG_BUS_ERROR Version 1 7 VSCAN Manual 25 2 APPLICATION PROGRAMMING INTERFACE Take a look at the SJA1000 datasheet from NXP Semiconductors if you want more information on what s behind bit 2 to 7 Example DWORD flags st
31. def struct UINT32 SerialNr UINT8 HwVersion UINT8 SwVersion UINT8 HwType VSCAN_HWPARAM The SerialNr element comprised the unique serial number reserved for this device The HwVersion holds the revision of the CAN hardware and in the opposite SwVersion the actual software version of the firmware The upper four bits of these variables hold the major and the lower four the minor number And HwType retrieves the type of CAN hardware e g Serial USB Net 2 3 5 VSCAN_MSG The structure is used for the information of each CAN frame which will be received or transmitted typedef struct UINT32 Id UINT8 Size UINT8 Data 8 UINT8 Flags UINT16 Timestamp VSCAN_MSG The element Id holds the identifier of the standard or extended CAN frame The width of the data bytes is saved in the Size element and the maximum eight data bytes itself in Data The member Flags is a bit mask to retrieve or set some of these special flags VSCAN_FLAGS_STANDARD is set when this message is a standard frame VSCAN_FLAGS_EXTENDED this bit is set in the case of an extended frame and the VSCAN_FLAGS_REMOTE bit could be set when it was or should be a remote request frame The Timestamp element holds the time stamp of the received frame when this special function is activated over the ioctl VSCAN_IOCTL_SET_TIMESTAMP Ifa frame was received with a time stamp also the flag VSCAN_FLAGS_TIMESTAMP is set in the member Flags
32. ed de facto standard used by manufacturers All products come with a proprietary driver to access the CAN bus adapter On top is a set of libraries for application programmers encapsulating the hardware in higher layer function sets Application software tailored to use one set of libraries binds the application to certain CAN bus hardware Those libraries come in the form of DLLs VScom provides a system of wrapper DLLs They provide the possibility to use any VSCAN product as a replacement of products from other manufacturers when those are given a set of DLLs The wrapper DLLs use the same name as the original set They provide the same functions used by the application software so the existing software shall not notice that exchange Installation Copy the desired wrapper DLL over the original APT DLL in your program directory thus replacing the version from the other manufacturer It may be useful to create a backup copy before doing so You must also copy the latest VSCAN API vs can api dll into the same directory Configuration If you want to specify a special configuration for the mapping of a VS CAN product you can do this over a configuration file vscan ini When there is no configuration file available the wrapper API uses the first VSCAN product which will be found in the PC You can also get extra debug informations when you configure the debug option for the CAN channel in the configuration file The debug output will be sav
33. ed in a file called vs_can_api log in the program directory Configuration File Example CAN_1 d11 Port COM5 VSCAN device over a virtual COM port debug 0 CAN_2 d11 Port 192 168 254 254 2001 mapping to VS NET CAN over IP and TCP port raw mode debug 1 debug output is switched on vs_can_api log Note In this example CAN_1 dll and CAN_2 dll are just sample text Replace the text in the brackets with the name of the DLL used by your application So if in reality the names are XCAN_USB dll and yCAN_PCI dll use those names for the section titles The wrapper DLL finds the desired configuration by searching for a section which is titled by the DLLs name The set of wrapper DLLs usually provides a sample configu ration file Currently available are DLLs for the Light API from PEAK System Technik GmbH 8See serial ports manufacturers use the Windows API products are interchangeable Version 1 7 VSCAN Manual 50 4 TOOLS 4 7 ZOC ZOC see Figure 15 is a powerful terminal program which has good logging functionality and will also let you make connections over the network telnet client 4 8 putty ZOC Pro 5 07 Standard zoc evaluation mode Ele Edt View Logging Transfer Script Options Help ajaja 1 28 50 23 mmg ieina ea a Info about User Buttons 9 Send exitcenten _ Call Host from Host Directoy 8 Launch Notepad exe Run Sample Script W ooe v
34. f the CAN channel is closed Parameters n Version 1 7 VSCAN Manual 37 3 ASCII COMMAND SET Could be one of the following values e 1 20 KBit e 2 50 KBit e 3 100 KBit e 4 125 KBit e 5 250 KBit e 6 500 KBit e 7 800 KBit e 8 1 MBit Example Configure a bus timing of 1 MBit S8 CR 3 2 4 Setup the Bus Timing Advanced A more user defined bus timing could be configured with the command sxxyy CR As with the standard bus timing command above you can only use it when the CAN channel is closed Parameters XX This is the hex value of the bit timing register 0 For more information please take a look at the SJA1000 datasheet from NXP Semicon ductors yy This is the hex value of the bit timing register 1 Example Configure a bus timing of 100 KBit s041C CR Version 1 7 VSCAN Manual 38 3 ASCII COMMAND SET 3 2 5 Transmitting a Standard Frame Transmitting a standard frame 11bit over the CAN bus will be done with ti i i 1dd 0 8 The return value will be z CR or the normal error byte BELL As you can imagine this command is only available when the CAN channel is open Parameters TT Standard frame 11bit identifier Data length 0 8 dd 0 8 Data bytes in hex The number of the bytes must be equal with the data length field Example Sending a frame with id 0x111 and three data bytes 0x10 0x20 0x30 t111
35. he functions from our library to your application To ease this task wrapper for following programming languages will be provided together with VSCAN_APLx y_z zip under Wrapperl Languages e C e VisualBasic NET e Delphi e LabVIEW e more to come Version 1 7 VSCAN Manual 20 2 APPLICATION PROGRAMMING INTERFACE 2 2 Functions 2 2 1 VSCAN_Open The VSCAN_Open function opens the CAN channel VSCAN_HANDLE VSCAN_Open CHAR SerialNrORComPortORNet DWORD Mode Parameters SerialNrORComPortORNet in A char pointer with one of the following values e VSCAN_FIRST_FOUND the first device found will be opened e Serial number of the specific device e COM port or CAN name where the device is located e IP address and port number of the device Mode in The mode in which the CAN channel shall be opened e VSCAN_MODE_NORMAL the normal operation mode e VSCAN_MODE_LISTEN_ONLY the listen only mode in which no CAN inter action will be done from the controller e VSCAN MODE SELF RECEPTION the self reception mode in which the de vice receives also the frames that it sends The firmware version must be 1 4 or greater and the DLL version 1 6 or greater Examples handle VSCAN_Open VSCAN_FIRST_FOUND VSCAN_MODE_NORMAL Windows Linux handle VSCAN_Open 123456 VSCAN_MODE_LISTEN_ONLY Windows Linux handle VSCAN_Open COM3 VSCAN_MODE_NORMAL Windows WinCE handle VSCAN_
36. igure 10c To upload a new version of the firmware put the name of the file in the field Your Webbrowser may allow to search for the file Click on the Update button While loading the file is checked If it is valid it is stored in the Flash Memory When the upload is finished NET CAN will Reboot e The Saving of Configuration to Loading from a file option will be used to manage NET CAN configuration see Figure 10d It is possible to save the actual config uration to a text file Of course it is also possible to load the saved configuration into a NET CAN e The Syslog option will be used to send logging information to the syslog facility see Figure 10e Syslogging requires a server the information is sent to Facility allows to select the data sent to that server e The DebugLog option will be used to show logging information via TCP connection see Figure 10e For this kind of logging the NET CAN behaves as the server Open a TCP connection to the configured port and receive all information gener ated Version 1 7 VSCAN Manual 15 1 INSTALLATION Ping IP Address 127 0 0 1 Netstat a Ping FirmwareUpdate Warming the server reboots after updating tom_113_1_2_0 bin b64 Durchsuchen c Firmware Update Syslog Destination F acility Debuglog 2 Debug Port 2 View connections b Netstat Configuration File Save Save the Configuration Parameters in a File
37. ilable if the CAN channel is open Example Retrieve the status bits as a hexadecimal value The return value will be formatted like this Fxx CR F CR 3 2 13 Get Version Information To retrieve the current hard and software version of the device you must use the com mand V CR The command is always available and will return the versions formatted like this Vxxyy CR The hardware version is coded in the xx major and minor ver sion and the software version in the yy also coded as major and minor Example Retrieving the versions V CR 3 2 14 Get Serial Number With the command N CR you will retrieve the serial number of the device This com mand is always active and will return the decimal serial number like this N12345678 CR Example Retrieving the serial number N CR Version 1 7 VSCAN Manual 42 3 ASCII COMMAND SET 3 2 15 Get Extra Information You can retrieve extra information with the command I CR The command is always available and will return the values of the bus timing registers the acceptance code and mask register values the counter of the arbitration lost interrupt the arbitration lost capture register the status register and the value of the error code capture register of the CAN chip For more information please take a look at the SJA1000 datasheet from NXP Semiconductors Example Retrieving the extra information I CR
38. is used you must define an interval in seconds NET CAN has a better chance to react on network problems or failed hosts Even dropping an old connection may be useful in certain environments For detailed information about further Server Configuration options please refer to the NetCom Wireless Serial Device Server User Manual Version 1 7 VSCAN Manual 11 1 INSTALLATION Server Parameter Warning for changes like network settings the server must be rebooted Server Name MAC Address NET CAN_0000120120 00 04 D9 80 69 DE DHCP Enabled y TP Address 192 168 1 126 Netmask 255 255 255 0 Broadcast 192 168 1 255 Gateway 192 168 1 1 DNS 192 168 1 3 Domain visionsystems de ConfigPort a KeepAlive or KeepAlivelnterval lo b Server Parameter OpenVPN Parameter OpenVPN Disabled TCP Port TP Address 1194 192 168 127 254 Netmask 255 255 255 0 Broadcast 192 168 127 255 Max Clients 8 TCP Port Destination 2 1194 TP Address Destination 0 0 0 0 Server Info Server Type 110 Software Version 1 0 0 Hardware Version 1 0 Serial Nr 0000120120 UpTime 0 day s 01 15 57 Contact lt unseb gt Location lt unset gt a Server Info Wireless Parameter Chipset Ralink RT2561T ssID NET CAN_0120100212 OperationMode 2 Ad hoc v WirelessMode 11b g y CountryRegion ETSI 1 13 Channel A Encryption Type E Off v Encryption Key RTSThreshold 2312 Fragmentati
39. l be available to the system so NET CAN can be used in the same way as SER CAN or USB CAN Due to the virtual COM port protocol overhead the performance is lower than by the TCP raw mode You don t have to set the baudrate and hardware handshake explicitly it s fixed to 3Mbit and RTS CTS e TCP raw mode the communication will be handled directly via IP address and port number In this mode no driver installation is required NET CAN devices can be operated with either ASCII or VSCAN API For the API there is no difference whether Driver mode or TCP raw mode is used but due to performance issues TCP raw mode is preferable CAN over IP Router In this mode two or more NET CAN devices are interconnected to enable seamless communication between two or more CAN networks Figure 5a shows the first case where two NET CAN devices act as a tunnel between CAN Network A and B so all frames sent inside Network A will be transported to Network B and vice versa Figure 5b shows extension of the tunnel In this case additional CAN network can be attached so that CAN frames sent inside Network A will be transported to both B and C but CAN Network B and C communicate only with Network A so frames from Network B could not be seen by Network B and vice versa See Section 1 4 4 for configuration instructions CAN Acceptance Code and Acceptance Mask can be set to filter the CAN frames so only dedicated frames are passed via TCP link Version 1 7 VS
40. me or IP address Port Bell COM32 9600 Bell 192 168 254 254 2001 id Features Connection type Features Connection type B Window O Raw Telnet Rogn SSH 09 Serial E Window Raw Telnet Rogn SSH Se al Popen Load save or delete a stored session Apa A Load save or delete a stored session Behaviour 5 Behaviour i Translation Saved Sessions Translation Saved Sessions Selection USB CAN Selection Colours A Colours lefauit S Default Settin B Connection Dev F B Connection Developer ta Data Data USB CAN a a El Rlogin Rlogin H SSH SSH Sa Close window on exit Close window on exit Aways Never Only on clean exit Always Never 0 Only on clean exit Open Caneel About Version 1 7 VSCAN Manual 51 4 TOOLS 4 9 vs_can_search This tool search for VSCAN devices on every COM port You can also get extra debug informations with the parameter d 1 3 eg vs_can_search exe d3 ex C WINDOWS system32 cmd exe cf xj Microsoft Windows XP Version 5 1 26 01 lt C gt Copyright 1985 2661 Microsoft Corp ic gt us_can_search exe ws_can_search v1 6 Ensure that the COM ports are not in use klakakakakakakakakakakakakakakakakakakakakakakakakakakakakakakakakakakakakakakakakakakakakal Found following USCAN devices H COM4 gt USB CAN lt SN 416100018 1 1 HW 1 0 gt 2 COMS gt PCI CAN lt SN 416100226 2 HW
41. n t forget your own error handling for the API and system functions take also a look at sem_trywait sem_timedwait and the rest of the sem_ functions sem_t sem int retCode retCode sem_init amp sem 0 0 VSCAN_SetRcvEvent handle sem retCode sem_wait amp sem a CAN frame arrived retCode sem_destroy amp sem Version 1 7 VSCAN Manual 29 2 APPLICATION PROGRAMMING INTERFACE 2 2 6 VSCAN_Write With the VSCAN_Write function you can write one or more frames to the CAN bus The frames will be buffered and send out after some time this time can grow up to one time slice of the scheduler Windows 16ms and Linux 10ms If you want to send the frames immediately you must call the functionVSCAN_Flush VSCAN_STATUS VSCAN_Write VSCAN_HANDLE Handle VSCAN_MSG Buf DWORD Size DWORD Written Parameters Handle in The handle of the CAN device which should be used Buf in A pointer to one element or an array of the structure VSCAN_MSG Size in The number of the array elements in Buf x Written out A pointer to a DWORD that will receive the number of frames written Example VSCAN_MSG msgs 10 DWORD written msgs 0 Flags VSCAN_FLAGS_EXTENDED msgs 0 Id 100 msgs 0 Size 1 msgs 0 Data 0 0x1B we will send ten frames with the same data to the ids 100 109 for i 1 i lt 10 i memcpy msgs i amp msgs 0
42. onThreshold 2312 c Wireless Parameter Authentication Security Settings Password Retype Password e Authentication Encryption AES 256 CBC Logging Off Configuration Settings of the Encryption Key d OpenVPN Parameter Date and Time Settings Date Time for 01 970 01 22 19 UTC 0 Simple Network Time Protocol State Off Ed Mode DHCP Interval fi 800 Server Date and Time Settings Figure 8 Server Configuration Version 1 7 VSCAN Manual 12 1 INSTALLATION 1 4 4 Webbrowser Channel Configuration NET CAN can be operated in following modes see Figure 9 e Driver Mode Only very few parameters have a function in Driver Mode see Figure 9a NET CAN is operating as a Server It accepts two connections per CAN channel One connection is used to transmit the serial data this is the TCP Port Data And the other is used to transmit control information TCP Port Control This control connection is mostly used to request the status of the virtual serial port Software may intend to change serial parameters like baudrate or parity such requests are honoured However they are ignored because the serial parameters are fixed in the NET CAN The NET CAN can check if the connected Client is still alive This may be done when a second Client wants to establish a connection On Connect It may also be done in regular intervals Polling e TCP Raw Server As TCP Raw Server NE
43. perational Slave 11001010 16 ff00ff00 abcd 42 1235 TestMaster_post_sync TestSlave post_TPDO Master 0000000000000 TestSlave post_sync TestMaster_post_TPDO MasterSyncCount 0 Slave 11001010 16 ff00ff00 abcd 43 1236 Master Ask RTR PDO 0x1402 y TestSlave post_TPDO Master Change slave s transmit type to OxFF TestSlave_post_sync TestMaster_post_sync Slave 11001010 16 ff00ff00 abcd 44 1237 Master 0000000000000 TestSlave post_TPDO J TestMaster_post_TPDO MasterSyncCount 1 TestSlave_post_sync TestMaster_post_sync Slave 11001010 16 ff00ff00 abcd 45 1238 Master 0000000000000 TestSlave post_TPDO TestMaster_post_TPDO MasterSyncCount 2 TestSlave post_sync TestMaster_post_sync Slave 11001010 16 ff00ff00 abcd 46 1239 Master 0000000000000 TestSlave post_TPDO TestMaster_post_TPDO MasterSyncCount 3 TestSlave_ post_sync TestMaster_post_sync Slave 1100101 O 16 ff00ff00 abcd 47 1240 Master 0000000000000 TestSlave post_TPDO TestMaster_post_TPDO MasterSyncCount 4 gt y TestSlave post_sync K4 a Master b Slave Figure 14 TestMasterSlave under Linux Version 1 7 VSCAN Manual 49 4 TOOLS 4 6 Wrapper DLL System In Linux operating system any application software may use CAN bus adapters from different manufacturers without modifying the program An official CAN API named SocketCAN exists for the Linux Kernel In Windows systems the situation is different There is neither an API from Microsoft nor a widely accept
44. r on the product CD or down load it from our company website www visionsystems de If you ve done this you could plug in the card in a free PCI slot of your choice When you will be asked for the driver you must choose the location of the driver files The device will be registered and you can use the COM port for your further work see Figure 4 EH Ports COM amp LPT J Communications Port COM1 ag Scom CAN Channel COMS J VScom CAN Channel COME E 4 Sound video and game controllers ES El System devices EH Universal Serial Bus controllers Figure 4 Device Manager Then you can open the COM port of the PCI CAN with any standard baudrate except 115200 see Figure 2 Version 1 7 VSCAN Manual 7 1 INSTALLATION 1 4 Network CAN Device 1 4 1 Operational Modes NET CAN provides CAN communication over network NET CAN can act either as CAN Server CAN frames will be exchanged between NET CAN and application con nected via COM port or TCP socket or as CAN over IP Router two or more NET CANs exchange CAN frames between various CAN networks CAN Server Mode For CAN Server following approaches are provided e Driver mode in this mode the network is transparent for the application To use this mode installation of the Windows driver is required please refer to the NetCom Wireless Serial Device Server User Manual for installation instructions After driver installation the new virtual COM port wil
45. r220 Zmodem ZJZOCo712L06 1000001118 DEADBEEF0000004D3AD7 1000001118 DEADBEEFO000004E3AD7 T000001118 DEADBEEFO000004F3AD7 T000001118 DEADBEEF000000503AD8 1000001118 DEADBEEF000000513AD8 1000001118 DEADBEEF000000523AD8 T000001118 DEADBEEF000000533AD8 T000001118 DEADBEEF000000543AD8 T000001118 DEADBEEF000000553AD8 T000001118 DEADBEEF000000563AD8 T000001118 DEADBEEF000000573AD9 T000001118 DEADBEEF000000583AD9 7000001118 DEADBEEFO00000593AD9 T000001118 DEADBEEFOO00005A3AD9 T000001118DEADBEEFO0000005B3AD9 T000001118DEADBEEF0000005C3AD9 T000001118 DEADBEEFO000005D3AD9 T000001118 DEADBEEFO000005E3ADA T000001118 DEADBEEFO000005F3ADA T000001118DEADBEEF000000603ADA T000001118DEADBEEF000000613ADA T000001118 DEADBEEF000000623ADA 1000001118 DEADBEEF000000633ADA T000001118 DEADBEEF 00000064 3ADB 00 01 18 80x25 18 40 10 021207 Figure 15 ZOC With putty http www chiark greenend org uk sgtatham putty you can both talk to the serial interface based devices like SER CAN USB CAN and PCI CAN and to the network based devices like NET CAN _ ZK gt amp RTS Ta SR ie Category aa pnt eee Category i iba ke Dp AS E Session Basic options for your PuTTY session Session Basic options for your PUTTY session T Specify the destination you want to connect to Te Specify the destination you want to connect to O Serial line Speed Crd Host Na
46. rsion 1 7 VSCAN Manual 2 Contents Contents 1 Installation 5 ll TRBAN Do s death bh G A a eae de BS 5 1 2 Seria CAN Device 4 0 6 i wee a RRO d AN A RY 6 Lal POB io dui bali na b ca Se Hed S t p 18 3 v 14 Network CAN Device 2 14 4 26 v 4 k aad e v k u dia 8 141 perational Modes coi cines carr A asa aa d 8 14 2 Configuration Overview oo occo asaw emda casa A 10 1 43 Webbrowser Server Configuration 1 12 e e 2 2 2 11 1 44 Webbrowser Channel Configuration 13 14 5 Webbrowser Tools v osso res kas ask oe ee a 8 14 146 Factory Settings 2 2 x sa kaa da ba dW d ha ee a Hear r G 17 1 5 Linux Installation SocketCAN o uk k k a k k k a 18 1 6 General NloOrmatioh 2 a ia ee eed da 19 LB JDM sera E kaka k ia ae 19 1 6 2 Baud rates and Handshake si is ss n u s n a 4 19 1 6 3 Pin out of the 9 Pin D Sub Connector 19 1 6 4 Termination Resistors saadama dd dared gt 19 1 6 5 Terminal Block Power NET CAN Devices 19 2 Application Programming Interface 20 2d Vv IEEE 20 2o PFM osito sakua k s dik ee u h ee f du ok ub 21 221 YRCAN Op 1 2 ca e d kuda bee d p vun da 21 232 VYCAN CLOSE e aa sacas y a aa i tad d ss 6 22 228 A A 23 224 VICAN Reale 3 4 kee de tiva RP RAGA k R ST U GRY 27 225 VSCAN Serbeviyeit o tds ew aR aS 28 220 VSCAN Write ocioso 804 54 288 be ba d Ar
47. tings especially changes in TCP IP parameters may neither be saved nor activated For more information about parameters please read the documentation ll E M Local intranet y Figure 6 Web Interface for Configuration The NET CAN welcomes you with its Home screen see Figure 6 Click on the icon for your desired option In many menus you ll see a blue question mark This is a symbol for help Click it to get a short explanation informing about the function of this parameter Some other settings require a reboot to save and activate them Whenever this situation occurs the NET CAN requests for a Reboot see Figure 7 You can instantly reboot or do that later when the configuration is finished Version 1 7 VSCAN Manual 10 1 INSTALLATION Microsoft Internet Explorer x j Reboot for changes to take affect Reboot now Ki Cancel Figure 7 Web Interface Request to Reboot 1 4 3 Webbrowser Server Configuration The Server Configuration is a very long menu see Figure 8 There is basic server information see Figure 8a the server parameters related to the IP configuration see Figure 8b the section for wireless communication NET CAN 120 WLAN only see Figure 8c the section for encrypted communication see Figure 8d Password settings see Figure 8e and finally the configuration for date and time see Figure 8f Information about the selected NET CAN is displayed as Server Info St
48. tions often include those drivers by de fault so no need to install the driver NET CAN has only Windows driver but can be used operating system independent without driver in TCP raw mode Please read the relevant installation instructions below for your particular device For the ease of use ASCII protocol is implemented in vs_can_api library with appropriate API Linux users can alternatively use SocketCAN driver that also implements ASCII protocol 1 1 USB CAN Device Use the USB driver from the directory USB CAN Driver on the product CD or down load it from our company website www visionsystems de If you ve done this you could plug in the adapter in an USB port of your choice When you will be asked for the driver you must choose the location of the driver files The device will be registered and you can use the COM port for your further work see Figure 1 Ger te Manager Datei Aktion Ansicht maga A Anschl sse COM und LPT ECP Druckeranschluss LPT1 J Kommunikationsanschluss COM1 Y aroma VScom COM Port COM3 VScom COM Port COM4 Figure 1 Device Manager To get a better performance and set every standard baudrate as an alias for 3Mbit ex cept 115200 you must call the script regmodify vbs with the desired COM port like this cscript regmodify vbs COM7 The script must be executed with administrative privileges Please disconnect the device from
49. wR r a 5 30 2297 VSUADLUPWEN 64 25 444 6 ba 4 286 k k k ba deed 31 2 28 VSCAN_GetErrorString 1 4 2 122 k scac sucosa edus 32 2 3 Types and Structures gt o sese ee ea mo a ens 33 2 3 1 VSCAN HANDLE 0 s k k k k k a aea 33 Bone VOSCAN STATUS k a bel a a ke TRR 33 2 SCAN APT VERSION oia VS r b ee a 8 67 R 33 234 VSCAN HWPARAM se cha 8 86 L 4 a t a a sor d 403 34 230 Wal MS e a lata s hn ans PS ee we ae ed 34 200 VsCeaN BIR 2 u 3 a awe bas 2 kalau 35 297 VAN CODE MASK peoi 6264 4858 246 ia 35 3 ASCII Command Set 36 Sl e o k kx 4 xa Seu sta a k U DR pa ee a E 36 Version 1 7 VSCAN Manual 3 Contents Ot OMENS cod iaa Daar a e a Pe eee eS y h 37 3 2 1 Open the CAN Channel 2 22 2 2 2 2 2 2 2 2 2 4 37 3 2 2 Close the CAN Channel 2 u 22 k 2 2 2 37 3 2 3 Setup the Bus Timing Standard 37 3 2 4 Setup the Bus Timing Advanced 38 3 2 5 Transmitting a Standard Frame o 39 3 2 6 Transmitting a Standard Remote Request Frame 39 3 2 7 Transmitting an Extended Frame 40 3 2 8 Transmitting an Extended Remote Request Frame 40 3 2 9 Set Time Stamps e 41 3 2 10 Set Filter Mode 20 lt lt 2 awena toada 41 3 2 11 Set Acceptance Code and Mask Register 41 e o AI 42 3 2 13 Get Version Informati n gt o se cso seada aa Ai al ka da 42 Jal Get Senol N
50. wer connector receives positive voltage on the right V pin The center V pin connector is negative which is connected to GND and the case GND is the same as Field GND FG so the standard adapter does not connect to this pin FG V V Version 1 7 VSCAN Manual 19 2 APPLICATION PROGRAMMING INTERFACE 2 Application Programming Interface 2 1 Introduction The Application Programming Interface API gives you the right tools to use all of the functions that the VSCAN devices provide It will make your life much easier to build your own CAN controlling software with these functions than to implement your application directly on top of the ASCII protocol For Windows the only thing you must do is to copy the dynamic link library vs_can_api dll the linker input file vs_can_api lib and header file vs_can_api h into your project direc tory Include the header in your source code and add the vs_can_api lib to your project configuration For Linux you must copy the library libvs_can_api so to your global libraries path and add it to your compilation parameters You must also include the header file vs_can_api h in your source file For other operating systems like MacOS you ll have to implement ASCII protocol your self All functions and data structures are explained in the next sub sections You can also use our APT library with programming languages other than C C To do so you ll have to learn how to import t
51. www vscom de Tel 49 40 528 401 0 Fax 49 40 528 401 99 Web www visionsystems de Support faq visionsystems de j The software described in this manual is furnished under a license agreement and may be used only in accordance with the terms of that agreement Copyright Notice Copyright 2009 2012 Vision Systems All rights reserved Reproduction without permission is prohibited Trademarks VScom is a registered trademark of Vision Systems GmbH All other trademarks and brands are property of their rightful owners Disclaimer Vision Systems reserves the right to make changes and improvements to its product without providing notice Vision Systems provides this document as 1s without warranty of any kind either expressed or implied including but not limited to its particular purpose Vision Sys tems reserves the right to make improvements and or changes to this manual or to the products and or the programs described in this manual at any time Information provided in this manual is intended to be accurate and reliable However Vision Systems assumes no responsibility for its use or for any infringements on the rights of third parties that may result from its use This product might include unintentional technical or typographical errors Changes are periodically made to the information herein to correct such errors and these changes are incorporated into new editions of the publication Ve
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